JP6844496B2 - Driving support device - Google Patents

Description

The present invention relates to the technical field of a travel support device capable of braking a vehicle based on the possibility of a vehicle colliding with an object.

In Patent Document 1, as an example of such a traveling support device, when it is determined that there is a high possibility that a vehicle and an object collide with each other, the braking device of the vehicle is controlled to automatically generate a braking force. The driving support devices that can be used are described. The traveling support device described in Patent Document 1 can stop the automatic generation of braking force based on the operation of the accelerator pedal by the driver. Specifically, the traveling support device described in Patent Document 1 is a driver when the driver depresses the accelerator pedal relatively deeply or the driver operates the accelerator pedal relatively frequently. Determines that it intends to accelerate the vehicle and stops the automatic generation of braking force.

Japanese Unexamined Patent Publication No. 2012-224119

In situations where the vehicle requires relatively large torque (eg, the vehicle is traveling uphill), the driver may not have the intention of accelerating the vehicle. May cause the accelerator pedal to be depressed relatively deeply. In this case, the traveling support device described in Patent Document 1 stops the automatic generation of braking force even though the driver does not intend to accelerate the vehicle. As a result, the traveling support device described in Patent Document 1 may not be able to properly brake the vehicle even in a situation where it is preferable to brake the vehicle based on the possibility of the vehicle colliding with the object. There is sex.

An object of the present invention is to provide a traveling support device capable of appropriately braking a vehicle based on the possibility of a vehicle colliding with an object.

One aspect of the traveling support device of the present invention is a support means for performing a support operation of applying a braking force capable of avoiding a collision between the vehicle and the object to the vehicle based on the possibility of the vehicle colliding with the object. When (i) the accelerator opening of the vehicle is larger than the first threshold value and the acceleration of the vehicle is larger than the second threshold value, the application of the braking force by the support operation is prohibited, and (ii) the accelerator. When the opening degree is larger than the first threshold value and the acceleration is smaller than the second threshold value, the control means for controlling the support means is provided so as to allow the braking force to be applied by the support operation.

FIG. 1 is a block diagram showing a configuration of a vehicle according to the present embodiment. FIG. 2 is a flowchart showing the flow of the first PCS control operation. FIG. 3 is a flowchart showing the flow of the second PCS control operation.

Hereinafter, embodiments of the traveling support device will be described with reference to the drawings. In the following, the description will proceed using the vehicle 1 equipped with the embodiment of the traveling support device.

(1) Configuration of Vehicle 1 The configuration of vehicle 1 of the present embodiment will be described with reference to FIG. As shown in FIG. 1, the vehicle 1 includes a peripheral recognition sensor 111, an accelerator opening sensor 112, an acceleration sensor 113, and an ECU (Electronic Control Unit) 12 which is a specific example of the above-mentioned "travel support device". , The brake device 13 is provided.

The peripheral recognition sensor 111 detects the situation around the vehicle 1. In this embodiment, in particular, the peripheral recognition sensor 111 is an object (for example, another vehicle, a pedestrian, an obstacle, etc.) located in front of the vehicle 1 (here, meaning the front along the traveling direction). Is detected. Peripheral recognition sensor 111 is, for example, at least one of a camera (for example, at least one of a monocular camera and a stereo camera), a radar (for example, at least one of a laser radar and a millimeter wave radar) and a lidar (LIDAR: Light Detection and Ranking). including. The peripheral recognition sensor 111 outputs the detection result of the peripheral recognition sensor 111 to the ECU 12.

The accelerator opening sensor 112 detects the accelerator opening of the vehicle 1. The accelerator opening sensor 112 outputs the detection result of the accelerator opening sensor 112 to the ECU 12.

The acceleration sensor 113 detects the acceleration of the vehicle 1. The acceleration sensor 113 outputs the detection result of the acceleration sensor 113 to the ECU 12.

The ECU 12 performs a PCS (Pre-Safety) support operation. The PCS assist operation automatically causes the vehicle 1 to have a braking force (that is, regardless of whether or not the driver operates the brake pedal) based on the possibility that the object detected by the peripheral recognition sensor 111 collides with the vehicle 1. It is an operation to give. Specifically, the PCS support operation automatically applies a braking force capable of avoiding a collision between the object and the vehicle 1 to the vehicle 1 when the object and the vehicle 1 may collide with each other. It is an operation. In order to perform the PCS support operation, the ECU 12 includes a PCS support unit 121 which is a specific example of the above-mentioned "support means" as a processing block logically realized inside the ECU 12. The PCS support unit 121 performs a PCS support operation. The PCS support operation performed by the PCS support unit 121 may be the same as the existing PCS support operation (for example, the operation for automatically generating a braking force described in Patent Document 1), and thus the details thereof. Description will be omitted. However, for reference, an example of PCS support operation will be briefly described below. The PCS support unit 121 identifies an object located in front of the vehicle 1 based on peripheral information. Further, the PCS support unit 121 determines whether or not there is a possibility that the object and the vehicle 1 collide with each other. For example, the PCS support unit 121 specifies the relative distance between the object and the vehicle 1 and the relative speed of the vehicle 1 with respect to the object based on the peripheral information, and the vehicle within a certain time based on the specified relative distance and the relative speed. It may be determined whether or not 1 reaches the object, and if it is determined that the vehicle 1 reaches the object within a certain time, it may be determined that the object and the vehicle 1 may collide with each other. When it is determined that the object and the vehicle 1 may collide, the PCS support unit 121 determines that the object and the vehicle 1 do not collide with each other (for example, the vehicle 1 does not reach the object). The braking device 13 is controlled so as to apply a braking force capable of decelerating the vehicle 1.

In the present embodiment, the ECU 12 further performs a PCS control operation in parallel with the PCS support operation. The PCS control operation is a permitted state in which the state of the PCS support unit 121 is permitted to apply a braking force due to the PCS support operation, and a prohibition in which applying a braking force due to the PCS support operation is prohibited. It is an operation to switch between states. When it is determined that the object and the vehicle 1 may collide with each other, the PCS support unit 121 in the permitted state applies a braking force capable of avoiding the collision between the object and the vehicle 1 to the vehicle 1. Give. On the other hand, the PCS support unit 121 in the prohibited state can avoid the collision between the object and the vehicle 1 even when it is determined that the object and the vehicle 1 may collide with each other. No power is given to the vehicle 1.

In order to perform the PCS control operation, the ECU 12 includes a PCS control unit 122 which is a specific example of the above-mentioned "control means" as a processing block logically realized inside the ECU 12. The PCS control unit 122 performs a PCS control operation. In particular, the PCS control unit 122 performs the PCS control operation based on the accelerator opening degree detected by the accelerator opening degree sensor 112 and the acceleration detected by the acceleration sensor 113. Hereinafter, the PCS control operation performed by the PCS control unit 122 will be described in more detail.

(2) Flow of PCS Control Operation In the present embodiment, the PCS control unit 122 can execute each of the first PCS control operation and the second PCS control operation. Therefore, in the following, the first PCS control operation and the second PCS control operation will be described in order.

(2-1) Flow of First PCS Control Operation First, the flow of the first PCS control operation will be described with reference to FIG. FIG. 2 is a flowchart showing the flow of the first PCS control operation. The first PCS control operation shown in FIG. 2 is repeated at a predetermined cycle.

As shown in FIG. 2, the PCS control unit 122 determines whether or not the accelerator opening degree detected by the accelerator opening degree sensor 112 is larger than a predetermined first threshold value (step S11). The first threshold values are a state in which the accelerator opening is large enough to accelerate the vehicle 1 (particularly, the vehicle 1 can be accelerated on a flat road) and an accelerator enough to accelerate the vehicle 1. It is set to an appropriate value that can distinguish the state where the opening is not large from the size of the accelerator opening.

If it is determined as a result of the determination in step S11 that the accelerator opening is smaller than the first threshold value (step S11: No), the driver of the vehicle 1 has not depressed the accelerator pedal or the amount of depression of the accelerator pedal by the driver. Is relatively small. In this case, it is presumed that it is relatively likely that the driver has no intention of accelerating the vehicle 1. Therefore, even if the braking force is applied to the vehicle 1 by the PCS support operation, the driver who does not intend to accelerate the vehicle 1 does not feel uncomfortable with the braking force applied. Is assumed. Therefore, in this case, the PCS control unit 122 sets the state of the PCS support unit 121 to the permitted state (step S14).

On the other hand, if it is determined that the accelerator opening degree is larger than the first threshold value as a result of the determination in step S11 (step S11: Yes), the amount of depression of the accelerator pedal by the driver should be relatively large. In this case, it is presumed that the driver is relatively likely to have the intention of accelerating the vehicle 1. Therefore, if a braking force is applied to the vehicle 1 by the PCS support operation, there is a high possibility that the driver who intends to accelerate the vehicle 1 feels uncomfortable with the application of the braking force. .. Furthermore, because the driver intends to accelerate the vehicle 1, the driver should have a good grasp of the situation around the vehicle 1. That is, even when the PCS support unit 121 determines that the object and the vehicle 1 may collide with each other, the driver recognizes the object (that is, avoids the collision with the object). ) It is highly possible that the vehicle 1 has an intention of accelerating. Therefore, in this case, it is preferable that the state of the PCS support unit 121 is set to the prohibited state in order to give priority to eliminating the discomfort of the driver.

However, even when the accelerator opening degree is larger than the first threshold value, the driver does not necessarily have the intention of accelerating the vehicle 1. Specifically, a situation in which the vehicle 1 requires a relatively large torque (for example, a situation in which the vehicle 1 is traveling uphill, a situation in which the vehicle 1 is towing another vehicle, or a situation in which the vehicle 1 is towing another vehicle, or a vehicle 1 In situations where the driver is carrying a relatively heavy load, etc.), the driver depresses the accelerator pedal relatively deeply, even if the driver does not intend to accelerate the vehicle 1. There is a possibility that As a result, it may be determined that the accelerator opening degree is larger than the first threshold value even though the driver does not intend to accelerate the vehicle 1. In this case, although it is unlikely that the driver feels uncomfortable with the application of braking force by the PCS support operation, the PCS support unit is only because it is determined that the accelerator opening is larger than the first threshold value. When the state of 121 is set to the prohibited state, the opportunity for the braking force to be applied to the vehicle 1 by the PCS support operation is unnecessarily limited. That is, the PCS support unit 121 appropriately brakes the vehicle 1 even in a situation where it is preferable to apply a braking force to the vehicle 1 because it is determined that the vehicle 1 may collide with an object. You may not be able to.

Therefore, in the present embodiment, the PCS control unit 122 intends to accelerate the vehicle 1 only for that reason when it is determined that the accelerator opening degree is larger than the first threshold value. It is determined whether or not the acceleration of the vehicle 1 is relatively small without presuming that the vehicle 1 is operating. Then, the PCS control unit 122 estimates that the driver has no intention of accelerating the vehicle 1 only when it is determined that the acceleration of the vehicle 1 is relatively small. Conversely, the PCS control unit 122 presumes that the driver intends to accelerate the vehicle 1 only when it is determined that the acceleration of the vehicle 1 is relatively large.

Specifically, when it is determined that the accelerator opening is larger than the first threshold value (step S11: Yes), the PCS control unit 122 determines that the accelerator opening is larger than the first threshold value for the first predetermined time. It is determined whether or not the determination is continuously made (step S12). The first predetermined time corresponds to the time required from when the driver depresses the accelerator pedal until the vehicle 1 actually starts accelerating in response to the depressing of the accelerator pedal.

As a result of the determination in step S12, if it is determined that the accelerator opening is larger than the first threshold value and is not continuously determined for the first predetermined time or longer (step S12: No), the driver depresses the accelerator pedal. It is presumed that the vehicle 1 has not yet started accelerating in response to. That is, it is highly probable that the intention of the driver who depressed the accelerator pedal is not reflected in the acceleration of the vehicle 1. In this case, even if the PCS control unit 122 determines whether or not the acceleration of the vehicle 1 is relatively large, it is relative whether or not the driver has an intention to accelerate the vehicle 1. It is difficult to estimate accurately. Therefore, in this case, it is determined that the accelerator opening is larger than the first threshold value (that is, it is tentatively estimated that the driver intends to accelerate the vehicle 1). Based on this, the PCS control unit 122 temporarily sets the state of the PCS support unit 121 to the prohibited state (step S15).

On the other hand, if it is determined as a result of the determination in step S12 that the accelerator opening is continuously determined to be larger than the first threshold value for the first predetermined time or longer (step S12: Yes), the accelerator is operated by the driver. It is presumed that the vehicle 1 has already started accelerating in response to the depression of the pedal. That is, it is highly probable that the driver's intention is reflected in the acceleration of the vehicle 1. In this case, the PCS control unit 122 accurately determines whether or not the driver intends to accelerate the vehicle 1 by determining whether or not the acceleration of the vehicle 1 is relatively large. It is possible to estimate. Therefore, in this case, the PCS control unit 122 determines whether or not the acceleration of the vehicle 1 detected by the acceleration sensor 113 is smaller than the second threshold value (step S13). The second threshold is a state in which the vehicle 1 is accelerating with an acceleration corresponding to the amount of depression of the accelerator pedal and a state in which the vehicle 1 is not accelerating with an acceleration according to the amount of depression of the accelerator pedal (specifically, for example. , A state in which the vehicle 1 is accelerating at an acceleration smaller than the acceleration expected from the amount of depression of the accelerator pedal or a state in which the vehicle 1 is not accelerating) is an appropriate value that can be distinguished from the acceleration of the vehicle 1. Is set to. Therefore, the second threshold value is preferably a variable value whose value changes according to the accelerator opening degree detected by the accelerator opening degree sensor 113. Specifically, the second threshold value is preferably a variable value that increases as the accelerator opening degree detected by the accelerator opening degree sensor 113 increases.

If it is determined as a result of the determination in step 13 that the acceleration is smaller than the second threshold value (step S13: Yes), the driver is not accelerating at an acceleration corresponding to the amount of depression of the accelerator pedal. Is relatively likely not to have the intention of accelerating the vehicle 1. Therefore, in this case, the PCS control unit 122 sets the state of the PCS support unit 121 to the permitted state (step S14).

On the other hand, when it is determined that the acceleration is larger than the second threshold value as a result of the determination in step 13 (step S13: No), the vehicle 1 is accelerating at an acceleration corresponding to the amount of depression of the accelerator pedal. Therefore, it is presumed that the driver is relatively likely to have an intention to accelerate the vehicle 1. Therefore, in this case, the PCS control unit 122 sets the state of the PCS support unit 121 to the prohibited state (step S15).

In step S13, when the acceleration matches the second threshold value, the process performed when the acceleration is determined to be smaller than the second threshold value (that is, the process of step S14) may be performed. , The process performed when it is determined that the acceleration is larger than the second threshold value (that is, the process of step S15) may be performed. Similarly, in step S11, when the accelerator opening degree matches the first threshold value, the process performed when it is determined that the accelerator opening degree is smaller than the first threshold value (that is, the process of step S14) is performed. Alternatively, the process performed when it is determined that the accelerator opening degree is larger than the first threshold value (that is, the process of step S12) may be performed.

As described above, according to the first PCS control operation of the present embodiment, the application of braking force by the PCS support operation is permitted or prohibited based on not only the accelerator opening but also the acceleration of the vehicle 1. Therefore, the PCS support unit 121 is based on the possibility that the vehicle 1 and the object collide with each other, as compared with the comparative example in which the application of the braking force by the PCS support operation is permitted or prohibited based only on the accelerator opening degree. The vehicle 1 can be appropriately braked.

(2-2) Flow of Second PCS Control Operation Next, the flow of the second PCS control operation will be described with reference to FIG. FIG. 3 is a flowchart showing the flow of the second PCS control operation. For the same processing as the processing performed in the first PCS control operation described above, the same step numbers are assigned and detailed description thereof will be omitted. Further, the second PCS control operation shown in FIG. 3 is also repeated at a predetermined cycle.

As shown in FIG. 3, the PCS control unit 122 determines whether or not the accelerator opening degree is larger than the first threshold value (step S11).

If, as a result of the determination in step S11, it is determined that the accelerator opening is smaller than the first threshold value (step S11: No), the driver intends to accelerate the vehicle 1 as described above. It is presumed that it is relatively likely that it has not been done. Therefore, in this case, the PCS control unit 122 sets the state of the PCS support unit 121 to the permitted state (step S14).

On the other hand, when it is determined that the accelerator opening degree is larger than the first threshold value as a result of the determination in step S11 (step S11: Yes), the PCS control unit 122 has the above-mentioned acceleration smaller than the second threshold value. Instead of determining whether or not the accelerator opening degree is larger than the first threshold value, it is determined whether or not it is continuously determined for a second predetermined time or longer (step S22). The second predetermined time is the amount of depression of the accelerator pedal from the lower limit of the vehicle speed at which the vehicle 1 can execute the PCS assisting operation on a flat road (that is, the vehicle speed at which the PCS assisting operation is not performed at a vehicle speed lower than that). This corresponds to the time required for the vehicle 1 to accelerate to a vehicle speed at which the vehicle 1 can travel steadily (that is, can travel without further accelerating) with the corresponding required output.

As a result of the determination in step S22, if it is determined that the accelerator opening is larger than the first threshold value continuously for a second predetermined time or longer (step S22: Yes), the vehicle speed of the vehicle 1 is determined. It is highly possible that the vehicle 1 has already reached a vehicle speed capable of steady traveling with a required output according to the amount of depression of the accelerator pedal. In this case, it is presumed that the vehicle 1 does not need to accelerate further in response to the amount of depression of the accelerator pedal by the current driver. That is, it is presumed that it is relatively likely that the driver has no intention of accelerating the vehicle 1. Therefore, in this case, the PCS control unit 122 sets the state of the PCS support unit 121 to the permitted state (step S14).

On the other hand, if it is determined as a result of the determination in step S22 that the accelerator opening is not continuously determined for a second predetermined time or longer when it is larger than the first threshold value (step S22: No), the vehicle 1 It is highly possible that the vehicle speed has not yet reached the vehicle speed at which the vehicle 1 can travel steadily with the required output according to the amount of depression of the accelerator pedal. In this case, it is presumed that the vehicle 1 needs to be further accelerated in response to the amount of depression of the accelerator pedal by the current driver. That is, it is presumed that the driver is still relatively likely to have the intention of accelerating the vehicle 1. Therefore, in this case, the PCS control unit 122 sets the state of the PCS support unit 121 to the prohibited state (step S15).

As described above, according to the second PCS control operation of the present embodiment, the PCS support is based not only on the accelerator opening degree but also on the elapsed time from the determination that the accelerator opening degree is larger than the first threshold value. The application of braking force by movement is permitted or prohibited. Therefore, the PCS support unit 121 is based on the possibility that the vehicle 1 and the object collide with each other, as compared with the comparative example in which the application of the braking force by the PCS support operation is permitted or prohibited based only on the accelerator opening degree. The vehicle 1 can be appropriately braked.

The ECU 12 that performs the second PCS control operation in parallel with the PCS support operation applies a braking force capable of avoiding the collision between the vehicle and the object based on the possibility that the vehicle and the object collide with each other. The support means for performing the support operation given to the vehicle and (i) the duration for which it is continuously determined that the accelerator opening degree of the vehicle is larger than the first threshold value and the accelerator opening degree is larger than the first threshold value are predetermined. When it is shorter than the time (for example, the second predetermined time described above), the application of the braking force by the support operation is prohibited, and (ii) the accelerator opening degree is larger than the first threshold value and the duration time. This is a specific example of a traveling support device including a control means for controlling the support means so as to allow the braking force to be applied by the support operation when the time is longer than the predetermined time.

(3) Modified Example In the above description, in the first PCS control operation, the PCS control unit 122 determines whether or not the acceleration detected by the acceleration sensor 113 is smaller than the second threshold value. However, the PCS control unit 122 calculates the acceleration of the vehicle 1 from the vehicle speed detected by the vehicle speed sensor (for example, the wheel speed sensor) included in the vehicle 1, and determines whether or not the calculated acceleration is smaller than the second threshold value. You may. The PCS control unit 122 sets the amount of change in vehicle speed (typically, the amount of change per unit time) detected by the vehicle speed sensor included in the vehicle 1 from a second threshold value or another threshold value set based on the second threshold value. May be determined whether or not is small. The PCS control unit 122 may calculate the acceleration of the vehicle 1 from the time transition of the position of the vehicle 1 detected by the GPS sensor included in the vehicle 1, and determine whether or not the calculated acceleration is smaller than the second threshold value. ..

It should be noted that the present invention can be appropriately modified within the scope of the claims and within the range not contrary to the gist or idea of the invention that can be read from the entire specification, and the traveling support device accompanied by such a modification is also included in the technical idea of the present invention. included.

1 Vehicle 111 Peripheral recognition sensor 112 Accelerator opening sensor 113 Accelerometer 12 ECU
121 PCS support unit 122 PCS control unit 13 Brake device

Claims (1)

A support means for performing a support operation of applying a braking force capable of avoiding a collision between the vehicle and the object to the vehicle based on the possibility of the vehicle and the object colliding with each other.
If (i) the accelerator opening of the vehicle is greater than that the first threshold does not continue for a predetermined time or more, or the state accelerator opening is greater than the first threshold value has continued the predetermined time or more and wherein when the acceleration of the vehicle is larger than the second threshold value, prohibits the application of the braking force by the assist operation is continued (ii) the state accelerator opening is greater than the first threshold value is a predetermined time or more If the acceleration is smaller than the second threshold value , or if the accelerator opening is smaller than the first threshold value , the support means is provided so as to allow the braking force to be applied by the support operation. and control means for controlling,
The first threshold is a state in which the accelerator opening is large enough to accelerate the vehicle on a flat road and a state in which the accelerator opening is not large enough to accelerate the vehicle on a flat road. Is a value that can be distinguished from the magnitude of the accelerator opening.
The second threshold value is a state in which the vehicle is accelerating at an acceleration corresponding to the accelerator opening and a state in which the vehicle is not accelerating at an acceleration corresponding to the accelerator opening. driving support apparatus according to claim distinguishable Nedea Rukoto.

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