JP5838607B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a driving support device and a driving support method for supporting a driving operation by controlling a reaction force applied to an accelerator pedal operated by a driver of the host vehicle.

Conventionally, by increasing the reaction force in the return direction applied to the accelerator pedal operated by the driver at a constant rate of change, the degree of opening of the accelerator pedal operated by the driver is reduced. There is a driving support device that guides the opening to a value that is better than a predetermined fuel efficiency standard.
An example of such a travel support device is a travel support device described in Patent Document 1. The driving support device described in Patent Document 1 is a mountain composed of reaction force change points having a reaction force value larger than the basic reaction force increased at a constant change rate, or increased at a constant change rate. A valley composed of reaction force change points having reaction force values smaller than the basic reaction force is set. Then, using the set mountain or valley, the opening of the accelerator pedal operated by the driver is guided to an opening at which the fuel consumption of the host vehicle becomes a value better than a predetermined fuel consumption standard.

JP 2007-182196 A

In the driving support device described in Patent Document 1, the driver operates the accelerator pedal (the driver puts his / her foot) so that the fuel consumption of the host vehicle is a value better than a predetermined fuel consumption standard. On the other hand, the control which gives reaction force so that the increase in an opening degree is suppressed is performed. Alternatively, control is performed to weaken the reaction force application so that the driver can easily step on. For this reason, for example, in a situation where it is preferable to accelerate the host vehicle, such as when merging into a highway, an acceleration operation that increases the accelerator pedal opening degree is guided to a driver operating the accelerator pedal. It is difficult.
The present invention has been made paying attention to the above problems, and in a situation where it is preferable to accelerate the host vehicle, it is possible to guide the driver to perform an acceleration operation to increase the opening of the accelerator pedal. An object of the present invention is to provide a driving support device and a driving support method.

  In order to solve the above-described problem, according to one aspect of the present invention, a reaction force that restricts a change in the opening degree of the accelerator pedal operated by the driver of the host vehicle is controlled in the return direction of the accelerator pedal. It is given to the accelerator pedal at the first speed that cannot recognize the change in opening. Further, when the host vehicle reaches the acceleration start position, the driver is operating so that the opening degree of the accelerator pedal operated by the driver is led to an opening degree corresponding to the target vehicle speed. The reaction force applied to the accelerator pedal is decreased at a second speed that is faster than the first speed.

  Here, the reaction force that restricts the change in the opening degree is applied from the control start position that requires a preset time until the host vehicle reaches the acceleration start position. The target vehicle speed position is a position on the travel route where the vehicle speed of the host vehicle is a preset target vehicle speed. Further, the acceleration start position is a position on the travel route at which acceleration for setting the vehicle speed to the target vehicle speed at the target vehicle speed position is started.

According to the present invention, a reaction force that restricts a change in the opening degree of the accelerator pedal operated by the driver in the return direction is applied to the accelerator pedal from the control start position. In addition to this, when the host vehicle reaches the acceleration start position, the accelerator pedal operated by the driver is guided so that the opening degree of the accelerator pedal operated by the driver is guided to the opening degree corresponding to the target vehicle speed. Reduces applied reaction force.
For this reason, in a situation where it is preferable to accelerate the host vehicle, the opening degree of the accelerator pedal on which the driver rests is increased as the reaction force applied to the accelerator pedal on which the driver rests is decreased. The acceleration operation can be guided to the driver.

It is a figure showing a schematic structure of a run support device of a first embodiment of the present invention. It is a figure which shows the relationship between the opening degree of an actual accelerator pedal, and the reaction force provided to the accelerator pedal. It is a figure which shows the relationship between the efficiency of the variation | change_quantity regarding the opening degree of an accelerator pedal, and elapsed time. It is a flowchart which shows the process which a pedal reaction force control part performs. It is a time chart in the process which a pedal reaction force control part performs. It is a map which shows the relationship between the variation | change_quantity of the opening degree of an accelerator pedal, and the speed which changes the reaction force provided to the accelerator pedal. It is a map which shows the relationship between the variation | change_quantity of the opening degree of an accelerator pedal, and the variation | change_quantity of the reaction force provided to the accelerator pedal. It is a figure which shows the relationship between the variation | change_quantity of the reaction force provided to the accelerator pedal which the driver | operator is operating, and elapsed time. It is a figure which shows the relationship between the variation | change_quantity of the reaction force provided to the accelerator pedal which the driver | operator is operating, and elapsed time.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
Hereinafter, a first embodiment of the present invention (hereinafter referred to as the present embodiment) will be described with reference to the drawings.
(Constitution)
FIG. 1 is a diagram illustrating a schematic configuration of a driving support device 1 of the present embodiment.
As shown in FIG. 1, the driving support device 1 includes a navigation system unit 2, a reaction force applying unit 4, and a pedal reaction force control unit 6.
The navigation system unit 2 is configured by using a general car navigation system (Automotive navigation system). The navigation system unit 2 includes a database unit 8 and a host vehicle position measuring unit 10.

The database unit 8 stores map information such as road type, road curvature, road gradient, and the like, and can update these information as necessary. The database unit 8 may have a configuration other than the navigation system unit 2.
The own vehicle position measuring unit 10 has a function of performing position measurement of the own vehicle, route guidance of the own vehicle, display of limited vehicle speed information on the travel route of the own vehicle, and the like by, for example, GPS (Global Positioning System).

The reaction force imparting unit 4 may be described as a reaction force in the return direction (hereinafter referred to as “reaction force”) with respect to the accelerator pedal 12 operated by the driver (driver) of the host vehicle. ) Has a servo motor 14 (actuator).
Here, the servo motor 14 is, for example, a member incorporated in the link mechanism of the accelerator pedal 12. The servo motor 14 generates torque according to the command value output from the pedal reaction force control unit 6 and arbitrarily controls the operation reaction force generated when the driver operates the accelerator pedal 12.

In addition, the reaction force applying unit 4 transmits an information signal including the reaction force applied to the accelerator pedal 12 to the pedal reaction force control unit 6.
The accelerator pedal 12 is formed of, for example, an organ-type or a suspension-type pedal, and is disposed in a suitable position for the driver of the host vehicle to operate with his / her foot in the passenger compartment.
Further, the accelerator pedal 12 has an elastic member for setting the opening of the accelerator pedal 12 to “0”. As the elastic member, for example, a member that displaces the accelerator pedal 12 in the return direction (hereinafter, may be referred to as “return spring”) such as a coil spring is used.

The accelerator pedal 12 is provided with an accelerator pedal opening sensor 16 that detects the opening of the accelerator pedal 12.
When the accelerator pedal opening sensor 16 detects the opening of the accelerator pedal 12, the accelerator pedal opening sensor 16 transmits an information signal including the detected opening to the pedal reaction force control unit 6 and the engine 18.
Here, the engine 18 is a driving source of the host vehicle, and generates a driving force corresponding to the opening degree of the accelerator pedal 12. The engine 18 includes, for example, an ECU (Engine Control Unit). In addition, as a drive source of the own vehicle, a motor may be used instead of the engine 18 (EV: Electric Vehicle). Moreover, you may use both the engine 18 and a motor as a drive source of the own vehicle (HEV: Hybrid Electric Vehicle).

The pedal reaction force control unit 6 is formed using, for example, a CPU (Central Processing Unit).
Further, the pedal reaction force control unit 6 can receive the above various information from the navigation system unit 2. In addition, the pedal reaction force control unit 6 can receive information signals from the accelerator pedal opening sensor 16, the distance sensor 20, and the vehicle speed sensor 22. Further, the pedal reaction force control unit 6 can transmit and receive information signals to and from the reaction force applying unit 4.

Here, the distance sensor 20 is formed by, for example, a laser radar attached to the front grill or the front bumper of the host vehicle, and detects the distance between the obstacle present in front of the host vehicle and the host vehicle. Then, the distance sensor 20 transmits an information signal including the detected distance between the obstacle and the host vehicle to the pedal reaction force control unit 6.
Obstacles existing in front of the host vehicle are traveling in front of the host vehicle on a stopped vehicle (parked vehicle) existing on the host vehicle's travel route (on the road) or on the host vehicle's travel route. Other vehicle (preceding vehicle).

Further, the vehicle speed sensor 22 measures the number of rotations of the wheel and the number of rotations on the output side of the transmission per unit time, and detects the speed of the host vehicle based on the measured number of rotations. The vehicle speed sensor 22 transmits an information signal including the detected speed of the host vehicle (hereinafter referred to as “vehicle speed”) to the pedal reaction force control unit 6 and the engine 18.
Further, the pedal reaction force control unit 6 calculates a reaction force to be applied to the accelerator pedal 12 based on information signals received from the distance sensor 20 and the vehicle speed sensor 22. Then, an information signal including the calculated reaction force is transmitted to the reaction force application unit 4 as a command value. Thereby, the reaction force applied to the accelerator pedal 12 by the reaction force applying unit 4 is controlled.

  In addition, the pedal reaction force control unit 6 is based on the information signal received from the accelerator pedal opening sensor 16, and when the opening of the accelerator pedal 12 is larger than the opening corresponding to the reaction force applied to the accelerator pedal 12, The control of the reaction force applied to the accelerator pedal 12 is stopped. Thereby, with respect to the operation of the accelerator pedal 12, the reaction force applied to the accelerator pedal 12 is controlled so that the driver's intention is prioritized.

Similarly, the pedal reaction force control unit 6 controls the reaction force applied to the accelerator pedal 12 based on the information signal received from the accelerator pedal opening sensor 16 when the opening of the accelerator pedal 12 is “0”. Discontinue. Here, the case where the opening degree of the accelerator pedal 12 is “0” is a case where the driver lifts his / her foot from the accelerator pedal 12. Thereby, with respect to the operation of the accelerator pedal 12, the reaction force applied to the accelerator pedal 12 is controlled so that the driver's intention is prioritized.
Here, the reaction force applied to the accelerator pedal 12 is calculated so that, for example, the reaction force increases as the distance between the obstacle present in front of the host vehicle and the host vehicle decreases. In this case, the reaction force applied to the accelerator pedal 12 is calculated based on information signals received from the distance sensor 20 and the vehicle speed sensor 22.

Further, the pedal reaction force control unit 6 calculates a reaction force to be applied to the accelerator pedal 12 based on various information acquired from the navigation system unit 2 according to the road condition on the travel route of the host vehicle. And the reaction force which the reaction force provision part 4 provides to the accelerator pedal 12 is controlled by transmitting the information signal containing the calculated reaction force to the reaction force provision part 4 as a command value.
The pedal reaction force control unit 6 includes a reaction characteristic storage unit 24. The reaction characteristic storage unit 24 may not be configured to be included in the pedal reaction force control unit 6 but may be configured to be independent from the pedal reaction force control unit 6.

The reaction characteristic storage unit 24 responds to a change in reaction force applied to the accelerator pedal 12 operated by the driver (hereinafter, “reaction”) of the driver's foot (not shown) placed on the accelerator pedal 12. May be described as “characteristic”. In addition to this, the reaction characteristic storage unit 24 updates the stored reaction characteristic according to the history of the difference between the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed and the actual opening degree of the accelerator pedal 12. The actual opening of the accelerator pedal 12 is detected by using an accelerator pedal opening sensor 16.
Here, the target vehicle speed is a vehicle speed of the host vehicle set in advance on the travel route of the host vehicle. Further, the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed is an opening degree of the accelerator pedal 12 for setting the vehicle speed of the host vehicle as the target vehicle speed on the travel route.

The specific process for updating the reaction characteristics stored in the reaction characteristic storage unit 24 is the process described below.
First, as shown in FIG. 2, the reaction force applied to the accelerator pedal 12 is set in a plurality of stages (three stages in FIG. 2), and in each stage, the actual opening of the accelerator pedal 12 (in FIG. 2). Then, it is detected by “●”. Further, the difference between the actual opening degree of the accelerator pedal 12 detected in each stage and the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed (indicated by a straight line rising in FIG. 2) is calculated. . FIG. 2 is a diagram showing the relationship between the actual opening of the accelerator pedal 12 and the reaction force applied to the accelerator pedal 12.

  Next, an average value of the actual opening degree of the accelerator pedal 12 detected in each stage (indicated by a broken line rising upward in FIG. 2) is calculated. Further, based on the calculated average value, a target gain G1 for setting the actual opening degree of the accelerator pedal 12 to an opening degree corresponding to the target vehicle speed (indicated as “default target gain G1” in FIG. 2). Coefficient K1 (shown as “K1” in FIG. 2).

Then, the next gain G ′ used to update the reaction characteristic is calculated by applying the gain G1 and the coefficient K1 to the following equation (1).
G ′ = G1 × (100 / K1) (1)
Further, the reaction characteristic storage unit 24 updates the stored reaction characteristic so that the difference between the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed and the actual opening degree of the accelerator pedal 12 is reduced.

Specifically, as shown in FIG. 3, the opening degree of the accelerator pedal 12 within the first period (first learning period) among the preset number of times (three times in FIG. 3). The efficiency of the amount of change (indicated by “●” in FIG. 3) is detected a plurality of times (three times in FIG. 3). FIG. 3 is a diagram showing the relationship between the efficiency of the change amount related to the opening degree of the accelerator pedal 12 and the elapsed time (T).
Here, the efficiency of the change amount related to the opening degree of the accelerator pedal 12 is a value obtained by dividing the actual opening degree of the accelerator pedal 12 by the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed.

Next, within the first learning period, the average value of the efficiency of the change amount relating to the detected opening degree of the accelerator pedal 12 is calculated, and the coefficient K1 of the default target gain G1 is set.
Here, as shown in FIG. 3, in the first learning period, when the average value of the change amounts relating to the detected opening degree of the accelerator pedal 12 is less than 100%, The coefficient K1 is a value less than 100 [%].
Then, the first update gain G2 used in the second learning period is calculated by applying the gain G1 and the coefficient K1 to the following equation (2).
G2 = G1 × (100 / K1) (2)

Further, the efficiency of the amount of change related to the opening degree of the accelerator pedal 12 is detected three times within the period following the first learning period (second learning period). Then, within the second learning period, the average value of the efficiency of the change amount relating to the detected opening degree of the accelerator pedal 12 is calculated, and the coefficient K2 of the first update gain G2 is set.
Here, as shown in FIG. 3, in the second learning period, when the average value of the change amounts related to the detected opening degree of the accelerator pedal 12 is a value exceeding 100 [%], The coefficient K2 is a value exceeding 100%.

Then, the first update gain G2 and the coefficient K2 are applied to the following equation (3) to calculate the second update gain G3 that is finally used.
G3 = G2 × (100 / K2) (3)
Further, the efficiency of the amount of change related to the opening degree of the accelerator pedal 12 is detected three times within the period (third learning period) next to the second learning period. Then, within the third learning period, an average value of the efficiency of the change amount relating to the detected opening degree of the accelerator pedal 12 is calculated, and a coefficient K3 of the second update gain G3 is set.

Here, as shown in FIG. 3, the coefficient K3 is a value approximated to 100 [%] (K3≈100 [%]). For this reason, in the example shown in FIG. 3, such a reaction that the difference between the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed and the actual opening degree of the accelerator pedal 12 is reduced by the calculation of the second update gain G3. End characteristic update.
Note that the reaction characteristic storage unit 24 stores the reaction characteristic for each driver, and may switch the reaction characteristic for each driver by operating a switch, for example. This is applied, for example, when a plurality of drivers use the same vehicle (own vehicle). As a result, even when the driver of the host vehicle changes, the driving support device 1 can be suitably operated according to the driver who actually drives the host vehicle.

(Processing performed by the pedal reaction force control unit 6)
Hereinafter, the processing performed by the pedal reaction force control unit 6 will be described in detail with reference to FIGS. 1 to 3 and FIGS. 4 to 9.
FIG. 4 is a flowchart showing processing performed by the pedal reaction force control unit 6.
As shown in FIG. 4, when the pedal reaction force control unit 6 starts processing (START), first, in step S10, a target acceleration is calculated ("target acceleration calculation" shown in the figure). If the process which calculates a target acceleration is performed in step S10, the process which the pedal reaction force control part 6 performs will transfer to step S20.

Here, the calculation of the target acceleration is performed when a target vehicle speed position, which is a position where the vehicle speed of the host vehicle is set to a preset target vehicle speed, is detected while the host vehicle is traveling. Here, the target vehicle speed position includes, for example, an introduction path at a junction of a general road and a highway on the travel route of the host vehicle. The target vehicle speed position is detected using the map information stored in the database unit 8 and the position of the host vehicle measured by the host vehicle position measuring unit 10.
The target acceleration is calculated based on, for example, the target vehicle speed (“80 km / h” in FIG. 5) and the current vehicle speed. FIG. 5 is a time chart in the processing performed by the pedal reaction force control unit 6 and shows the relationship between the target vehicle speed, the opening degree of the accelerator pedal 12 (throttle), and the reaction force applied to the accelerator pedal 12.

  Specifically, the target vehicle speed position and the acceleration start position estimated to start acceleration for the host vehicle to set the vehicle speed as the target vehicle speed on the travel route are detected. Then, using the detected vehicle speed at the acceleration start position and the target vehicle speed at the target vehicle speed position, acceleration that can be accelerated from the current vehicle speed to the target vehicle speed while the host vehicle moves from the acceleration start position to the target vehicle speed position. Is calculated. The acceleration start position is detected using the map information stored in the database unit 8, the position of the host vehicle measured by the host vehicle position measuring unit 10, and the speed of the host vehicle detected by the vehicle speed sensor 22. .

In step S20, the opening degree (throttle opening degree) of the accelerator pedal 12 corresponding to the target acceleration is calculated. Then, the amount of guidance (guidance stroke) in the depression direction is calculated so that the degree of opening of the accelerator pedal 12 operated by the driver is the degree of opening of the accelerator pedal 12 corresponding to the target acceleration.
Specifically, for example, as shown in the graph of “accelerator pedal opening” in FIG. 5, a difference value between the opening of the accelerator pedal 12 at the acceleration start position and the opening of the accelerator pedal 12 at the target vehicle speed position. Is calculated as a guide stroke. If the process which calculates a guidance stroke is performed in step S20, the process which the pedal reaction force control part 6 performs will transfer to step S30.

Here, the opening degree of the accelerator pedal 12 at the acceleration start position is the opening degree of the accelerator pedal 12 according to the vehicle speed at the acceleration start position (“40 km / h” in FIG. 5). Similarly, the opening degree of the accelerator pedal 12 at the target vehicle speed position is the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed (“80 km / h” in FIG. 5).
In the present embodiment, the difference value between the opening degree of the accelerator pedal 12 at the acceleration start position and the opening degree of the accelerator pedal 12 at the target vehicle speed position is a value based on the reaction characteristic stored in the reaction characteristic storage unit 24. Explain the case.

In step S30, the reaction force applied to the accelerator pedal 12 operated by the driver is calculated.
Specifically, it is a reaction force applied to the accelerator pedal 12 operated by the driver from the control start position, and the degree of opening in the return direction of the accelerator pedal 12 operated by the driver is regulated. Calculate reaction force. Here, the control start position is a position on the travel route of the host vehicle that requires a preset time until the host vehicle reaches the acceleration start position.

In FIG. 5, the time point when the host vehicle reaches the control start position is indicated by “T1”, and the time point when the host vehicle reaches the acceleration start position is indicated by “T2”. Similarly, in FIG. 5, the time point when the host vehicle reaches the target vehicle speed position is indicated by “T3”.
In addition to this, when the host vehicle reaches the acceleration start position, the accelerator pedal operated by the driver is guided so that the opening degree of the accelerator pedal 12 operated by the driver is led to the opening degree corresponding to the target vehicle speed. The reduction degree which reduces the reaction force given to 12 is calculated.

Here, the magnitude of the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position and the speed for changing the reaction force are set in advance using the following procedure.
The magnitude of the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position is calculated according to the guidance stroke calculated in step S20. Specifically, the calculation is performed according to a difference value (guidance stroke) between the opening degree of the accelerator pedal 12 operated by the driver at the acceleration start position and the opening degree according to the target vehicle speed ("FIG. 5" See "Accelerator pedal opening").

  Further, the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position is changed so as not to change the opening degree of the accelerator pedal 12 operated by the driver in the return direction. One speed is calculated using the map shown in FIG. FIG. 6 is a map showing the relationship between the amount of change in the opening of the accelerator pedal 12 and the speed at which the reaction force applied to the accelerator pedal 12 is changed. However, this first speed is not limited to the above speed, and may actually be a slow speed that the driver cannot recognize even if the opening degree of the accelerator pedal 12 changes in the return direction. For example, the speed may be changed at a time of 1 second or more from the control start time.

As shown in FIG. 6, the opening change amount of the accelerator pedal 12 operated by the driver is determined by the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position is changed. There is a region that is “0” (shown as “insensitive region” in FIG. 6).
This is because when the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is changed from the control start position is low, the change in the opening degree of the accelerator pedal 12 is stiffness (which is a response characteristic of the driver's foot). This is because it is absorbed by joint stiffness. That is, in the region where the change amount of the opening degree of the accelerator pedal 12 operated by the driver is “0”, the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is changed from the control start position. Is a region that is a value absorbed by joint stiffness.

Therefore, in the present embodiment, the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position is changed to a speed corresponding to the insensitive area.
Here, the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position in the insensitive region is determined by the weight of the accelerator pedal 12 and the weight of the driver's foot described above. It is a value set according to the total value. In addition to this, the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position is set according to the viscoelastic force of the driver's foot and the elastic force of the return spring. Value.

  The total value of the weight of the accelerator pedal 12 and the weight of the driver's foot gives, for example, a reaction force to the accelerator pedal 12 when the distance between the obstacle in front of the host vehicle and the host vehicle approaches. It calculates based on the opening degree change rate of the accelerator pedal 12 at the time of doing. Here, the opening degree change rate of the accelerator pedal 12 is a change amount per unit time of the opening degree of the accelerator pedal 12. Specifically, it includes the speed at which the opening degree of the accelerator pedal 12 changes, the depression force of the accelerator pedal 12 by the driver, and the acceleration when the opening degree of the accelerator pedal 12 changes.

Similarly, the viscoelastic force of the driver's foot is, for example, the accelerator pedal 12 when a reaction force is applied to the accelerator pedal 12 when the distance between the obstacle existing in front of the host vehicle and the host vehicle approaches. It is calculated based on the opening degree change rate of the.
Further, the elastic force of the return spring is stored in advance in the pedal reaction force control unit 6.

  As described above, in the present embodiment, the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position is changed according to the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is changed. Will be described. Specifically, even if the reaction force described above is applied to the accelerator pedal 12 operated by the driver, the driver's foot placed on the accelerator pedal 12 reduces the opening of the accelerator pedal 12. This is applied to the accelerator pedal 12 being operated by the driver so that the driver does not move in the direction in which the driver operates.

As a result, during the period from the time “T1” to the time “T2”, the driver operates a reaction force that restricts the opening change in the return direction of the accelerator pedal 12 operated by the driver. This is applied to the accelerator pedal 12.
Further, in the present embodiment, a case will be described in which the reaction force is a reaction force corresponding to the difference value using the reaction characteristic stored in the reaction characteristic storage unit 24.

  In addition, the degree of decrease described above is based on the guide stroke calculated in step S20 so that the opening degree of the accelerator pedal 12 operated by the driver is led to the opening degree corresponding to the target vehicle speed, and the map shown in FIG. Calculate using. That is, the reaction force described above is a reaction force according to a difference value (induction stroke) between the opening degree of the accelerator pedal 12 operated by the driver at the acceleration start position and the opening degree according to the target vehicle speed. (See “Accelerator pedal opening” in FIG. 5).

As shown in FIG. 6, the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver from the control start position is changed to the amount of change in the opening degree of the accelerator pedal 12 operated by the driver. However, there is a region (indicated as “sensitive region” in FIG. 6) that is constant in the value in the return direction.
Further, as shown in FIG. 6, the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is changed from the control start position has a region where the amount of change in the opening degree of the accelerator pedal 12 increases. Exists. This region is a region where the change amount of the opening degree of the accelerator pedal 12 increases with an increase in the speed at which the reaction force is changed between the value of the insensitive region and the value of the sensitive region.

  That is, in the region where the speed of changing the reaction force applied to the accelerator pedal 12 operated by the driver is higher than the insensitive region, the change amount of the opening degree of the accelerator pedal 12 operated by the driver is an absolute value. Becomes positive. Furthermore, in the region where the speed at which the reaction force is changed is higher than the region in which the amount of change in the opening increases with the increase in the speed at which the reaction force is changed as described above, the accelerator pedal 12 operated by the driver The amount of change in the opening is constant at the maximum value. The speed in the area where the speed of changing the reaction force applied to the accelerator pedal 12 operated by the driver is higher than the insensitive area is defined as the second speed. This second speed is naturally faster than the first speed. For example, the speed changes at a time of 0.5 seconds or less from the acceleration start time.

  As shown in FIG. 7, the change amount of the reaction force applied to the accelerator pedal 12 operated by the driver is a region where the change amount of the opening degree of the accelerator pedal 12 is “0”, that is, This is because a region similar to the insensitive region is present. FIG. 7 is a map showing the relationship between the amount of change in the opening degree of the accelerator pedal 12 and the amount of change in the reaction force applied to the accelerator pedal 12.

  Further, as shown in FIG. 7, the change amount of the reaction force applied to the accelerator pedal 12 operated by the driver includes a change in the opening degree of the accelerator pedal 12 as the reaction force change amount increases. There are areas where the amount increases. This region is a region where the change amount of the reaction force applied to the accelerator pedal 12 operated by the driver is larger than the region where the change amount of the opening degree of the accelerator pedal 12 is “0”.

Here, when the reaction force applied to the accelerator pedal 12 operated by the driver is decreased, the opening degree of the accelerator pedal 12 operated by the driver is increased. Further, when the degree of decrease is increased, the amount of change in the opening degree of the accelerator pedal 12 operated by the driver increases.
Further, as described above, when the speed of changing the reaction force applied to the accelerator pedal 12 operated by the driver is low, the opening degree change of the accelerator pedal 12 operated by the driver is absorbed by the joint stiffness. Is done. For this reason, the amount of change in the opening degree of the accelerator pedal 12 operated by the driver increases as the speed at which the reaction force is changed is increased.

Therefore, the reduction degree is calculated so that the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is reduced corresponds to the sensitive area.
Further, in the present embodiment, as the reaction force applied to the accelerator pedal 12 operated by the driver is reduced, the driver's feet on the accelerator pedal 12 are A case where calculation is performed so as to move in the direction in which the opening degree increases will be described. This calculation is performed according to the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is changed.

Further, in the present embodiment, a case will be described in which the degree of decrease is calculated according to the difference value using the reaction characteristic stored in the reaction characteristic storage unit 24.
As described above, when the reaction force applied to the accelerator pedal 12 operated by the driver is calculated in step S30, the processing performed by the pedal reaction force control unit 6 proceeds to step S40.
In step S40, a process of applying the reaction force calculated in step S30 to the accelerator pedal 12 operated by the driver at time “T1” is performed.

  Specifically, the reaction force calculated in step S30 is calculated from the start of application of the reaction force to the accelerator pedal 12 until the acceleration start position is reached ("T1" to "T2"). Is applied to the accelerator pedal 12 being operated. The reaction force calculated in step S30 is applied to the accelerator pedal 12 without changing the opening degree of the accelerator pedal 12 operated by the driver. If the process which provides reaction force to the accelerator pedal 12 which the driver | operator is operating in step S40 is performed, the process which the pedal reaction force control part 6 performs will transfer to step S50.

Here, the time point “T1”, that is, the control start position is determined according to the magnitude of the reaction force applied to the accelerator pedal 12 operated by the driver and the speed at which the reaction force is changed, which is calculated in step S30. Set in advance.
In step S50, using the degree of reduction calculated in step S30, processing for reducing the reaction force applied to the accelerator pedal 12 operated by the driver in step S40 is performed.

Specifically, when the host vehicle reaches the acceleration start position (“T2”), the reaction force applied to the accelerator pedal 12 in step S40 is decreased by the reduction degree calculated in step S30. If the process which reduces the reaction force given to the accelerator pedal 12 which the driver | operator is operating in step S50 is performed, the process which the pedal reaction force control part 6 performs will transfer to step S60.
In step S60, the opening degree (target opening degree) of the accelerator pedal 12 corresponding to the target vehicle speed is compared with the actual opening degree (actual opening degree) of the accelerator pedal 12, and the actual opening degree of the accelerator pedal 12 is determined as a target. It is determined whether or not the opening of the accelerator pedal 12 is less than the vehicle speed. And when the opening degree of the actual accelerator pedal 12 is less than the opening degree of the accelerator pedal 12 according to the target vehicle speed, the process which the pedal reaction force control part 6 performs transfers to step S70.

On the other hand, when the actual opening degree of the accelerator pedal 12 is equal to the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed, the pedal reaction force control unit 6 ends the processing (END).
In step S70, the decrease degree is increased and corrected so that the actual opening degree of the accelerator pedal 12 becomes an opening degree corresponding to the target vehicle speed.

  Specifically, the degree of decrease is set according to the opening difference between the actual opening of the accelerator pedal 12 and the opening of the accelerator pedal 12 corresponding to the target vehicle speed, that is, the shortage of the actual accelerator pedal 12. Increase correction. Accordingly, as shown in FIG. 8, the reaction force applied to the accelerator pedal 12 operated by the driver is decreased again from the value decreased in step S50, and the actual opening degree of the accelerator pedal 12 is obtained. The opening degree difference with the opening degree of the accelerator pedal 12 according to the target vehicle speed is reduced. FIG. 8 is a diagram showing the relationship between the amount of change in the reaction force applied to the accelerator pedal 12 operated by the driver and the elapsed time. Further, in FIG. 8, the change amount of the reaction force applied to the accelerator pedal 12 before performing the above increase correction and the change amount of the reaction force applied to the accelerator pedal 12 at the time of performing the above increase correction, Both are indicated by the symbol “●”.

  For example, as shown in FIG. 9, the value of the reaction force decreased in step S50 is the minimum value that the reaction force application unit 4 can apply to the accelerator pedal 12 (in FIG. 8 and FIG. 9, “min If the value is close to ")", the above-mentioned degree of decrease is corrected for decrease. Thereafter, the degree of decrease is increased and corrected according to the actual shortage of the accelerator pedal 12. FIG. 9 is a diagram showing the relationship between the change amount of the reaction force applied to the accelerator pedal 12 operated by the driver and the elapsed time. In FIG. 9, as in FIG. 8, the amount of change in the reaction force applied to the accelerator pedal 12 before the increase correction is performed and the reaction force applied to the accelerator pedal 12 when the increase correction is performed. The amount of change is indicated by the symbol “●”.

That is, when the reaction force value decreased in step S50 is close to the minimum value that the reaction force applying unit 4 can apply to the accelerator pedal 12, it is difficult to increase and correct the decrease degree. Then, after the decrease degree is corrected for the decrease, the increase correction is performed.
In step S70, the pedal reaction force control unit 6 terminates the process when the process of increasing the above-described decrease is performed so that the actual opening degree of the accelerator pedal 12 becomes an opening degree corresponding to the target vehicle speed ( END).

(Operation)
First, with reference to FIGS. 1-9, the operation | movement which the driving assistance apparatus 1 of this embodiment performs is demonstrated.
During the traveling of the host vehicle, for example, when the target vehicle speed position such as the introduction path at the junction of the general road and the expressway and the acceleration start position described above are detected on the traveling path of the host vehicle, the traveling support device 1 The acceleration that can be accelerated from the current vehicle speed to the target vehicle speed is calculated. As described above, this acceleration is an acceleration that can be accelerated from the current vehicle speed to the target vehicle speed while the host vehicle moves from the acceleration start position to the target vehicle speed position.

  Then, when the traveling vehicle reaches the control start position (“T1”), the calculation is made in step S30 until the traveling vehicle reaches the acceleration start position (“T2”). The reaction force is applied to the accelerator pedal 12 operated by the driver. Here, the reaction force calculated in step S30 is a reaction force that restricts the change in the opening degree of the accelerator pedal 12 operated by the driver in the return direction.

Thereby, between the time points “T1” and “T2” described above, the accelerator pedal 12 operated by the driver is maintained while the opening degree of the accelerator pedal 12 operated by the driver is not changed. The reaction force to be applied is increased (see FIG. 5).
When the traveling vehicle reaches the acceleration start position, the reaction force applied to the accelerator pedal 12 operated by the driver is reduced at the time “T2” with the reduction degree calculated in step S30. That is, at the time “T2”, the reaction force applied to the accelerator pedal 12 operated by the driver so that the opening degree of the accelerator pedal 12 operated by the driver is led to an opening degree corresponding to the target vehicle speed. Decrease.

  At this time, the degree of reduction for reducing the reaction force applied to the accelerator pedal 12 operated by the driver is calculated according to the guide stroke calculated in step S20. In addition to this, the degree of decrease in reducing the reaction force applied to the accelerator pedal 12 operated by the driver is such that the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is decreased is the above-mentioned sensitivity. The calculation is performed so that the speed corresponding to the region is obtained.

For this reason, when the reaction force applied to the accelerator pedal 12 operated by the driver is reduced, the driver's foot placed on the accelerator pedal 12 is depressed in the direction in which the accelerator pedal 12 is depressed. Will be guided to. That is, when the host vehicle reaches the acceleration start position, it is possible to guide the driver who puts his / her foot on the accelerator pedal 12 to an operation for increasing the opening degree of the accelerator pedal 12 without a stepping operation. .
Here, the guidance stroke calculated in step S20 is based on the opening degree of the accelerator pedal 12 operated by the driver and the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed (“80 km / h” in FIG. 5). This is the amount of guidance in the step-down direction.

  Therefore, when the reaction force applied to the accelerator pedal 12 operated by the driver is reduced, the vehicle speed of the host vehicle becomes the target vehicle speed at the time “T3” when the host vehicle reaches the target vehicle speed position. That is, in a situation where it is preferable to accelerate the host vehicle, such as traveling on an introduction road at a junction between a general road and an expressway, the host vehicle is not required to step on the accelerator pedal 12 without a stepping operation. When the vehicle reaches the target vehicle speed position, the vehicle speed of the host vehicle becomes the target vehicle speed.

  At the time “T2”, the reaction force applied to the accelerator pedal 12 operated by the driver is reduced by the degree of decrease calculated in step S30, and then applied to the accelerator pedal 12 operated by the driver. Control the reaction force. This control is performed so that the opening degree of the accelerator pedal 12 operated by the driver maintains the opening degree corresponding to the target vehicle speed between the time point “T2” and the time point “T3”. Thereby, the acceleration of the own vehicle is set as the target acceleration calculated in step S10.

  Further, after the vehicle speed of the host vehicle reaches the target vehicle speed at time “T3”, control of the reaction force applied to the accelerator pedal 12 operated by the driver so as to maintain the vehicle speed of the host vehicle at the target vehicle speed. (See FIG. 5). For example, as shown in FIG. 5, this control is performed by the driver so that the opening of the accelerator pedal 12 operated by the driver does not increase more than the opening according to the target vehicle speed. The control includes increasing the reaction force applied to the accelerator pedal 12. Further, as shown in FIG. 5, for example, the above-mentioned control is performed by the driver so that the opening degree of the accelerator pedal 12 operated by the driver becomes an opening degree corresponding to the target vehicle speed. And a control for reducing the reaction force applied to the accelerator pedal 12.

  As described above, the driving support method implemented by the operation of the driving support device 1 according to the present embodiment detects a target vehicle speed position at which the vehicle speed of the host vehicle is a preset target vehicle speed on the driving route of the host vehicle. A target vehicle speed position detecting step. The method further includes an acceleration start position detecting step of detecting an acceleration start position on the travel route, which starts acceleration for setting the vehicle speed to the target vehicle speed at the target vehicle speed position.

  In addition to this, the driving support method implemented by the operation of the driving support device 1 of the present embodiment regulates the opening degree change from the control start position in the return direction of the accelerator pedal operated by the driver of the host vehicle. This is a method including a regulation reaction force applying step of applying a reaction force of a certain degree to the accelerator pedal. Furthermore, when the host vehicle reaches the acceleration start position, the accelerator pedal operated by the driver is counteracted so that the opening degree of the accelerator pedal operated by the driver is led to an opening degree corresponding to the target vehicle speed. This is a method having a reaction force reducing step of reducing the reaction force applied in the force applying step.

Here, in the regulation reaction force applying step, the reaction force that restricts the change in the opening degree of the accelerator pedal operated by the driver of the host vehicle is changed to the opening change in the return direction of the accelerator pedal. Apply to the accelerator pedal at a first speed that cannot be recognized.
In the reaction force reduction step, the reaction force applied to the accelerator pedal operated by the driver in the regulation reaction force application step is decreased at a second speed faster than the first speed.

Thus, the navigation system unit 2 and the pedal reaction force control unit 6 correspond to the host vehicle position detection unit, the travel route detection unit, the target vehicle speed position detection unit, and the acceleration start position detection unit. The reaction force application unit 4 and the pedal reaction force control unit 6 correspond to a regulation reaction force application unit and a reaction force reduction unit. The accelerator pedal opening sensor 16 corresponds to an accelerator pedal opening detector.
Steps S20 and S30 correspond to a target vehicle speed position detection step and an acceleration start position detection step. Step S40 corresponds to a regulation reaction force applying step. Step S50 corresponds to a reaction force reduction step.

(Effects of the first embodiment)
If it is the driving assistance device 1 of this embodiment, it will become possible to produce the effect described below.
(1) From the control start position where the travel support device 1 requires a preset time required until the host vehicle reaches the acceleration start position, the travel support device 1 moves in the return direction of the accelerator pedal 12 operated by the driver of the host vehicle. A reaction force that restricts the change in opening is applied to the accelerator pedal 12. Here, the reaction force that restricts the change in the opening is applied to the accelerator pedal 12 at a first speed at which the change in the opening in the return direction of the accelerator pedal 12 cannot be recognized. In addition to this, when the host vehicle reaches the acceleration start position, the accelerator pedal operated by the driver is guided so that the opening degree of the accelerator pedal 12 operated by the driver is led to the opening degree corresponding to the target vehicle speed. The reaction force applied to 12 is decreased at a second speed faster than the first speed.

For this reason, when the host vehicle reaches the acceleration start position, the accelerator on which the driver puts his / her feet so that the opening degree of the accelerator pedal 12 on which the driver puts his / her foot is led to an opening degree corresponding to the target vehicle speed. The reaction force applied to the pedal 12 can be reduced.
As a result, in a situation where it is preferable to accelerate the host vehicle, it is possible to guide the driver to perform an acceleration operation that increases the opening degree of the accelerator pedal 12 as the reaction force applied to the accelerator pedal 12 decreases. . Note that the situation where it is preferable to accelerate the host vehicle is, for example, traveling on an introduction road at a junction between a general road and a highway.

(2) The reaction force applied to the accelerator pedal 12 operated by the driver is a reaction force according to a difference value between the opening degree of the accelerator pedal 12 at the acceleration start position and the opening degree according to the target vehicle speed. In addition to this, the reaction force applied to the accelerator pedal 12 operated by the driver is reduced according to the difference value.
As a result, an operation of increasing the opening degree of the accelerator pedal 12 that is guided to the driver can be performed according to the speed difference between the vehicle speed at the acceleration start position and the target vehicle speed.

(3) A reaction in which the driver's foot on the accelerator pedal 12 reacts to the difference between the opening at the acceleration start position of the accelerator pedal 12 operated by the driver and the opening according to the target vehicle speed. Value based on characteristics. Here, the response characteristic is a characteristic in which the driver's foot on the accelerator pedal 12 reacts to a change in the reaction force applied to the accelerator pedal 12 operated by the driver.
As a result, an operation of increasing the opening degree of the accelerator pedal 12 that is guided to the driver can be performed according to the physical characteristics of the driver, such as the viscoelastic force of the driver's feet.

(4) The reaction force is applied to the accelerator pedal 12 operated by the driver according to the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is changed. Even if this reaction force gives a reaction force to the accelerator pedal 12 operated by the driver, the driver's foot placed on the accelerator pedal 12 does not move in the direction in which the opening degree of the accelerator pedal 12 decreases. The value is as follows.
As a result, it is possible to suppress the driver who puts his / her foot on the accelerator pedal 12 from feeling an increase in the reaction force applied to the accelerator pedal 12.

(5) The reaction force applied to the accelerator pedal 12 operated by the driver is decreased according to the speed at which the reaction force applied to the accelerator pedal 12 operated by the driver is changed. Here, the decrease in the reaction force is accompanied by a decrease in the reaction force applied to the accelerator pedal 12 operated by the driver, and the opening degree of the accelerator pedal 12 increases by the driver's foot placed on the accelerator pedal 12. Move in the direction.
As a result, it is possible to suppress the change in the opening degree of the accelerator pedal 12 from being absorbed by the stiffness (joint stiffness) that is the response characteristic of the driver's foot.

(6) The reaction force applied to the accelerator pedal 12 operated by the driver is a difference value between the opening at the acceleration start position and the opening according to the target vehicle speed of the accelerator pedal 12 operated by the driver. The reaction force according to In addition, the reaction force applied to the accelerator pedal 12 operated by the driver is reduced. Here, the reaction force to be applied and the reaction characteristic stored in the reaction characteristic storage unit 24 are used. Further, the reaction force applied is reduced by using the reaction characteristic stored in the reaction characteristic storage unit 24 and further according to the difference value between the opening at the acceleration start position and the opening according to the target vehicle speed.

For this reason, for example, the reaction force applied to the accelerator pedal 12 and the degree of decrease that decreases the reaction force applied to the accelerator pedal 12 according to the muscle characteristics (muscle strength, flexibility, etc.) of the foot, which are different for each driver. It becomes possible to set.
As a result, for example, even when the driver changes or when the driver's muscular strength increases or decreases, the operation of increasing the opening of the accelerator pedal 12 according to the driver's personal characteristics, It is possible to guide the driver.

(7) The reaction characteristic storage unit 24 updates the stored reaction characteristic according to the history of the difference between the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed and the actual opening degree of the accelerator pedal 12.
As a result, with respect to the setting of the reaction force applied to the accelerator pedal 12 and the setting of the degree of reduction for reducing the reaction force applied to the accelerator pedal 12, the accuracy can be improved according to the increase in history.

(8) The reaction characteristic storage unit 24 updates the stored reaction characteristic so that the difference between the opening degree of the accelerator pedal 12 corresponding to the target vehicle speed and the actual opening degree of the accelerator pedal 12 decreases.
As a result, with respect to the setting of the reaction force applied to the accelerator pedal 12 and the setting of the degree of reduction for reducing the reaction force applied to the accelerator pedal 12, the accuracy can be improved according to the update of the reaction characteristics.

(9) The reaction force applied to the accelerator pedal 12 operated by the driver is reduced again so that the actual opening degree of the accelerator pedal 12 is led to an opening degree corresponding to the target vehicle speed. The reaction force is decreased again when the reaction force applied to the accelerator pedal 12 operated by the driver is decreased and the actual opening of the accelerator pedal 12 is less than the opening corresponding to the target vehicle speed.
As a result, when guiding the driver to increase the opening of the accelerator pedal 12, it is possible to suppress the actual opening of the accelerator pedal 12 from being less than the opening corresponding to the target vehicle speed. It becomes.

(10) In the driving support method of the present embodiment, in the regulation reaction force application step, a reaction force that restricts the opening change in the return direction of the accelerator pedal 12 operated by the driver from the control start position is applied. To the accelerator pedal 12. In addition, in the reaction force reduction step, the accelerator pedal 12 operated by the driver is controlled against the control pedal so that the opening degree of the accelerator pedal 12 operated by the driver is led to an opening degree corresponding to the target vehicle speed. Reduce the reaction force applied in the force application step. Here, the process in the reaction force reduction step is performed when the host vehicle reaches the acceleration start position. In the regulation reaction force applying step, the reaction force that restricts the opening change in the return direction of the accelerator pedal 12 operated by the driver of the host vehicle is changed to the opening change in the return direction of the accelerator pedal 12. Is applied to the accelerator pedal 12 at a first speed at which it cannot be recognized. Furthermore, in the reaction force reduction step, the reaction force applied to the accelerator pedal 12 operated by the driver in the regulation reaction force application step is decreased at a second speed faster than the first speed.

Therefore, when the host vehicle reaches the acceleration start position, the accelerator pedal on which the driver puts his / her foot so that the opening degree of the accelerator pedal 12 on which the driver puts his / her foot becomes an opening degree corresponding to the target vehicle speed. The reaction force applied to 12 can be reduced with a preset reduction degree.
As a result, in a situation where it is preferable to accelerate the host vehicle, it is possible to guide the driver to perform an acceleration operation that increases the opening degree of the accelerator pedal 12 as the reaction force applied to the accelerator pedal 12 decreases. .

DESCRIPTION OF SYMBOLS 1 Driving assistance device 2 Navigation system part 4 Reaction force provision part 6 Pedal reaction force control part 8 Database part 10 Own vehicle position measurement part 12 Accelerator pedal 14 Servo motor 16 Accelerator pedal opening sensor 18 Engine 20 Distance sensor 22 Vehicle speed sensor 24 Reaction Characteristic storage

Claims (10)

A host vehicle position detection unit for detecting the position of the host vehicle;
A travel route detection unit for detecting a travel route of the host vehicle;
A target vehicle speed position detection unit that detects a target vehicle speed position at which the vehicle speed of the host vehicle is set in advance as the target vehicle speed on the travel route;
An acceleration start position detector for detecting an acceleration start position on the travel route, which starts acceleration for setting the vehicle speed to the target vehicle speed at the target vehicle speed position;
The degree to which the opening degree change in the return direction of the accelerator pedal operated by the driver of the host vehicle from the control start position that requires a predetermined time required until the host vehicle reaches the acceleration start position is regulated A reaction force imparting part to the accelerator pedal at a first speed that is a speed that does not change the opening degree of the accelerator pedal operated by the driver in the return direction ; and
When the host vehicle reaches the acceleration start position, the accelerator pedal operated by the driver is guided so that the opening degree of the accelerator pedal operated by the driver is led to an opening degree corresponding to the target vehicle speed. And a reaction force reducing unit that reduces the reaction force applied by the restriction reaction force applying unit at a second speed faster than the first speed. The reaction force applied by the restriction reaction force applying unit to the accelerator pedal operated by the driver is determined according to a difference value between the opening degree of the accelerator pedal at the acceleration start position and the opening degree according to the target vehicle speed. Reaction force,
The driving assistance device according to claim 1, wherein the reaction force reducing unit reduces a reaction force applied to an accelerator pedal operated by the driver according to the difference value. The difference is corrected by correcting the difference value based on a reaction characteristic that the driver's foot on the accelerator pedal reacts to a change in reaction force applied to the accelerator pedal operated by the driver. The reaction force according to the value is the reaction force applied by the restriction reaction force application unit,
The reaction force reduction section, the corrected according to the difference value, the driving support apparatus according to claim 2, characterized in Rukoto reduces the reaction force applied to the accelerator pedal which the driver is operating. The regulation reaction force applying unit applies a reaction force to the accelerator pedal operated by the driver, so that the driver's foot placed on the accelerator pedal decreases in a direction in which the opening degree of the accelerator pedal decreases. The speed at which the reaction force applied to the accelerator pedal operated by the driver is changed from the control start position so as not to move is absorbed by the joint stiffness, which is the reaction characteristic of the driver's foot. The reaction force is applied to the accelerator pedal operated by the driver according to a speed corresponding to the insensitive region that is a value to be determined according to any one of claims 1 to 3. The travel support device described. The reaction force reducing unit is configured to increase the degree of opening of the accelerator pedal when the driver's foot placed on the accelerator pedal decreases as the reaction force applied to the accelerator pedal operated by the driver decreases. The driver according to a speed corresponding to a sensitive area having a predetermined speed and a change amount of the opening degree of the accelerator pedal operated by the driver is constant in a return direction. 5. The travel support apparatus according to claim 1, wherein the reaction force applied by the restriction reaction force applying unit to an accelerator pedal operated by the vehicle is reduced. A reaction characteristic storage unit that stores a reaction characteristic that a driver's foot on the accelerator pedal reacts to a change in a reaction force applied to the accelerator pedal operated by the driver;
An accelerator pedal opening detector for detecting the opening of the accelerator pedal, and
The regulation reaction force applying unit is operated by the driver using a reaction characteristic stored in the reaction characteristic storage unit, and a reaction force applied to an accelerator pedal operated by the driver. The accelerator pedal has a reaction force according to a difference value between an opening at the acceleration start position and an opening according to the target vehicle speed,
The reaction force reducing unit uses the reaction characteristic stored in the reaction characteristic storage unit, and the restriction reaction force applying unit is applied to an accelerator pedal operated by the driver according to the difference value. The driving support device according to any one of claims 2 to 5, wherein the reaction force is reduced.   The reaction characteristic storage unit updates the stored reaction characteristic according to a history of a difference between an opening degree of the accelerator pedal corresponding to the target vehicle speed and an actual opening degree of the accelerator pedal, The travel support apparatus according to claim 6.   The reaction characteristic storage unit updates the stored reaction characteristic so that a difference between an opening degree of the accelerator pedal corresponding to the target vehicle speed and an actual opening degree of the accelerator pedal is reduced. The travel support apparatus according to claim 6 or 7.   The reaction force reducing unit reduces a reaction force applied by the restriction reaction force applying unit to an accelerator pedal operated by the driver, and an actual opening degree of the accelerator pedal is opened according to the target vehicle speed. If the degree is less than the degree, the reaction force applied by the restriction reaction force applying unit is applied to the accelerator pedal operated by the driver so that the actual opening degree of the accelerator pedal is led to an opening degree corresponding to the target vehicle speed. The driving support device according to any one of claims 1 to 8, wherein the force is reduced again. A target vehicle speed position detecting step for detecting a target vehicle speed position at which the vehicle speed of the host vehicle is set in advance as a target vehicle speed on the travel route of the host vehicle;
An acceleration start position detecting step for detecting an acceleration start position on the travel route, which starts acceleration for setting the vehicle speed to the target vehicle speed at the target vehicle speed position;
The degree to which the opening degree change in the return direction of the accelerator pedal operated by the driver of the host vehicle from the control start position that requires a predetermined time required until the host vehicle reaches the acceleration start position is regulated A reaction force to be applied to the accelerator pedal at a first speed that does not change the opening of the accelerator pedal operated by the driver in the return direction ; and
When the host vehicle reaches the acceleration start position, the accelerator pedal operated by the driver is guided so that the opening degree of the accelerator pedal operated by the driver is led to an opening degree corresponding to the target vehicle speed. And a reaction force reduction step of reducing the reaction force applied in the restriction reaction force application step at a second speed faster than the first speed.

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