JP7136052B2 - Vehicle driving support device - Google Patents

Description

The present invention relates to a vehicle driving assistance device.

Patent Document 1 describes a vehicle driving system configured to selectively execute control with a high degree of driving assistance (hereinafter "automatic driving control") and control with a low degree of driving assistance (hereinafter "driving assistance control"). A support device is described. This vehicle driving support device (hereinafter referred to as "conventional vehicle driving support device") automatically detects when the driver requests execution of automatic driving control and the vehicle is in a state where execution of automatic driving control can be permitted. Execute driving control. On the other hand, the conventional vehicle driving support device drives without executing the automatic driving control when the driver requests the execution of the automatic driving control and the state of the vehicle is in a state where the execution of the automatic driving control cannot be permitted. configured to perform assistive control;

JP 2018-75873 A

If driving support control is executed instead of automatic driving control when the driver requests execution of automatic driving control, the driver may mistakenly recognize that automatic driving control is being executed. be.

The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to provide a vehicle driving support device that does not make the driver erroneously recognize that automatic driving control is being executed even though automatic driving control is not being executed. That's what it is.

A vehicle driving support device according to the present invention is configured to be capable of executing automatic driving control for automatically driving a vehicle without a driving operation by a driver.

In the vehicle driving support device according to the present invention, when an automatic driving permission condition as a condition for permitting execution of the automatic driving control is satisfied when execution of the automatic driving control is requested from the driver, the Execute automatic driving control.

On the other hand, in the vehicle driving support device according to the present invention, if the automatic driving permission condition is not satisfied when the driver requests execution of the automatic driving control, the automatic driving permission condition is satisfied within a predetermined time. It is predicted whether or not the automatic operation permission condition will be satisfied, and if it is predicted that the automatic operation permission condition will be satisfied within the predetermined time, it is determined whether the automatic operation permission condition is satisfied until the predetermined time elapses. , when the automatic operation permission condition is satisfied before the predetermined time elapses, the automatic operation control is executed.

ADVANTAGE OF THE INVENTION According to this invention, when automatic driving|running permission conditions are not satisfied when execution of automatic driving|running control is requested|required, driving assistance control different from automatic driving|running control is not performed. Therefore, it is possible to prevent the driver from erroneously recognizing that the automatic driving control is being executed even though the driving support control different from the automatic driving control is being executed.

Each component of the present invention is not limited to the embodiments. Other objects, features and attendant advantages of the present invention will be readily understood from the description of embodiments of the present invention described with reference to the following drawings.

FIG. 1 is an overall view of a vehicle driving assistance device according to an embodiment of the present invention and an internal combustion engine to which the vehicle driving assistance device is applied. FIG. 2 is a time chart showing an example of the operation of the vehicle driving support system according to the embodiment of the invention. FIG. 3 is a flow chart showing a routine executed by the CPU of the ECU shown in FIG.

A vehicle driving assistance device according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a vehicle driving assistance device 10 according to an embodiment of the present invention and a vehicle 100 to which the vehicle driving assistance device 10 is applied.

As shown in FIG. 1, the vehicle driving assistance device 10 includes an ECU 90. As shown in FIG. ECU is an abbreviation for electronic control unit. The ECU 90 has a microcomputer as its main part. A microcomputer includes a CPU, ROM, RAM, non-volatile memory, an interface, and the like. The CPU implements various functions by executing instructions, programs, or routines stored in the ROM.

A vehicle driving force generator 20 , a brake device 30 and a steering device 40 are mounted on the vehicle 100 . Vehicle driving force generating device 20 is a device for generating driving force for running vehicle 100 and applying the driving force to driving wheels of vehicle 100 . The vehicle driving force generator 20 is, for example, an internal combustion engine, an electric motor, or the like. Brake device 30 is a device for applying a braking force for braking vehicle 100 to wheels of vehicle 100 . Steering device 40 is a device for applying a steering torque for steering vehicle 100 to steered wheels of vehicle 100 .

The vehicle driving force generator 20 , the brake device 30 and the steering device 40 are electrically connected to the ECU 90 . The ECU 90 controls the driving force applied to the drive wheels of the vehicle 100 by controlling the operation of the vehicle driving force generator 20 . The ECU 90 also controls the braking force applied to the wheels of the vehicle 100 by controlling the operation of the brake device 30 . The ECU 90 also controls the steering torque applied to the steered wheels of the vehicle 100 by controlling the operation of the steering device 40 .

<Sensors, etc.>
The vehicle driving support device 10 includes an accelerator pedal operation amount sensor 71, a brake pedal operation amount sensor 72, a steering angle sensor 73, a steering torque sensor 74, a wheel speed sensor 75, a yaw rate sensor 76, a longitudinal acceleration sensor 77, a lateral acceleration sensor 78, A radar sensor device 79 , a camera device 80 , and an automatic operation request switch 81 are provided.

The accelerator pedal operation amount sensor 71 is electrically connected to the ECU 90 . The accelerator pedal operation amount sensor 71 detects an operation amount AP of the accelerator pedal 51 by the driver and transmits a signal representing the detected operation amount AP to the ECU 90 . The ECU 90 acquires the operation amount AP of the accelerator pedal 51 as the accelerator pedal operation amount AP based on the signal received from the accelerator pedal operation amount sensor 71 . Furthermore, the ECU 90 controls the operation of the vehicle driving force generating device 20 so that the driving force corresponding to the accelerator pedal operation amount AP is applied from the vehicle driving force generating device 20 to the driving wheels of the vehicle 100 .

The brake pedal operation amount sensor 72 is electrically connected to the ECU 90 . The brake pedal operation amount sensor 72 detects the operation amount BP of the brake pedal 52 by the driver and transmits a signal representing the detected operation amount BP to the ECU 90 . The ECU 90 acquires the operation amount BP of the brake pedal 52 as the brake pedal operation amount BP based on the signal received from the brake pedal operation amount sensor 72 . Furthermore, the ECU 90 controls the operation of the brake device 30 so that braking force is applied from the brake device 30 to the wheels of the vehicle 100 according to the brake pedal operation amount BP.

The steering angle sensor 73 is electrically connected to the ECU 90 . The steering angle sensor 73 detects a rotation angle θst of the steering wheel 53 with respect to the neutral position, and transmits a signal representing the detected rotation angle θst to the ECU 90 . Based on the signal received from the steering angle sensor 73, the ECU 90 acquires the rotation angle θst of the steering wheel 53 with respect to the neutral position as the steering angle θst.

The steering torque sensor 74 is electrically connected to the ECU 90 . The steering torque sensor 74 detects torque TQst input from the driver to the steering shaft 54 and transmits a signal representing the detected torque TQst to the ECU 90 . Based on the signal received from the steering torque sensor 74, the ECU 90 acquires the torque TQst input from the driver to the steering shaft 54 as the steering torque TQst.

The ECU 90 controls the operation of the steering device 40 so that the steering torque TQapp corresponding to the acquired steering angle θst and steering torque TQst is applied to the steered wheels of the vehicle 100 .

The wheel speed sensor 75 is electrically connected to the ECU 90 . The wheel speed sensor 75 detects the rotational speed Vrot of each wheel of the vehicle 100 and transmits a signal representing the detected rotational speed Vrot to the ECU 90 . ECU 90 acquires the traveling speed SPD of vehicle 100 based on the signal received from wheel speed sensor 75 .

The yaw rate sensor 76 is electrically connected to the ECU 90 . The yaw rate sensor 76 detects the yaw rate YR of the vehicle 100 and transmits a signal representing the detected yaw rate YR to the ECU 90 . ECU 90 obtains yaw rate YR of vehicle 100 based on the signal received from yaw rate sensor 76 .

The longitudinal acceleration sensor 77 is electrically connected to the ECU 90 . The longitudinal acceleration sensor 77 detects longitudinal acceleration Gx of the vehicle 100 and transmits a signal representing the detected longitudinal acceleration Gx to the ECU 90 . ECU 90 acquires longitudinal acceleration Gx of vehicle 100 based on the signal received from longitudinal acceleration sensor 77 .

Lateral acceleration sensor 78 is electrically connected to ECU 90 . Lateral acceleration sensor 78 detects lateral acceleration Gy of vehicle 100 and transmits a signal representing the detected lateral acceleration Gy to ECU 90 . ECU 90 acquires lateral acceleration Gy of vehicle 100 based on the signal received from lateral acceleration sensor 78 .

The radar sensor device 79 includes a radar sensor 791 that emits millimeter waves to the front of the vehicle 100, a radar sensor 791 that emits millimeter waves to the left front of the vehicle 100, a radar sensor 791 that emits millimeter waves to the right front of the vehicle 100, A radar sensor 791 emitting millimeter waves to the left side of the vehicle 100, a radar sensor 791 emitting millimeter waves to the right side of the vehicle 100, a radar sensor 791 emitting millimeter waves to the left rear of the vehicle 100, and a radar sensor 791 emitting millimeter waves to the left rear of the vehicle 100. It includes a radar sensor 791 that emits millimeter waves to the rear right. These radar sensors 791 receive millimeter waves reflected by objects.

The radar sensor device 79 is electrically connected to the ECU 90 . The radar sensor device 79 transmits to the ECU 90 a signal representing information about "millimeter waves emitted by each radar sensor 791" and "millimeter waves received by each radar sensor 791". Based on the signal received from the radar sensor device 79, the ECU 90 acquires information about an object existing around the vehicle 100 as object information Iobj.

The camera device 80 includes a camera 801 that captures the scenery in front of the vehicle 100 . Camera device 80 is electrically connected to ECU 90 . The camera device 80 transmits to the ECU 90 a signal representing information regarding the image of the scenery captured by the camera 801 . Based on the signal received from the camera device 80, the ECU 90 acquires information about the situation ahead of the vehicle 100 as the image information Iimg.

The automatic driving request switch 81 is provided at a portion of the vehicle 100 that can be operated by the driver. The automatic operation request switch 81 is electrically connected to the ECU 90 . The automatic driving request switch 81 transmits an automatic driving request signal Sreq to the ECU 90 when the driver turns it on. On the other hand, the automatic operation request switch 81 transmits an automatic operation stop request signal Sstop to the ECU 90 when the driver operates it to the OFF position.

Upon receiving the automatic operation request signal Sreq, the ECU 90 sets the value of the automatic operation request flag Xreq to "1". On the other hand, when the ECU 90 receives the automatic operation stop request signal Sstop, the ECU 90 sets the value of the automatic operation request flag Xreq to "0".

Furthermore, the vehicle driving assistance device 10 has a GPS receiver 91 , a map database 92 and a display 93 .

GPS receiver 91 is electrically connected to ECU 90 . The GPS receiver 91 receives GPS signals and transmits the received GPS signals to the ECU 90 . ECU 90 acquires the current position Pnow of vehicle 100 based on the GPS signal received from GPS receiver 91 .

A map database 92 is electrically connected to the ECU 90 . The map database 92 stores map information Imap. In this example, the map information Imap includes "information about roads" and "information about traffic regulations such as speed limits". The ECU 90 can acquire the map information Imap from the map database 92 .

The display 93 is arranged at a location of the vehicle 100 that is visible to the driver. The display 93 is electrically connected to the ECU 90 . The ECU 90 can display various screens on the display 93 .

<Overview of the operation of the vehicle driving support device>
Next, an outline of the operation of the vehicle driving support device 10 will be described. The vehicle driving support device 10 is configured to be able to execute automatic driving control. In this example, the automatic driving control determines the route from the current position of the vehicle 100 to the destination set by the driver based on the map information Imap and the like, and determines the route without the driver's operation. It is a control for automatically driving the vehicle 100 to the destination along. The driving operation by the driver is the operation of the accelerator pedal 51, the brake pedal 52, and the steering wheel 53 by the driver.

When the vehicle driving support device 10 receives the automatic driving request signal Sreq (that is, when the driver requests execution of automatic driving control), the vehicle driving support device 10 determines whether or not a predetermined automatic driving permission condition C0 is satisfied. do. In this example, the automatic operation permission condition C0 is satisfied when all of the following conditions C1 to C3 are satisfied.

(1) Condition C1: The road on which the vehicle 100 is currently traveling is a motorway (a so-called expressway).
(2) Condition C2: The map information Imap corresponding to the area in which the route from the current position Pnow of the vehicle 100 to the destination is set is relatively accurate map information.
(3) Condition C3: The vehicle 100 is not traveling on the marking lines that divide the lanes.

When the automatic driving permission condition C0 is satisfied, the vehicle driving support device 10 starts automatic driving control. During execution of automatic driving control, the vehicle driving support device 10 obtains the following information: "travel speed SPD of vehicle 100, yaw rate YR, longitudinal acceleration Gx, lateral acceleration Gy, object information Iobj, image information Iimg, current position Pnow of vehicle 100, and map information The vehicle 100 is driven while controlling the operations of the vehicle driving force generator 20, the braking device 30, and the steering device 40 so that the vehicle 100 can drive safely based on "Imap".

On the other hand, if the automatic driving permitting condition C0 is not satisfied, the vehicle driving support device 10 predicts whether the automatic driving permitting condition C0 will be satisfied within a predetermined time Tth from the current time t_now (time t20 in FIG. 2 is reference).

More specifically, when the above condition C1 is not satisfied, the vehicle driving support system 10 determines whether the vehicle 100 will enter the motorway within a predetermined time Tth from the current time t_now based on the current position Pnow of the vehicle 100 and the map information Imap. Predict whether or not to enter the If the above condition C2 is not satisfied, the vehicle 100 will enter the area corresponding to the relatively accurate map information within the predetermined time Tth from the current time t_now based on the current position Pnow of the vehicle 100 and the map information Imap. Predict whether or not Further, if the condition C3 is not satisfied, it is determined whether the vehicle 100 will travel within the lane within a predetermined time Tth from the current time t_now based on the orientation of the vehicle 100 with respect to the lane, the steering angle θst, and the yaw rate YR. to predict.

Therefore, in this example, the predetermined time Tth is set to a time that is determined to be appropriate for determining whether or not the automatic operation permission condition C0 is satisfied after the execution of the automatic operation control is requested. .

When it is predicted that the automatic driving permission condition C0 will be satisfied within a predetermined time Tth from the current time t_now, the vehicle driving support device 10 starts suspend processing for waiting execution of automatic driving control (see time t20 in FIG. 3). . After that, the vehicle driving support device 10 determines whether or not the automatic driving permission condition C0 is satisfied until the predetermined time Tth elapses.

If the automatic driving permission condition C0 is satisfied before the predetermined time Tth elapses, the vehicle driving support device 10 executes automatic driving control (see time t21 in FIG. 3). Therefore, in this example, the predetermined time Tth is set to a time that is determined to be appropriate for determining whether or not the automatic operation permission condition C0 is satisfied after the execution of the automatic operation control is requested. Along with this, it is set to a time that is determined to be appropriate as a time to wait for the execution of the automatic operation control after the execution of the automatic operation control is requested.

On the other hand, if the automatic driving permission condition C0 is not satisfied until the predetermined time Tth elapses, the vehicle driving support device 10 does not execute the automatic driving control, and gives a notification of the reason for not executing the automatic driving control. The screen is displayed on the display 93.

Further, when it is predicted that the automatic driving permission condition C0 will not be satisfied within the predetermined time Tth from the current time t_now, the vehicle driving support device 10 displays a notification screen for notifying the reason why the automatic driving control is not executed at that time. Displayed on the display 93 . In this case, automatic driving control is not executed.

According to this, when automatic operation permission conditions C0 are not satisfied when execution of automatic operation control is demanded, driving support control different from automatic operation control is not performed. Therefore, it is possible to prevent the driver from erroneously recognizing that the automatic driving control is being executed even though the driving support control different from the automatic driving control is being executed.

The vehicle driving support device 10 may be configured to predict whether or not the automatic driving permission condition C0 will be satisfied after a predetermined time Tth from the current time t_now when the automatic driving permission condition C0 is not satisfied. In this case, the vehicle driving support device 10 is configured to determine whether or not the automatic driving permission condition C0 is satisfied after the predetermined time Tth when it is predicted that the automatic driving permission condition C0 is satisfied after the predetermined time Tth. . Then, the vehicle driving support device 10 is configured to execute automatic driving control when the automatic driving permission condition C0 is satisfied.

<Specific operation of the vehicle driving support device>
Next, specific operations of the vehicle driving support device 10 will be described. The CPU of the ECU 90 of the vehicle driving assistance device 10 is configured to execute the routine shown in FIG. 3 each time a predetermined time Tcal elapses.

Accordingly, at a predetermined timing, the CPU starts processing from step 300 in FIG. 3, advances the processing to step 305, and determines whether or not the value of the automatic operation request flag Xreq is "1".

If the CPU determines "Yes" in step 305, it advances the process to step 310 and determines whether or not the elapsed time T is zero, that is, whether or not the suspend process is being executed. The elapsed time T is the time that has elapsed since the suspend process was started in step 340, which will be described later. If the elapsed time T is greater than zero, suspend processing has started.

When the determination in step 310 is "Yes", the CPU advances the process to step 315 and determines whether or not the automatic operation permission condition C0 is satisfied. When the CPU determines "Yes" in step 315, the process proceeds to step 320 and executes automatic operation control.

On the other hand, if the CPU determines "No" in step 315, it advances the process to step 325, and determines whether or not the automatic operation permission condition C0 is established during the time from the current time t_now until the predetermined time Tth elapses. do. When the CPU determines "Yes" in step 325, the process proceeds to step 330, and the suspend process is started. That is, the CPU starts measuring the elapsed time T. After that, the CPU advances the process to step 395 and once ends this routine.

On the other hand, when the CPU determines “No” in step 325 , the process proceeds to step 335 and displays on the display 93 a notification screen for notifying the reason why the automatic driving control cannot be executed. After that, the CPU advances the process to step 395 and once ends this routine.

If the CPU determines "No" at step 310 (that is, if the suspend process is being executed), the CPU advances the process to step 340 to check whether the elapsed time T is equal to or less than the predetermined time Tth. judge. When the determination in step 340 is "Yes", the CPU advances the process to step 345 and determines whether or not the automatic operation permission condition C0 is satisfied.

When the CPU determines "Yes" in step 345, the process proceeds to step 350 and executes automatic operation control. Next, the CPU advances the process to step 355 and terminates execution of the suspend process. That is, the CPU ends the measurement of the elapsed time T and clears the elapsed time T. FIG. After that, the CPU advances the process to step 395 and once ends this routine.

On the other hand, when the CPU makes a "No" determination in step 345, the process proceeds to step 360, and displays on the display 93 a notification screen that notifies the reason why the automatic driving control cannot be executed. After that, the CPU advances the process to step 395 and once ends this routine.

Further, when the CPU determines "No" in step 340, the CPU directly advances the process to step 395, and once terminates this routine.

Moreover, when it determines with "No" in step 305, CPU advances a process to step 365, and stops execution of automatic operation control. The CPU then advances the process to step 370 and terminates execution of the suspend process. That is, the CPU ends the measurement of the elapsed time T and clears the elapsed time T. FIG. After that, the CPU advances the process to step 395 and once ends this routine.

The above is the specific operation of the vehicle driving support device 10 . According to this, when automatic operation permission conditions are not satisfied when execution of automatic operation control is demanded, driving support control different from automatic operation control is not performed. Therefore, it is possible to prevent the driver from erroneously recognizing that the automatic driving control is being executed even though the driving support control different from the automatic driving control is being executed.

The present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention.

DESCRIPTION OF SYMBOLS 10... Vehicle driving assistance apparatus, 20... Vehicle driving force generator, 30... Brake apparatus, 40... Steering apparatus, 81... Automatic operation request switch, 90... ECU, 100... Vehicle

Claims (1)

In a vehicle driving support device configured to be able to execute automatic driving control that automatically drives the vehicle without driving operation by the driver,
When an automatic operation permission condition as a condition for permitting execution of the automatic operation control is satisfied when the driver requests execution of the automatic operation control, the automatic operation control is executed,
predicting whether or not the automatic operation permission condition is satisfied within a predetermined time when the automatic operation permission condition is not satisfied when the driver requests execution of the automatic operation control;
If it is predicted that the automatic operation permission condition will be satisfied within the predetermined time, determining whether the automatic operation permission condition is satisfied until the predetermined time elapses,
If the automatic operation permission condition is satisfied before the predetermined time elapses, the automatic operation control is executed.
A vehicle driving support device configured as follows.

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