JP6631073B2 - Driving support device, driving support method, and driving support program - Google Patents

Description

  The present invention relates to a driving support device, a driving support method, and a driving support program, and more particularly, to a technique for automatically canceling an adaptive cruise control function according to a running speed of a vehicle.

  In recent years, various driving assistance devices have been developed and put into practical use to reduce the burden on drivers and avoid accidents. As one of such driving support devices, there is known a device having an adaptive cruise control function (hereinafter, referred to as “ACC function”) (for example, Patent Document 1). Generally, it is assumed that the ACC function is used when traveling on a highway where the frequency of operation of an accelerator or a brake is relatively low, and a speed range in which a target speed during constant speed traveling can be set (hereinafter referred to as “setting”). (Referred to as “possible speed range”) (for example, 40 to 110 km / h).

  In a driving assistance device having an ACC function, for example, the current vehicle speed is set as a target speed by a driver performing an operation to activate the ACC function during traveling at a speed within a settable speed range. When there is no preceding vehicle, the vehicle travels at a constant speed at the set target speed. When there is a preceding vehicle, the vehicle follows the vehicle while maintaining a constant inter-vehicle distance (target inter-vehicle distance). Is performed, the driving force and the braking force of the vehicle are controlled. Normally, the ACC function is released by a driver's release operation (for example, a release button operation or a brake operation).

  Follow-up running can technically correspond to all vehicle speeds, including stopping / starting the vehicle. However, if the ACC function is too versatile, the driver's driving consciousness may decrease, and the response to an unexpected situation may be delayed. Therefore, when the vehicle speed falls below a predetermined speed (generally, the lower limit value of the settable speed range) by the braking control (deceleration control) during the following running, the ACC function is automatically released. Often.

  When the ACC function is automatically released, the own vehicle approaches the preceding vehicle because no further braking control is performed. The driver senses danger from the approaching situation and performs the brake operation by himself. That is, by automatically canceling the ACC function based on the own vehicle speed, at least the stop operation of the vehicle is performed with the driver's consciousness. Driving consciousness is not impaired. As described above, it is preferable that the ACC function not only reduces the driving load but also considers safety.

JP-A-7-17295

  In the driving support device having the ACC function described above, when the own vehicle is approaching the preceding vehicle, it is assumed that the driver himself performs the brake operation to avoid danger before the ACC function is automatically released. are doing. However, the ACC function may be automatically canceled when the vehicle is suddenly decelerated with the deceleration of the preceding vehicle or when the driver does not know the vehicle speed. In this case, the inter-vehicle distance from the preceding vehicle is reduced at a stretch in a short time, which is not preferable from the viewpoint of safety.

  An object of the present invention is to provide a driving support device, a driving support method, and a driving support program that can reduce a driving burden on a driver and ensure a certain level of safety.

The driving support device according to the present invention,
A driving support device mounted on a vehicle having a drive system and a braking system,
A vehicle speed detection unit for detecting the vehicle speed,
An inter-vehicle distance detection unit that measures an inter-vehicle distance with a preceding vehicle;
An automatic traveling information setting unit that sets a target speed when performing constant speed traveling within a settable speed range, and sets a target inter-vehicle distance when performing following traveling,
When there is no preceding vehicle, the drive system and the braking system are controlled so that the own vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance to the preceding vehicle is equal to the target inter-vehicle distance. An automatic traveling control unit that controls the drive system and the braking system so that
Comprising an automatic travel releasing unit for releasing the control by the pre-Symbol automatic travel control unit, the,
The braking system includes a service brake and an auxiliary brake,
The automatic travel release unit releases the automatic control of the drive system and the auxiliary brake when the own vehicle speed during the following travel falls below a lower limit value of the settable speed range, and performs the following by the service brake. The running is continued , and when the speed falls below a predetermined release speed, the automatic control of the service brake is released to terminate the following travel .

The driving support method according to the present invention,
Drive system, a braking system including a service brake and auxiliary brake, a vehicle speed detector for detecting the vehicle speed, vehicle distance detection section that measures the distance to the preceding vehicle, and can set a target speed for performing constant-speed running A driving support method for a vehicle including an automatic driving information setting unit that sets a target inter-vehicle distance in a case where a following distance is set while performing setting within a speed range,
(A) controlling the drive system and the braking system so that the own vehicle speed becomes the target speed when there is no preceding vehicle, and when the preceding vehicle is present, the inter-vehicle distance to the preceding vehicle is set to the target speed. Controlling the drive system and the braking system so as to be the following distance;
(B) In the previous SL step includes a step, the releasing the control by the automatic travel control unit (B), when the vehicle speed in the follow-up running is below the lower limit of the settable speed range, the drive Releasing the control of the system and the auxiliary brake to continue the following running by the service brake , and further, when reaching a predetermined release speed, canceling the control of the service brake and terminating the following running. Features.

The driving support program according to the present invention,
Drive system, a braking system including a service brake and auxiliary brake, a vehicle speed detector for detecting the vehicle speed, vehicle distance detection section that measures the distance to the preceding vehicle, and can set a target speed for performing constant-speed running Set within the speed range, the computer of the vehicle equipped with an automatic driving information setting unit that sets the target inter-vehicle distance when performing follow-up driving,
(A) controlling the drive system and the braking system such that the own vehicle speed becomes the target speed when there is no preceding vehicle, and when the preceding vehicle is present, the inter-vehicle distance to the preceding vehicle is set to the target speed. A process of controlling the drive system and the braking system so as to be the following distance;
(B) a process for releasing the control by the pre-Symbol automatic travel control unit, is executed,
In the process (B), when the own vehicle speed during the following travel falls below the lower limit value of the settable speed range, the control of the drive system and the auxiliary brake is released to perform the following travel by the service brake. The process is continued , and when the predetermined release speed is reached, a process of releasing the control of the service brake and terminating the following travel is executed.

  According to the present invention, the driving burden on the driver is reduced, and a certain level of safety is ensured. That is, even if the lower limit value of the settable speed range is reached during the follow-up running, the automatic control of the braking system is not immediately released, and until the driver senses danger due to the approaching situation with the preceding vehicle and performs the driving operation by himself. Since the grace period is given, the driving burden is reduced and a certain level of safety is ensured.

1 is a diagram illustrating an example of a configuration of a vehicle including a travel control device according to an embodiment of the present invention. It is a flow chart which shows an example of automatic running cancellation processing.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a diagram illustrating an example of a configuration of a vehicle 1 including a driving support device according to an embodiment of the present invention. The vehicle 1 shown in FIG. 1 is, for example, a large vehicle such as a truck equipped with an in-line six-cylinder diesel engine. The vehicle 1 includes a driving support device S that realizes an adaptive cruise control function (ACC function). That is, the driving support device S performs the constant speed traveling control and the following traveling control (hereinafter, collectively referred to as “automatic traveling control”) in the vehicle 1.

  As shown in FIG. 1, the vehicle 1 includes a drive system 10 for driving the vehicle 1, a braking system 20 for decelerating the vehicle 1, a travel control unit 30 for controlling the travel of the vehicle 1, and the like.

  The drive system 10 includes an engine 11, a clutch 12, a transmission (transmission) 13, a propulsion shaft (propeller shaft) 14, a differential device (differential gear) 15, a drive shaft (drive shaft) 16, wheels 17, an engine ECU 18, And a power transmission ECU 19.

  The engine ECU 18 and the power transmission ECU 19 are connected to the travel control unit 30 via a vehicle-mounted network such as a CAN (Controller Area Network), and can transmit and receive necessary data and control signals to and from each other. The engine ECU 18 controls the output of the engine 11 according to a drive command from the traveling control unit 30. The power transmission ECU 19 controls the connection and disconnection of the clutch 12 and the shift of the transmission 13 in accordance with a drive command from the traveling control unit 30.

  The power of the engine 11 is transmitted to the transmission 13 via the clutch 12. The power transmitted to the transmission 13 is further transmitted to the wheels 17 via the propulsion shaft 14, the differential device 15, and the drive shaft 16. Thereby, the power of the engine 11 is transmitted to the wheels 17 and the vehicle 1 runs.

  The braking system 20 includes a service brake 21, auxiliary brakes 22, 23, a parking brake (not shown), and a brake ECU 24.

  The service brake 21 is generally called a foot brake, and is, for example, a drum brake that obtains a braking force by pressing a brake shoe on the inside of a drum that rotates together with the wheels 17.

  The auxiliary brake 22 is a retarder that obtains a braking force by directly applying a load to the rotation of the propulsion shaft 14 (hereinafter, referred to as “retarder 22”). The auxiliary brake 23 is an exhaust brake that enhances the effect of the engine brake using the rotational resistance of the engine (hereinafter, referred to as “exhaust brake 23”). By providing the retarder 22 and the exhaust brake 23, the braking force can be increased and the use frequency of the service brake 21 is reduced, so that the wear of the brake shoes and the like can be suppressed.

  The brake ECU 24 is connected to the traveling control unit 30 via a vehicle-mounted network such as a CAN, and can transmit and receive necessary data and control signals to and from each other. The brake ECU 24 controls the braking force of the service brake 21 (the brake fluid pressure of the wheel cylinder of the wheel 17) according to a braking command from the traveling control unit 30.

  The braking operation of the service brake 21 is controlled by the traveling control unit 30 and the brake ECU 24. The braking operation of the retarder 22 and the exhaust brake 23 is controlled on / off by the traveling control unit 30. Since the braking force of the retarder 22 and the exhaust brake 23 is almost fixed, the service brake 21 that can finely adjust the braking force is suitable for accurately generating a desired braking force.

  The travel control unit 30 acquires various information from the following distance detection unit 41, the ACC operation unit 42, the accelerator operation detection unit 43, the brake operation detection unit 44, and the vehicle speed sensor 45, and based on the acquired information, the drive system 10 and the operation of the braking system 20 are controlled. In addition, the traveling control unit 30 displays information on traveling on the display unit 50. The display unit 50 is a so-called instrument panel. A display (not shown) of a navigation system may be used as the display unit 50. The display unit 50 displays, for example, various instruments such as a speedometer, a tachometer, a fuel gauge, a water temperature gauge, a distance meter, and information on automatic traveling control.

  Further, the traveling control unit 30 functions as an automatic traveling control unit 31 and an automatic traveling cancellation unit 32. The automatic traveling control unit 31 controls the driving system 10 and the braking system 20 to realize the constant speed traveling and the following traveling. The automatic travel release unit 32 determines whether or not to release the automatic travel control, and when the automatic travel control is released, performs the automatic travel release processing according to a predetermined procedure.

  The inter-vehicle distance detection unit 41 measures an inter-vehicle distance from a preceding vehicle. For example, a laser radar, a millimeter wave radar, an imaging device, or the like can be applied to the inter-vehicle distance detection unit 41 alone or in combination. The traveling control unit 30 controls the operations of the drive system 10 and the braking system 20 during the constant speed traveling and the following traveling based on the detection result of the following distance detecting unit 41.

  The ACC operation unit 42 is a main switch for enabling the execution of the ACC function, an ACC setting switch for setting / releasing the ACC function, a speed setting button for setting the target speed, and for setting the inter-vehicle distance. Including the inter-vehicle distance setting button. The traveling control unit 30 sets information related to automatic traveling control based on an operation signal from the ACC operation unit 42 (a driver operation performed through the ACC operation unit 42).

  The accelerator operation detection unit 43 detects whether or not an accelerator pedal for accelerating the vehicle is depressed, and detects the amount of depression of the accelerator pedal. The traveling control unit 30 sends a drive command to the engine ECU 18 and the power transmission ECU 19 based on the depression amount of the accelerator pedal.

  The brake operation detection unit 44 detects whether or not a brake pedal for operating the service brake 21 has been depressed, and detects the amount of depression of the brake pedal. Further, the brake operation detecting unit 44 detects whether or not the auxiliary brake lever for operating the retarder 22 or the exhaust brake 23 has been operated. The traveling control unit 30 sends a braking command to the brake ECU 24 based on the amount of depression of the brake pedal. The traveling control unit 30 controls the on / off operation of the retarder 22 or the exhaust brake 23 based on the operation of the auxiliary brake lever.

  The vehicle speed sensor 45 is attached to, for example, the propulsion shaft 14 and detects the vehicle speed.

  The driving control unit 30 (the automatic driving control unit 31 and the automatic driving canceling unit 32), the vehicle speed sensor 45, the following distance detection unit 41, and the ACC operation unit 42 constitute the driving support device S. Here, it is assumed that the ACC function is used when traveling on a highway, and the settable speed range is set to 40 to 88 km / h.

  The automatic traveling control unit 31 sets a state in which the ACC function can be executed or a state in which the ACC function cannot be executed based on the operation of the main switch in the ACC operation unit 42. The display unit 50 displays whether or not the ACC function can be executed. When the vehicle speed exceeds the lower limit of the settable speed range (here, 40 km), the display unit 50 indicates that the vehicle is in a standby state in which the ACC function can be activated.

  When the ACC setting switch of the ACC operation unit 42 is operated in the standby state, the automatic traveling control unit 31 activates the ACC function and sets the own vehicle speed at that time as the target speed. The set target speed is displayed on the display unit 50.

  When there is no preceding vehicle, the automatic traveling control unit 31 controls the drive system 10 and the braking system 20 so that traveling at a constant speed at the set target speed is performed. The presence or absence of the preceding vehicle is determined based on the detection result of the following distance detecting unit 41. The driver can increase or decrease the target speed within the set speed range by operating the speed setting button of the ACC operation unit 42.

  On the other hand, when there is a preceding vehicle, the automatic traveling control unit 31 controls the drive system 10 and the braking system 20 such that the following traveling is performed while maintaining the target inter-vehicle distance. The target inter-vehicle distance during the following traveling is appropriately set based on the own vehicle speed and the inter-vehicle distance level. The driver can set the inter-vehicle distance level in stages (for example, five stages) by operating the inter-vehicle distance setting button of the ACC operation unit 42. For example, the target inter-vehicle distance is set to be larger as the own vehicle speed is higher and as the set inter-vehicle distance level is higher. The set inter-vehicle distance level is displayed on the display unit 50.

  The ACC function is released based on the operation of the main switch or the ACC setting switch of the ACC operation unit 42 or the operation of the brake pedal, that is, based on the driver's intentional release operation. Note that the operation of the accelerator pedal during automatic traveling is an operation performed when the vehicle overtakes the preceding vehicle or the like, and is not included in the driver's intentional release operation.

  The ACC function is released when the own vehicle speed falls below the lower limit value of the settable speed range, even if the driver does not perform the release operation. When the ACC function is released, the automatic control of the drive system 10 and the brake system 20 is not performed. That is, after the ACC function is released, even if the vehicle speed is accelerated by operating the accelerator pedal to fall within the settable range, the ACC function is not restarted unless the ACC setting switch is operated again.

  This is because, in the automatic traveling control including the stop / start of the vehicle as in the all-vehicle speed tracking control, the driver's driving consciousness may be reduced, and the response to an unexpected situation may be delayed. That is, in the present embodiment, since the ACC function is automatically canceled based on the own vehicle speed, at least the stop operation of the vehicle is performed under the driver's consciousness. Therefore, it is possible to prevent the driver's driving consciousness from dropping significantly during automatic driving.

  Here, as in the conventional case, when the own vehicle speed falls below the lower limit value of the settable speed range, the automatic traveling control is released, and if the automatic control of the drive system 10 and the braking system 20 is immediately released, The inter-vehicle distance to the vehicle is reduced at a stretch in a short time, which is not preferable from the viewpoint of safety. Therefore, in the present embodiment, the automatic control of the drive system 10 and the braking system 20 is gradually released by the automatic travel release unit 32 executing the automatic travel release processing. Specifically, the automatic traveling release unit 32 executes the automatic traveling release processing according to the flowchart shown in FIG.

  FIG. 2 is a flowchart illustrating an example of the automatic traveling release process executed by the traveling control unit 30 (the automatic traveling release unit 32). This processing is performed, for example, by operating the ACC operation unit 42 to activate the ACC function, and the CPU (Central Processing Unit, not shown) is stored in the ROM (read only memory, not shown). This is realized by calling and executing the support program.

  The travel control unit 30 always obtains information transmitted from the following distance detection unit 41, the ACC operation unit 42, the accelerator operation detection unit 43, the brake operation detection unit 44, and the vehicle speed sensor 45. I do.

  In step S101, the traveling control unit 30 determines whether or not the driver has performed an operation for releasing the ACC function based on information acquired from the ACC operation unit 42 or the brake operation detection unit 44. If the release operation has been performed ("YES" in step S101), the process proceeds to step S108. If the release operation has not been performed (“NO” in step S101), the process proceeds to step S102.

  In step S102, the traveling control unit 30 determines whether or not the own vehicle speed has fallen below a lower limit value (here, 35 km / h) of the settable speed range based on the information acquired from the vehicle speed sensor 45. When the own vehicle speed falls below the lower limit value of the settable speed range ("YES" in step S102), the process proceeds to step S103. If the own vehicle speed is equal to or higher than the lower limit of the settable speed range ("NO" in step S102), the process proceeds to step S101.

  In step S103, the traveling control unit 30 releases the control by the automatic traveling control unit 31. Specifically, the automatic control of the drive system 10 by the automatic traveling control unit 31 is released, and the automatic control of the braking system 20 is maintained. Therefore, when the preceding vehicle accelerates, the inter-vehicle distance increases. In this case, the driver operates the accelerator pedal to accelerate.

  Here, it is preferable that the traveling control unit 30 notifies the driver that the ACC function has been released, and prompts the driver to perform a brake operation. The traveling control unit 30 can perform notification by using, for example, the display unit 50 and a sound output device (not shown). As a result, the driver can easily know that the own vehicle speed has decreased and the ACC function has been released, and that a brake operation is necessary to avoid danger.

  In step S <b> 104, the traveling control unit 30 releases the automatic control of the retarder 22 and the exhaust brake 23 among the braking devices forming the braking system 20. As a result, the braking force is controlled only by the service brake 21, so that the braking force can be finely adjusted, and it is possible to cope with gentle deceleration. At this time, the braking force of the service brake 21 may be increased to maintain the braking force before the automatic control of the retarder 22 and the exhaust brake 23 is released.

  In step S105, the traveling control unit 30 determines whether or not the own vehicle speed has fallen below a predetermined release speed, based on the information acquired from the vehicle speed sensor 45. If the own vehicle speed is lower than the predetermined release speed ("YES" in step S105), the process proceeds to step S107. If the vehicle speed is equal to or higher than the predetermined release speed ("NO" in step S105), the process proceeds to step S106.

  The release speed is a speed lower than the lower limit value of the settable speed range. If the target inter-vehicle distance corresponding to the release speed is maintained, even if the automatic control of the service brake 21 is released, the driving operation may be performed. It is a speed that can avoid danger. Although it depends on the target inter-vehicle distance, the release speed is preferably 0 to 20 km / h (for example, 15 km / h). The release speed may be set to 0 km / h, and the automatic control of the service brake 21 may be continued until the vehicle 1 stops. However, the vehicle stops automatically following the preceding vehicle, and the meaning of automatically canceling the ACC function based on the own vehicle speed is lost, and the driver's driving consciousness may be reduced. Therefore, the release speed is preferably 5 km / h or more.

  In step S106, the traveling control unit 30 determines whether the driver has performed an independent operation based on the information acquired from the accelerator operation detection unit 43 or the brake operation detection unit 44. If the driver has performed an independent operation ("YES" in step S106), the process proceeds to step S107. If the driver does not perform any voluntary operation ("NO" in step S106), the process proceeds to step S105.

  In step S107, the traveling control unit 30 releases the automatic control of the service brake 21 and ends the automatic traveling release processing. When the vehicle speed is lower than the release speed, and when it can be determined that the driver has performed an operation for avoiding danger (a brake operation for avoiding approach or an accelerator operation for overtaking), the service brake 21 is used. Is automatically released.

  When the vehicle speed falls below the release speed and the automatic control of the service brake 21 is released, the subsequent danger avoidance is left to the driver's driving operation. The travel control unit 30 may notify the driver that the ACC function has been completely released and the danger is imminent, and may prompt the driver to perform a brake operation. Thereby, the driver can know again that the situation is dangerous, and can avoid the danger by his / her own driving operation. Further, an automatic emergency braking (AEB: Autonomous Emergency Braking) may be operated to reduce collision damage.

  On the other hand, when the release operation of the ACC function is performed (“YES” in step S101), in step S108, the traveling control unit 30 releases the automatic control of the drive system 10 and the braking system 20, and executes the automatic traveling release processing. To end.

  As described above, the driving support device S according to the present embodiment is mounted on the vehicle 1 having the driving system 10 and the braking system 20, and detects the own vehicle speed by the vehicle speed sensor 45 (vehicle speed detecting unit). And an inter-vehicle distance detection unit 41 that measures an inter-vehicle distance with a preceding vehicle, and sets a target speed when performing constant speed traveling within a settable speed range, and sets a target inter-vehicle distance when performing following traveling. The ACC setting unit 42 (automatic driving information setting unit) controls the drive system 10 and the braking system 20 so that the own vehicle speed becomes the target speed when there is no preceding vehicle. An automatic cruise control unit 31 that controls the drive system 10 and the braking system 20 so that the inter-vehicle distance to the preceding vehicle becomes the target inter-vehicle distance, and when the own vehicle speed during the following operation falls below the lower limit value of the settable speed range. To It comprises an automatic traveling canceling unit 32 for releasing the control by the automatic travel control unit 31, a. When the own vehicle speed falls below a lower limit value of the settable speed range (for example, 35 km / h), the automatic traveling release unit 32 releases the automatic control of the drive system 10 and further releases a predetermined release speed (for example, 15 km / h). ), The automatic control of the braking system 20 is released.

  According to the driving support device S, the driving burden on the driver is reduced, and a certain level of safety is ensured. That is, even if the lower limit value of the settable speed range is reached during the follow-up running, the automatic control of the braking system 20 is not immediately canceled, and the driver perceives danger due to the approaching situation with the preceding vehicle and performs the driving operation by himself. Since the grace period is provided, the driving burden is reduced and safety is ensured.

  As described above, the invention made by the inventor has been specifically described based on the embodiment. However, the present invention is not limited to the above embodiment, and can be changed without departing from the gist of the invention.

  For example, in the embodiment, the above-described automatic running cancellation processing is realized by the running control unit 30 executing the driving support program, but may be realized by using a hardware circuit. The driving support program can be stored in a computer-readable storage medium such as a magnetic disk, an optical disk, or a flash memory and provided to the travel control unit 30. Alternatively, the driving support program can be provided by download via a communication line such as the Internet.

  Further, for example, the release timing of the automatic control of the retarder 22 and the exhaust brake 23 may be the same as the automatic control of the service brake 21. Further, the vehicle 1 may include a compression release brake using a compression stroke of a cylinder of the engine 11 as an auxiliary brake.

  The embodiments disclosed this time are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

Reference Signs List 1 vehicle 10 drive system 20 braking system 21 service brake 22 retarder (auxiliary brake)
23 Exhaust brake (auxiliary brake)
Reference Signs List 30 travel control unit 31 automatic travel control unit 32 automatic travel release unit 41 inter-vehicle distance detection unit 42 operation unit for ACC 43 accelerator operation detection unit 44 brake operation detection unit 45 vehicle speed sensor (vehicle speed detection unit)
S driving support device

Claims (5)

A driving support device mounted on a vehicle having a drive system and a braking system,
A vehicle speed detection unit for detecting the vehicle speed,
An inter-vehicle distance detection unit that measures an inter-vehicle distance with a preceding vehicle;
An automatic traveling information setting unit that sets a target speed when performing constant speed traveling within a settable speed range, and sets a target inter-vehicle distance when performing following traveling,
When there is no preceding vehicle, the drive system and the braking system are controlled so that the own vehicle speed becomes the target speed, and when there is a preceding vehicle, the inter-vehicle distance to the preceding vehicle is equal to the target inter-vehicle distance. An automatic traveling control unit that controls the drive system and the braking system so that
Comprising an automatic travel releasing unit for releasing the control by the pre-Symbol automatic travel control unit, the,
The braking system includes a service brake and an auxiliary brake,
The automatic travel release unit releases the automatic control of the drive system and the auxiliary brake when the own vehicle speed during the following travel falls below a lower limit value of the settable speed range, and performs the following by the service brake. A driving assistance device, wherein the traveling support is continued , and when the vehicle speed falls below a predetermined release speed, the automatic control of the service brake is released to terminate the following traveling . The driving support according to claim 1, wherein the automatic traveling release unit notifies that the automatic traveling control has been released when the vehicle speed falls below a lower limit value of the settable speed range. apparatus. The automatic travel release portion, said when the vehicle speed has reached the predetermined release speed, according to claim 1 or 2, characterized in that informs that automatic control of the braking system is released Driving support device. Drive system, a braking system including a service brake and auxiliary brake, a vehicle speed detector for detecting the vehicle speed, vehicle distance detection section that measures the distance to the preceding vehicle, and can set a target speed for performing constant-speed running A driving support method for a vehicle including an automatic driving information setting unit that sets a target inter-vehicle distance in a case where a following distance is set while performing setting within a speed range,
(A) controlling the drive system and the braking system so that the own vehicle speed becomes the target speed when there is no preceding vehicle, and when the preceding vehicle is present, the inter-vehicle distance to the preceding vehicle is set to the target speed. Controlling the drive system and the braking system so as to be the following distance;
(B) In the previous SL step includes a step, the releasing the control by the automatic travel control unit (B), when the vehicle speed in the follow-up running is below the lower limit of the settable speed range, the drive Releasing the control of the system and the auxiliary brake to continue the following running by the service brake , and further, when reaching a predetermined release speed, canceling the control of the service brake and terminating the following running. Driving support method characterized. Drive system, a braking system including a service brake and auxiliary brake, a vehicle speed detector for detecting the vehicle speed, vehicle distance detection section that measures the distance to the preceding vehicle, and can set a target speed for performing constant-speed running Along with setting within the speed range, the computer of the vehicle equipped with an automatic driving information setting unit that sets the target inter-vehicle distance when performing follow-up driving,
(A) controlling the drive system and the braking system such that the own vehicle speed becomes the target speed when there is no preceding vehicle, and when the preceding vehicle is present, the inter-vehicle distance to the preceding vehicle is set to the target speed. A process of controlling the drive system and the braking system so as to be the following distance;
(B) a process for releasing the control by the pre-Symbol automatic travel control unit, is executed,
In the process (B), when the own vehicle speed during the following travel falls below the lower limit value of the settable speed range, the control of the drive system and the auxiliary brake is released to perform the following travel by the service brake. A driving support program that continues , and executes a process of releasing the control of the service brake and terminating the follow-up running when a predetermined release speed is reached.

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