JP7206886B2 - Driving support device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving assistance device that assists a driver's driving operation using information about the surrounding conditions of the vehicle.

Conventionally, based on information from "cameras and sensors" mounted on the vehicle, vehicle surrounding information regarding the vehicle's surroundings is detected, and the vehicle moves along a movement route set based on the vehicle surrounding information. A device for executing driving support control (parking support control) to support the driver's driving operation has been proposed (see Patent Documents 1 and 2).

JP 2011-126337 A JP 2008-213516 A

In the device proposed in Patent Document 1 (hereinafter referred to as "conventional device 1"), the driver needs to operate the touch operation unit displayed on the display when starting the driving support control. be. The touch operation unit is composed of a plurality of hierarchical switches. A driver sets a switch for selecting either a first mode for assisting parallel parking or a second mode for assisting parking in a garage, and a target position where the driver parks the vehicle. and a switch for confirming the setting of the target position. When these switches are operated, the conventional device 1 starts driving support control.

Furthermore, in the device proposed in Patent Literature 2 (hereinafter referred to as "conventional device 2"), when starting driving support control for moving closer to a three-dimensional object existing around the vehicle, , the driver needs to operate a plurality of buttons (icons) on the display. The driver presses a button for instructing the start of driving support control, and then operates a button for setting the distance to approach the three-dimensional object. When these buttons are operated, the conventional device 2 starts driving support control.

As described above, in the conventional device 1 and the conventional device 2, the driver has to operate a plurality of switches (or buttons), so it takes a long time to start driving support control. Therefore, the driver feels annoyed.

The present invention has been made to solve the above problems. That is, one of the objects of the present invention is to provide a driving assistance device capable of starting driving assistance control with a simpler operation than conventional devices.

The driving support device of the present invention (hereinafter sometimes referred to as "the device of the present invention") is
an information acquisition unit (71, 72, 73) that acquires vehicle surrounding information including information on a situation around the vehicle, the information acquisition unit including at least an imaging unit (73) that acquires image data around the vehicle;
a display device (63) capable of displaying a screen to an occupant of the vehicle and detecting a touch operation of the occupant's finger on the screen;
Based on the image data acquired by the imaging unit, a bird's-eye view image (401), which is an image of the vehicle and its surroundings viewed from a position away from the vehicle directly above the vehicle, is generated. causing the display device to display a support mode screen including at least an image;
determining a movement route (P1, P2, P3) that allows the vehicle to move from the current position of the vehicle to a target position (Fp) based on the vehicle surrounding information;
a driving support unit (10, 10X) configured to execute driving support control including automatic steering angle control of the vehicle for moving the vehicle along the determined movement route;
It has
The driving support unit
When a slide operation is performed, which is an operation of moving the finger on the support mode screen while the finger is in contact with the support mode screen in a situation where the support mode screen is displayed on the display device (step 610: Yes , step 615: Yes), if the situation around the vehicle specified by the vehicle surrounding information satisfies a predetermined condition (step 620: Yes, step 630: Yes, step 640: Yes), the driving support control is configured to start running

The device of the present invention having such a configuration starts driving support control if the situation around the vehicle satisfies a predetermined condition when a slide operation is performed while the support mode screen is being displayed on the display device. is configured as According to this configuration, the driver can request the start of driving support control by one operation (slide operation) on the support mode screen. Since the number of operations on the screen for starting the driving support control is reduced compared to the conventional devices 1 and 2, the time until the driving support control is started is shortened. Therefore, it is possible to reduce the possibility that the driver will feel annoyed. Furthermore, the driver can perform the slide operation while checking the surroundings of the vehicle by looking at the bird's-eye view image of the support mode screen.

In one aspect of the device of the present invention,
The driving support unit
When the three-dimensional object detected by the vehicle peripheral information satisfies predetermined three-dimensional object conditions (condition A4, condition B4, condition C6), it is determined that the predetermined condition is satisfied.

The driving support unit of this aspect is configured to start driving support control when a three-dimensional object exists around the vehicle and the three-dimensional object satisfies a predetermined three-dimensional object condition.

In one aspect of the device of the present invention,
The driving support unit
A mode in which, when the slide operation is performed in a situation where the assistance mode screen is displayed on the display device, driving assistance is provided to bring the vehicle closer to a three-dimensional object existing on the right or left side of the vehicle. and a second mode in which driving assistance is performed so that the vehicle passes a moving object existing in front of the vehicle and moving toward the vehicle. death,
It is configured to execute the driving support control according to the selected mode.
Furthermore, the driving support unit
If the moving direction of the finger in the slide operation is within a predetermined first direction range (step 620: Yes, step 630: Yes), select the first mode (steps 625, 635),
If the moving direction of the finger in the slide operation is within a second direction range different from the first direction range (step 640: Yes), the second mode is selected (step 645).
is configured as

The driving support unit of this aspect selects either the first mode or the second mode according to the finger movement direction in the slide operation, and executes the driving support control in the selected mode. Therefore, by moving the finger in either the first direction range or the second direction range, the driver causes the driving support control to be executed in the desired mode (first mode or second mode). be able to. According to this aspect, the driver can make a request to start the driving support control and select the mode of the driving support control at the same time by one operation (slide operation) on the support mode screen.

In one aspect of the device of the present invention,
The driving support unit is configured to determine that the three-dimensional object condition is satisfied when a three-dimensional object exists on the left side of the vehicle (condition A4),
When the direction of movement of the finger in the slide operation is within a predetermined left direction range, the driving support unit moves the vehicle to a predetermined distance (Srd) from the three-dimensional object. It is configured to set as a target position and execute the driving support control.

The driving support unit of this aspect can bring the vehicle closer to the three-dimensional object when the three-dimensional object exists on the left side of the vehicle.

In one aspect of the device of the present invention,
The driving support unit
It is configured to change the predetermined interval (Srd) based on the moving distance (SD) of the finger on the support mode screen in the slide operation (step 1505).

According to this aspect, the driver can change the distance between the vehicle and the three-dimensional object when the vehicle reaches the target position by adjusting the finger movement distance. Furthermore, the driver can simultaneously request the start of driving support control and adjust the distance between the vehicle and the three-dimensional object by performing a single operation (slide operation) on the support mode screen.

In one aspect of the device of the present invention,
The driving support unit is configured to determine that the three-dimensional object condition is satisfied when a three-dimensional object exists on the right side of the vehicle (condition B4),
The driving support unit sets a position where the vehicle is brought close to the three-dimensional object to a predetermined distance when the moving direction of the finger in the slide operation is within a predetermined rightward range as the target position. setting and executing the driving support control.

The driving support unit of this aspect can bring the vehicle closer to the three-dimensional object when the three-dimensional object exists on the right side of the vehicle.

In one aspect of the device of the present invention,
The driving support unit
It is configured to change the predetermined interval (Srd) based on the moving distance (SD) of the finger on the support mode screen in the slide operation (step 1510).

According to this aspect, the driver can change the distance between the vehicle and the three-dimensional object when the vehicle reaches the target position by adjusting the finger movement distance. Furthermore, the driver can simultaneously request the start of driving support control and adjust the distance between the vehicle and the three-dimensional object by performing a single operation (slide operation) on the support mode screen.

In one aspect of the device of the present invention,
The driving support unit is configured to determine that the three-dimensional object condition is satisfied when there is a moving object existing in front of the vehicle and moving toward the vehicle (condition C6),
The driving support unit sets, as the target position, the position of the vehicle when the vehicle passes the moving object when the moving direction of the finger in the slide operation is within a predetermined upward range. , to execute the driving support control.
The driving support unit further
Vehicle speed control for controlling vehicle speed, which is the speed of the vehicle, can be executed as the driving support control,
The vehicle speed control is executed so that the vehicle speed of the vehicle when the vehicle reaches the target position coincides with the target vehicle speed (Va).

The driving support unit of this aspect can execute driving support control for causing the vehicle to pass the moving object (for example, an oncoming vehicle) when there is a moving object in front of the vehicle. Furthermore, the driving support unit of this aspect can execute vehicle speed control so as to match the vehicle speed with the target vehicle speed.

In one aspect of the device of the present invention,
The driving support unit
The target vehicle speed (Va) is changed (step 1515) based on the moving distance (SD) of the finger on the support mode screen in the slide operation.

According to this aspect, the driver can change the target vehicle speed when the vehicle passes the moving object by adjusting the moving distance of the finger. Furthermore, the driver can make a request to start driving support control and adjust the target vehicle speed at the same time by performing a single operation (slide operation) on the support mode screen.

In one aspect of the device of the present invention,
The driving support unit
When the slide operation is not performed within a predetermined period (Tp) from the time when the support mode screen is displayed on the display device and the predetermined condition is satisfied (step 1955: Yes), the driving support control is executed. causing the display device to display a proposal screen (2000) that proposes
The driving support control is executed when the passenger performs a predetermined approval operation on the proposal screen (step 1970: Yes).

The driving support unit of this aspect displays a proposal screen that proposes execution of driving support control when the slide operation is not performed within a predetermined period (Tp) from the time when the support mode screen is displayed and the predetermined condition is satisfied. Display on the support mode screen. In this manner, the driving support unit of this aspect can automatically suggest execution of the driving support control according to the surrounding conditions of the vehicle. The driver can start driving support control only by a predetermined approval operation.

In one aspect of the device of the present invention,
The driving support unit
When a long press operation, which is an operation of keeping the finger in contact with the vehicle on the bird's-eye view image of the support mode screen for a predetermined time or longer (step 2715: Yes), a display element (2401) representing the vehicle is performed. ) is displayed on the bird's-eye view image,
When the slide operation is performed following the long press operation, the display element is moved on the bird's-eye view image according to the slide operation.
The driving support unit is further configured to set, as the target position, a position corresponding to a position (Mp) of the display element on the bird's-eye view image when the slide operation is completed.

According to this aspect, the driver can simultaneously request the start of the driving support control and set the target position when the driving support control is to be executed by performing the slide operation of the display element on the bird's-eye view image. Furthermore, the driver can set the target position to his/her preferred position.

In one aspect of the device of the present invention,
The driving support unit
displaying the support mode screen on the display device when the vehicle speed of the vehicle is equal to or less than a predetermined vehicle speed threshold (Vth);
When the vehicle speed is higher than the vehicle speed threshold, the display device is configured to display a screen different from the support mode screen.

According to this aspect, the assistance mode screen is displayed only when the vehicle speed is equal to or lower than the predetermined vehicle speed threshold. Therefore, when the driver wants to execute the driving support control, the driver decelerates the vehicle and performs the slide operation. Therefore, it is possible to enhance the safety when performing the slide operation.

Further features related to the present invention will become apparent from the description of the specification and the accompanying drawings. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

In the above description, in order to facilitate understanding of the present invention, names and/or symbols used in the embodiments are added in parentheses to configurations of the invention corresponding to the embodiments to be described later. However, each component of the present invention is not limited to the embodiments defined by the names and/or symbols.

1 is a schematic configuration diagram of a driving assistance device (first device) according to a first embodiment of the present invention; FIG. 1 is a plan view of a vehicle showing the arrangement of radar sensors, ultrasonic sensors, and cameras; FIG. 2 is a diagram for explaining a screen (assistance mode screen) displayed when the display mode of the touch panel shown in FIG. 1 is a driving assistance mode; FIG. 4 is a diagram showing a state in which a bird's-eye view image and a traveling direction image are displayed on the support mode screen shown in FIG. 3; FIG. It is a figure for demonstrating the upward direction of slide operation, downward direction, left direction, and right direction. 4 is a flowchart showing a "first request determination routine" executed by a driving assistance ECU of the first device; It is the flowchart which showed the "driving assistance control execution routine" which driving assistance ECU of a 1st apparatus performs. It is a figure which shows the situation where leftward slide operation was performed on the assistance mode screen. It is a figure which shows the situation where a three-dimensional object (curbstone) exists on the left side of a vehicle. It is a figure which shows the situation where rightward slide operation was performed on the support mode screen. It is a figure which shows the situation where a three-dimensional object (curbstone) exists on the right side of a vehicle. It is a figure which shows the situation where upward slide operation was performed on the assistance mode screen. It is a figure which shows the situation where an oncoming vehicle exists in front of a vehicle. FIG. 10 is a diagram showing an assistance mode screen at the start of driving assistance control; 9 is a flowchart showing a "first request determination routine" executed by a driving assistance ECU of a driving assistance device (second device) according to a second embodiment of the present invention; The map is stored in advance in the driving assistance ECU of the second device, and is a map showing the relationship between the moving distance SD of the slide operation and the space Srd to be secured between the vehicle and the three-dimensional object. This is a map stored in advance by the driving support ECU of the second device, and is a map showing the relationship between the movement distance SD of the slide operation and the target vehicle speed Va when the vehicle is moved along the movement route. It is a modification of the map stored in advance by the driving support ECU of the second device, and is a map showing the relationship between the moving distance SD of the slide operation and the space Srd to be secured between the vehicle and the three-dimensional object. . FIG. 11 is a flow chart showing a “suggestion routine” executed by a driving assistance ECU of a driving assistance device (third device) according to a third embodiment of the present invention; FIG. It is a figure which shows the proposal screen displayed on a support mode screen. It is a figure which shows the modification of a proposal screen. It is a figure which shows the modification of a proposal screen. A support mode screen displayed by the driving support ECU of the driving support device (fourth device) according to the fourth embodiment of the present invention, the support when a long press operation is performed on the vehicle on the bird's-eye view image. It is a figure which shows a mode screen. FIG. 11 is a diagram showing a support mode screen displayed by the driving support ECU of the fourth device when a long press operation is performed on the vehicle on the bird's-eye view image; FIG. 10 is a diagram showing a situation in which a vehicle mark on the bird's-eye view image has been moved; It is a figure for demonstrating the upper left direction and the upper right direction of slide operation. It is the flowchart which showed the "2nd request|requirement determination routine" which driving assistance ECU of a 4th apparatus performs. FIG. 11 is a diagram illustrating a modification in which a guidance display indicating the correspondence relationship between the operation direction (finger moving direction) of the slide operation and the support mode is displayed on the support mode screen; It is a figure for demonstrating the correspondence of upward direction of slide operation, downward direction, left direction, and right direction, and assistance mode.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Although the accompanying drawings show specific embodiments in accordance with the principles of the present invention, they are examples for understanding the present invention and should not be used to interpret the present invention in a limiting manner.

<First embodiment>
A driving support device according to a first embodiment of the present invention (hereinafter sometimes referred to as a "first device") is applied to a vehicle. Hereinafter, the vehicle equipped with the driving support device may be referred to as "self-vehicle" in order to distinguish it from other vehicles.

As shown in FIG. 1, the driving assistance device includes a driving assistance ECU 10. As shown in FIG. The driving assistance ECU 10 includes a microcomputer including a CPU 10a, a RAM 10b, a ROM 10c, an interface (I/F) 10d, and the like. In this specification, "ECU" means an electric control unit. The ECU includes a microcomputer including CPU, RAM, ROM, interface, and the like. The CPU implements various functions by executing instructions stored in the ROM.

The driving support device further includes an engine ECU 20, a brake ECU 30, an electric power steering ECU (hereinafter referred to as "EPS ECU") 40, a meter ECU 50, and a navigation ECU 60. The driving support ECU 10 and these ECUs are connected via a CAN (Controller Area Network) 90 so as to be able to transmit and receive information to each other. Accordingly, detection signals from sensors connected to a specific ECU are also transmitted to other ECUs. Two or more ECUs among the ECUs described above may be integrated into one ECU.

The engine ECU 20 is connected to the engine actuator 21 . The engine actuator 21 includes a throttle valve actuator that changes the opening of the throttle valve of the internal combustion engine 22 . The engine ECU 20 can change the torque generated by the internal combustion engine 22 by driving the engine actuator 21 . Therefore, the engine ECU 20 can control the driving force of the vehicle by controlling the engine actuator 21 . If the vehicle is a hybrid vehicle, the engine ECU 20 can control the driving force of the vehicle generated by one or both of the "internal combustion engine and the electric motor" as the vehicle driving source. Furthermore, when the vehicle is an electric vehicle, the engine ECU 20 can control the driving force of the vehicle generated by the electric motor as the vehicle driving source.

The brake ECU 30 is connected to the brake actuator 31 . A braking force (braking torque) to the wheels is controlled by a brake actuator 31 . The brake actuator 31 adjusts the hydraulic pressure supplied to the wheel cylinder built in the brake caliper 32b according to the instruction from the brake ECU 30, and the hydraulic pressure presses the brake pad against the brake disc 32a to generate frictional braking force. Therefore, the brake ECU 30 can control the braking force of the vehicle by controlling the brake actuator 31 .

The EPS-ECU 40 is connected to an assist motor (M) 41 . The assist motor 41 is incorporated in a "steering mechanism including a steering wheel, a steering shaft connected to the steering wheel, a steering gear mechanism, etc." of a vehicle (not shown). The EPS-ECU 40 detects the steering torque input to the steering wheel by the driver using a steering torque sensor (not shown) provided on the steering shaft, and drives the assist motor 41 based on this steering torque. The EPS-ECU 40 applies steering torque (steering assist torque) to the steering mechanism by driving the assist motor 41, thereby assisting the driver's steering operation.

In addition, when the EPS-ECU 40 receives a steering command from the driving assistance ECU 10 via the CAN 90 during execution of the driving assistance control described below, the EPS-ECU 40 operates the assist motor 41 based on the steering torque specified by the steering command. to drive. This steering torque is applied to the steering mechanism by a steering command from the driving support ECU 10 without requiring the driver's steering operation, unlike the steering assist torque that is applied to assist the driver's steering operation. represents the torque applied. This torque changes the rudder angle (that is, the steering angle) of the steerable wheels of the vehicle (the steerable wheels are steered).

The meter ECU 50 is connected to a display 51, a vehicle speed sensor 52, and left and right turn signal lamps 53 (blinker lamps). The display 51 is a multi-information display provided in front of the driver's seat. The display 51 displays various information in addition to the display of measured values such as vehicle speed and engine rotation speed. A head-up display may be employed as the display 51 . Vehicle speed sensor 52 detects the speed of the vehicle (vehicle speed) and outputs a signal indicating the vehicle speed to meter ECU 50 . The vehicle speed detected by the vehicle speed sensor 52 is also transmitted to the driving support ECU 10 . Furthermore, the meter ECU 50 blinks the left or right turn signal lamp 53 in response to a signal from a blinker lever switch (not shown). The operation status of the left or right turn signal lamp 53 is transmitted to the driving assistance ECU 10 .

The navigation ECU 60 includes a GPS receiver 61 that receives GPS signals for detecting the latitude and longitude of the location where the vehicle is located, a map database 62 that stores map information, and a touch panel 63 . The navigation ECU 60 performs various arithmetic processing based on the latitude and longitude of the location where the vehicle is located, map information, etc., and causes the touch panel 63 to display the location of the vehicle on the map.

The map information stored in the map database 62 includes road information. For example, in the road information, the number of lanes of the road, the width of the road, the slope of the road, etc. are associated with each section of the road. The navigation ECU 60 repeatedly transmits the road information to the driving assistance ECU 10 each time a predetermined period of time elapses.

The touch panel 63 is a touch panel type display, and can display maps, images, and the like. Therefore, the touch panel 63 is also called a "display device" or a "display section" for convenience. The touch panel 63 can detect the driver's touch operation. The touch panel 63 outputs a detection signal representing a contact position, a contact range, and the like to the navigation ECU 60 when detecting contact with a driver's finger. The navigation ECU 60 obtains information on the operation of the touch panel 63 (contact position of the finger, direction of movement of the finger, distance of movement of the finger, and finger contact time, etc.). Hereinafter, information regarding operations on the touch panel 63 will be referred to as "operation information". The navigation ECU 60 transmits operation information to the driving assistance ECU 10 .

Hereinafter, the display mode when "the map and the position of the vehicle on the map" is displayed on the touch panel 63 is referred to as "navigation mode". Display modes of the touch panel 63 include a driving support mode in addition to the navigation mode. The driving support mode is a display mode for displaying various images representing the surrounding conditions of the vehicle, as will be described later. When the display mode is the navigation mode, the driving assistance ECU 10 changes the display mode of the touch panel 63 from the navigation mode to the driving assistance mode when the vehicle speed detected by the vehicle speed sensor 52 becomes equal to or lower than a predetermined low speed threshold value Vth (for example, 12 km/h). switch to mode. When the display mode is the driving assistance mode, the driving assistance ECU 10 switches the display mode of the touch panel 63 from the driving assistance mode to the navigation mode when the vehicle speed detected by the vehicle speed sensor 52 exceeds a predetermined low speed threshold value Vth.

A plurality of radar sensors 71a to 71e, a plurality of ultrasonic sensors 72a to 72h, a plurality of cameras 73a to 73d, and a speaker 74 are connected to the driving support ECU . A plurality of radar sensors 71a to 71e are collectively referred to as "radar sensor 71". The plurality of ultrasonic sensors 72a-72h are collectively referred to as "ultrasonic sensors 72". The plurality of cameras 73a-73d are collectively referred to as "camera 73".

Each of the radar sensors 71 includes a radar transmitter/receiver and a signal processor (not shown). The radar transmitter/receiver emits radio waves in the millimeter wave band (hereinafter referred to as "millimeter waves") It receives millimeter waves (that is, reflected waves) reflected by three-dimensional objects within the radiation range. The signal processing unit determines the relationship between the vehicle and the three-dimensional object based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, the time from when the millimeter wave is transmitted to when the reflected wave is received, etc. distance, the relative speed between the vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object with respect to the vehicle, etc. are acquired and output to the driving support ECU 10 . The three-dimensional objects in this specification include moving objects such as automobiles, pedestrians and bicycles, and fixed objects such as curbs, guardrails and fences.

As shown in FIG. 2, the radar sensor 71a is provided at the right corner portion of the front portion of the vehicle body 200, and mainly detects three-dimensional objects present in the front right area of the vehicle. The radar sensor 71b is provided at the center of the front part of the vehicle body 200 and detects a three-dimensional object existing in the front area of the vehicle. The radar sensor 71c is provided at the left corner portion of the front portion of the vehicle body 200, and mainly detects a three-dimensional object present in the left front area of the vehicle. The radar sensor 71d is provided at the right corner portion of the rear portion of the vehicle body, and mainly detects three-dimensional objects present in the right rear area of the vehicle. The radar sensor 71e is provided at the left corner portion of the rear portion of the vehicle body 200, and mainly detects a three-dimensional object present in the left rear area of the vehicle.

Each of the ultrasonic sensors 72 transmits a pulsed ultrasonic wave to a predetermined range and receives a reflected wave reflected by a three-dimensional object. An ultrasonic sensor can detect the presence or absence of a three-dimensional object and the distance to the three-dimensional object based on the time from transmission to reception of ultrasonic waves.

As shown in FIG. 2, four ultrasonic sensors 72a to 72d are provided on the front bumper 201 at intervals in the vehicle width direction. Ultrasonic sensors 72a to 72d detect the presence or absence of a three-dimensional object in front of the vehicle and the distance to the three-dimensional object. Furthermore, ultrasonic sensors 72e to 72h are provided on the rear bumper 202 at intervals in the vehicle width direction. Ultrasonic sensors 72e to 72h detect the presence or absence of a three-dimensional object behind the vehicle and the distance to the three-dimensional object.

The camera 73 is, for example, a digital camera incorporating an imaging device such as a CCD (charge coupled device) or CIS (CMOS image sensor). Camera 73 outputs image data at a predetermined frame rate. The camera 73 acquires image data representing the surroundings of the vehicle by photographing the surroundings of the vehicle (including three-dimensional objects, lane markings on the road, etc.), and outputs the image data to the driving support ECU 10. It's becoming

As shown in FIG. 2, the camera 73a is provided substantially in the center of the front bumper 201 in the vehicle width direction, and captures an image of the area in front of the vehicle. A camera 73b is provided on the wall of the rear trunk 203 at the rear of the vehicle body 200, and images the rear area of the vehicle. A camera 73c is provided on the right side door mirror 204 and captures an image of the right side area of the vehicle. A camera 73d is provided on the left side door mirror 205 and captures an image of the left side area of the vehicle. Hereinafter, the image data obtained by imaging with the cameras 73a, 73b, 73c and 73d will be referred to as "front image data", "back image data", "right side image data" and "left side image data", respectively. There is

The driving assistance ECU 10 receives a detection signal from each of the radar sensor 71 and the ultrasonic sensor 72 each time a predetermined time (hereinafter also referred to as "first predetermined time" for convenience) elapses. The driving support ECU 10 converts the information included in the detection signal (that is, the position of the reflection point where the millimeter wave is reflected and the position of the reflection point where the ultrasonic wave is reflected) into a two-dimensional map. plot. This two-dimensional map is a plan view with the position of the vehicle as the origin, the traveling direction of the vehicle as the X axis, and the leftward direction of the vehicle as the Y axis. The "position of the vehicle" is a predetermined center position of the vehicle in a plan view. The driving assistance ECU 10 detects a three-dimensional object around the vehicle based on the shape formed by the group of reflection points on the two-dimensional map, and specifies the position (distance and direction) and shape of the three-dimensional object with respect to the vehicle.

Note that the above-mentioned "position of the vehicle" refers to other specific positions on the vehicle (for example, the central position of the left front wheel and the right front wheel in a plan view, the central position of the left rear wheel and the right rear wheel in a plan view, or a plan view). the geometric center position of the vehicle in view).

Further, the driving assistance ECU 10 acquires image data from each of the cameras 73 each time the first predetermined time elapses. The driving assistance ECU 10 detects a three-dimensional object around the vehicle by analyzing image data from each of the cameras 73, and specifies the position (distance and direction) and shape of the three-dimensional object with respect to the vehicle. The driving support ECU 10 draws the three-dimensional object identified (detected) based on the image data on the two-dimensional map described above. Therefore, the driving assistance ECU 10 can detect three-dimensional objects existing around the vehicle (within a predetermined distance range from the position of the vehicle) based on the information shown on the two-dimensional map.

In addition, "the radar sensor 71, the ultrasonic sensor 72, and the camera 73" are generically called a vehicle periphery sensor (or information acquisition part). Furthermore, the camera 73 may be called an "imaging unit that acquires image data around the vehicle". "Information about the situation around the vehicle (information about three-dimensional objects, lane markings, etc.)" obtained based on signals from the vehicle surroundings sensors is also called "vehicle surroundings information."

The speaker 74 generates sound when receiving a speech command from the driving assistance ECU 10 .

The driving assistance ECU 10 functionally has a "driving assistance section 10X" realized by the CPU 10a. The driving support unit 10X performs display processing of a screen on the touch panel 63, execution of driving support control, and the like, as described below.

(Screen display)
Next, a screen displayed on the touch panel 63 when the display mode is the driving assistance mode (hereinafter referred to as "assistance mode screen") will be described. As shown in FIG. 3, the support mode screen has a first display area 301, a second display area 302, and a third display area 303. As shown in FIG. The first display area 301 is the area on the left side when the screen is divided into left and right halves. The second display area 302 is a part of the right side area when the screen is divided into left and right sides as described above, and is an upper side area when the right side area is vertically divided into two. A third display area 303 is a lower area when the right area is vertically divided into two.

(Image generation)
When the display mode is the driving assistance mode, the driving assistance ECU 10 causes the assistance mode screen to display the "viewpoint image and traveling direction image" described below. A method for generating each of the viewpoint image and the traveling direction image will be briefly described below.

Based on the image data (front image data, rear image data, right side image data, and left side image data) acquired from each of the cameras 73, the driving support ECU 10 detects the vehicle and the surrounding area of the vehicle from a set virtual viewpoint. Generates an image (viewpoint image) viewed from A method for generating such a viewpoint image is well known (see JP-A-2012-217000, JP-A-2013-021468, etc.). Therefore, an example of a viewpoint image generating method will be briefly described below.

The driving assistance ECU 10 generates three-dimensional data about the surrounding area of the vehicle based on the image data. The driving assistance ECU 10 sets a virtual viewpoint in the above three-dimensional data. A virtual viewpoint is defined by a viewpoint position and a viewing direction. Then, the driving support ECU 10 can generate a viewpoint image showing how the vehicle and its surrounding area are seen by cutting out an image based on the set virtual viewpoint from the three-dimensional data. For example, the viewpoint position of the virtual viewpoint is set at a position that is a predetermined distance from the central position of the vehicle body in plan view in the directly above direction. The viewing direction of the virtual viewpoint is set directly below the vehicle from the viewpoint position. Therefore, the viewpoint image becomes an image looking down on the vehicle from a position directly above the vehicle. Such a viewpoint image is also called a "bird's-eye view image".

The driving assistance ECU 10 generates an image (traveling direction image) that displays a region in the traveling direction of the vehicle based on the forward image data and the rearward image data. When the vehicle is moving forward, the driving assistance ECU 10 generates a traveling direction image showing the area ahead of the vehicle based on the forward image data. On the other hand, when the vehicle is moving backward, the driving assistance ECU 10 generates a traveling direction image showing the rear area of the vehicle based on the rear image data.

When the display mode is the driving assistance mode, the driving assistance ECU 10 displays an overhead image 401 in the first display area 301 and displays a traveling direction image 402 in the second display area 302, as shown in FIG.

(detection of touch operation)
The driving assistance ECU 10 determines whether or not a touch operation has been performed on the assistance mode screen based on the operation information transmitted from the navigation ECU 60 . The touch operation is a touch operation (so-called tap operation) in which the finger is immediately removed from the touch panel 63 after being brought into contact with the touch panel 63, and an operation in which the finger is kept in contact with substantially the same position for a predetermined time or longer. A long press operation and a slide operation, which is an operation of moving a finger on the touch panel 63 by a predetermined distance (SD1 described later) or more while keeping the finger in contact with the touch panel 63, are included. In this specification, a slide operation includes a flick operation of moving a finger on touch panel 63 by a relatively short distance (≧SD1) and a swipe operation of moving a finger on touch panel 63 by a relatively long distance. . Note that the slide operation also includes an operation (so-called drag operation) of selecting a portion on the support mode screen with a finger and moving the selected portion on the support mode screen.

The driving assistance ECU 10 determines (identifies) the operation direction of the slide operation (finger movement direction) based on the operation information when the slide operation is performed on the assistance mode screen. As shown in FIG. 5, the driving assistance ECU 10 sets the direction immediately below the center point (hereinafter referred to as "starting point") Sp of the portion where the finger first touches the assistance mode screen as the reference direction (that is, , 0° azimuth). The driving assistance ECU 10 determines that the operation direction of the slide operation is the left direction when the movement direction of the finger from the starting point Sp is in the range of 45° or more and less than 135° (left direction range). The driving assistance ECU 10 determines that the operation direction of the slide operation is the upward direction when the movement direction of the finger from the starting point Sp is in the range of 135° or more and less than 225° (upward direction range). The driving assistance ECU 10 determines that the operation direction of the slide operation is the right direction when the movement direction of the finger from the starting point Sp is in the range of 225° or more and less than 315° (right direction range). The driving assistance ECU 10 determines that the operation direction of the slide operation is downward when the movement direction of the finger from the start point Sp is in the range of 0° or more and less than 45° or in the range of 315° or more and less than 360°.

Note that the direction of movement of the finger from the start point Sp is determined by a straight line connecting the start point Sp of the finger and the center point of the last contact point of the finger on the support mode screen (that is, the end point of the slide operation). Determined (identified).

(Outline of driving support control)
The driving assistance ECU 10 executes driving assistance control when a slide operation is performed when the display mode is the driving assistance mode. At this time, the driving assistance ECU 10 selects one of a first mode and a second mode, which will be described later, as an assistance mode according to the operation direction of the slide operation.

The first mode is a mode in which driving assistance is performed to bring the vehicle closer to a three-dimensional object existing on the left or right side. The first mode is sometimes referred to as "width justification mode". The first mode includes a left alignment mode for causing the vehicle to approach (close to) a three-dimensional object existing on the left side, and a right alignment mode for causing the vehicle to approach (close to) a three-dimensional object existing on the right side. As shown in FIG. 5, the driving assistance ECU 10 selects the left alignment mode when the operation direction of the slide operation is the left direction, and selects the right alignment mode when the operation direction of the slide operation is the right direction.

When the left alignment mode is selected, the driving assistance ECU 10 sets the target position, which is the position of the vehicle when the driving assistance control is completed, to the front left of the vehicle on the two-dimensional map. Furthermore, the driving assistance ECU 10 calculates a moving route for moving the vehicle from the current position to the target position on the two-dimensional map.

Next, the driving assistance ECU 10 determines a "steering angle pattern and speed pattern" for moving the vehicle along the movement route. The steering angle pattern is data that associates the position of the vehicle on the travel route with the steering angle, and represents changes in the steering angle while the vehicle travels along the travel route. The driving support ECU 10 transmits a steering command (including a target steering angle) to the EPS-ECU 40 via the CAN 90 according to the determined steering angle pattern. When the EPS-ECU 40 receives a steering command from the driving support ECU 10, the EPS-ECU 40 drives the assist motor 41 based on the target steering angle specified by the steering command, thereby matching the actual steering angle with the target steering angle ( That is, the steering angle automatic control is executed.).

The speed pattern is data that associates the position of the vehicle on the travel route with the travel speed, and represents changes in the travel speed while the vehicle travels along the travel route. The driving support ECU 10 transmits a driving force control command to the engine ECU 20 via the CAN 90 according to the determined speed pattern. When the engine ECU 20 receives a driving force control command from the driving support ECU 10, the engine ECU 20 controls the engine actuator 21 according to the driving force control command (that is, executes automatic driving force control for controlling the driving force of the vehicle). . Furthermore, the driving assistance ECU 10 transmits a braking force control command to the brake ECU 30 via the CAN 90 according to the determined speed pattern. When receiving a braking force control command from the driving support ECU 10, the brake ECU 30 controls the brake actuator 31 according to the braking force control command (that is, executes automatic braking force control for controlling the braking force of the vehicle). . Thus, the driving assistance ECU 10 is configured to be able to execute vehicle speed control for controlling the vehicle speed using the speed pattern.

Even when the right alignment mode is selected, the driving assistance ECU 10 performs similar driving assistance control. That is, the driving assistance ECU 10 sets the target position to the right front of the vehicle on the two-dimensional map, and calculates a movement route for moving the vehicle from the current position to the target position. After determining the movement route, the driving assistance ECU 10 determines a steering angle pattern and a speed pattern for moving the vehicle along the movement route. As described above, the driving assistance ECU 10 executes automatic steering angle control, automatic driving force control, and automatic braking force control according to the steering angle pattern and the speed pattern.

The second mode is a mode in which driving assistance is performed so that the vehicle passes a moving object (an oncoming vehicle) that is present in front of the vehicle and is moving toward the vehicle. The second mode is sometimes called "narrow road driving mode". As shown in FIG. 5, the driving assistance ECU 10 selects the second mode when the operation direction of the slide operation is the upward direction.

When the second mode is selected, the driving assistance ECU 10 assumes that the oncoming vehicle will travel at the current vehicle speed while maintaining the current traveling direction. Based on this assumption, the driving assistance ECU 10 detects an area where no oncoming vehicle will exist in the future on the two-dimensional map, and determines the area as a "movable area". The driving assistance ECU 10 sets a target position within the movable area and calculates a moving route for moving the vehicle from the current position to the target position. Then, the driving assistance ECU 10 determines a steering angle pattern and a speed pattern for moving the vehicle along the moving route. As described above, the driving assistance ECU 10 executes automatic steering angle control, automatic driving force control, and automatic braking force control according to the steering angle pattern and the speed pattern.

(Driving assistance request)
As described below, the driving assistance ECU 10 monitors the display mode of the screen, the operation direction of the slide operation, and the surrounding conditions of the vehicle, and determines whether or not a driving assistance request has occurred. The driving assistance request includes a first driving assistance request, a second driving assistance request and a third driving assistance request.

1. First Driving Assistance Request The driving assistance ECU 10 determines that a first driving assistance request has occurred when all the conditions described below are met.
(Condition A1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition A2) The display mode of the screen is the driving support mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition A3) A leftward slide operation is performed on the support mode screen.
(Condition A4) On the left side of the vehicle, a three-dimensional object extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.

2. Second Driving Assistance Request The driving assistance ECU 10 determines that a second driving assistance request has occurred when all the conditions described below are satisfied.
(Condition B1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition B2) The display mode of the screen is the driving assistance mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition B3) A slide operation in the right direction was performed on the support mode screen.
(Condition B4) On the right side of the vehicle, a three-dimensional object extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.

3. Third Driving Assistance Request The driving assistance ECU 10 determines that a third driving assistance request has occurred when all the conditions described below are satisfied.
(Condition C1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition C2) The display mode of the screen is the driving support mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition C3) An upward slide operation is performed on the support mode screen.
(Condition C4) The road on which the vehicle is currently traveling has one lane.
(Condition C5) The width of the road on which the vehicle is currently traveling is equal to or less than a predetermined road width threshold value Wth.
(Condition C6) A moving object (an oncoming vehicle) existing in front of the vehicle and moving toward the vehicle is detected.

When the first driving assistance request is generated, the driving assistance ECU 10 executes the driving assistance control in the left shift mode of the first mode.
When the second driving assistance request is generated, the driving assistance ECU 10 executes the driving assistance control in the right alignment mode of the first mode.
The driving assistance ECU 10 executes driving assistance control in the second mode when a third driving assistance request is generated.

(Specific operation)
Next, a specific operation when executing driving support control will be described. The CPU 10a (hereinafter simply referred to as "CPU") of the driving assistance ECU 10 executes the routines shown in FIGS. 6 and 7 each time "second predetermined time longer than first predetermined time" elapses. It is designed to Further, the CPU acquires vehicle surrounding information from the vehicle surrounding sensors by executing a routine (not shown) each time the first predetermined time elapses. Furthermore, the CPU updates the two-dimensional map based on the vehicle surrounding information by executing a routine (not shown) each time the first predetermined time elapses.

Further, the CPU acquires information (operation information) regarding the operation on the touch panel 63 via the navigation ECU 60 by executing a routine (not shown) each time the second predetermined time elapses.

In addition, when the ignition switch (start switch) (not shown) of the vehicle is changed from the OFF position to the ON position, the CPU executes an initialization routine (not shown) to set the values of various flags described below to "0". ” is set.

At a predetermined timing, the CPU starts processing from step 600 in FIG. Determine whether or not there is When the value of the request flag FL1 is "0", it indicates that no driving assistance request (none of the first driving assistance request, the second driving assistance request, and the third driving assistance request) has occurred. is "1", it indicates that a driving assistance request (any one of the first driving assistance request, the second driving assistance request, and the third driving assistance request) is generated. Therefore, at step 605, the CPU determines whether or not the conditions A1, B1 and C1 are satisfied. If the value of the request flag FL1 is not "0", the CPU determines "No" at step 605, directly proceeds to step 695, and temporarily terminates this routine.

Assuming that the value of the request flag FL1 is "0", the CPU determines "Yes" in step 605 and proceeds to step 610 to determine whether the current display mode of the touch panel 63 is the driving support mode. determine whether If the current display mode is not the driving support mode, the CPU makes a "No" determination in step 610, proceeds directly to step 695, and terminates this routine.

Assuming that the display mode is the driving assistance mode, the CPU determines "Yes" in step 610 and proceeds to step 615 to determine whether a slide operation has been performed on the assistance mode screen based on the operation information. determine whether or not Specifically, the CPU determines that the slide operation has been performed when it detects that the finger is moved by a predetermined distance SD1 or more while being in contact with the support mode screen. If the slide operation has not been performed, the CPU determines "No" in step 615, directly proceeds to step 695, and temporarily terminates this routine.

Now, as shown in FIG. 8, it is assumed that the driver performs a leftward slide operation on the support mode screen. Furthermore, it is assumed that the vehicle 100 is traveling on the road 901 and the curb 902 is present at the left end of the road 901 as shown in FIG. 9 when the leftward slide operation is performed. .

In this case, the CPU determines "Yes" in step 615, proceeds to step 620, and determines whether or not the above conditions A3 and A4 are satisfied. Based on the above assumption, the CPU determines that condition A3 is satisfied. Furthermore, since the curb 902 (three-dimensional object) on the left side of the vehicle 100 extends forward from the current position of the vehicle 100 (the current center position of the vehicle) by the distance threshold Dth or more, the CPU determines that the condition A4 is satisfied. Then judge. Therefore, the CPU determines "Yes" in step 620, and sequentially performs the processing of steps 625 and 650 described below. After that, the CPU proceeds to step 695 and temporarily terminates this routine.

Step 625: The CPU sets the value of the mode flag FL2 to "1". When the value of the mode flag FL2 is "1", it indicates that the first driving assistance request is being issued, and when the value is "2", it indicates that the second driving assistance request is being issued. , indicates that the third driving assistance request is generated when its value is "3".
Step 650: The CPU sets the value of the request flag FL1 to "1".

On the other hand, if at least one of the conditions A3 and A4 is not satisfied at step 620, the CPU determines "No" at step 620 and proceeds to step 630 to determine whether the conditions B3 and B4 are satisfied. determine whether or not

Now, as shown in FIG. 10, it is assumed that the driver performs a rightward slide operation on the support mode screen. Furthermore, it is assumed that the vehicle 100 is traveling on the road 1101 and the curb 1102 exists at the right end of the road 1101 as shown in FIG. . Since the above conditions B3 and B4 are satisfied by this assumption, the CPU determines "Yes" in step 630, and sequentially performs the processing of steps 635 and 650 described below. After that, the CPU proceeds to step 695 and temporarily terminates this routine.

Step 625: The CPU sets the value of the mode flag FL2 to "2".
Step 650: The CPU sets the value of the request flag FL1 to "1".

On the other hand, if at least one of the conditions B3 and B4 is not satisfied at step 630, the CPU determines "No" at step 630 and proceeds to step 640, where all of the conditions C3 to C6 are satisfied. determine whether or not

Now, as shown in FIG. 12, it is assumed that the driver performs an upward slide operation on the support mode screen. Furthermore, it is assumed that the vehicle 100 is traveling on the road 1301 and the oncoming vehicle 101 is traveling on the road 1301 as shown in FIG. 13 at the time when the upward sliding operation is performed. In addition, curbs 1302 and 1303 exist on both left and right sides of the road 1301, and the width Rw of the road 1301 is equal to or less than the predetermined road width threshold value Wth.

Based on the above assumption, the CPU determines that condition C3 is satisfied. Furthermore, the CPU determines that condition C4 is satisfied based on the road information (that is, the number of lanes of the road 1301). Note that the CPU may determine whether or not there is one lane based on the vehicle surrounding information. For example, the CPU may determine that condition C4 is satisfied when there are no lane markings on the road or there are only two lane markings on the road.

The CPU determines that the condition C5 is satisfied based on the road information (that is, the width of the road 1301). Note that the CPU may determine whether or not the condition C5 is satisfied based on the vehicle surrounding information. For example, the CPU may calculate the distance between the curbs 1302 and 1303 based on the vehicle surrounding information and determine whether the calculated distance is equal to or less than a predetermined road width threshold value Wth.

Furthermore, since the oncoming vehicle 101 exists in front of the vehicle 100 and is moving toward the vehicle 100, the CPU determines that the condition C6 is satisfied. As described above, since all of the above conditions C3 to C6 are satisfied, the CPU determines "Yes" in step 640, and sequentially performs the processing of steps 645 and 650 described below. After that, the CPU proceeds to step 695 and temporarily terminates this routine.

Step 645: The CPU sets the value of the mode flag FL2 to "3".
Step 650: The CPU sets the value of the request flag FL1 to "1".

On the other hand, if at least one of the conditions C3 to C6 is not satisfied at step 640, the determination at step 640 is "No", the process proceeds directly to step 695, and the routine ends.

Further, at a predetermined timing, the CPU starts processing from step 700 in FIG. ” is determined. The execution flag FL3 indicates that the driving support control is not being executed when its value is "0", and indicates that the driving support control is being executed when its value is "1".

Assuming that the value of the execution flag FL3 is "0", the CPU determines "Yes" in step 705 and advances to step 710 to determine whether the value of the request flag FL1 is "1". judge. If the value of the request flag FL1 is not "1", the CPU determines "No" at step 710, directly proceeds to step 795, and ends this routine.

On the other hand, if the value of the request flag FL1 is "1", the CPU determines "Yes" in step 710, proceeds to step 715, and refers to the value of the mode flag FL2.

In the example shown in FIGS. 8 and 9, the value of the mode flag FL2 is "1". In this case, the CPU sequentially performs steps 720, 735, 740, 745, 750 and 755 described below. After that, the CPU proceeds to step 795 and temporarily terminates this routine.

Step 720: The CPU sets the target position Fp to the front left of the vehicle 100, as shown in FIG. Specifically, the driving assistance ECU 10 stores in the RAM 10b in advance information on a rectangle similar to the shape of the vehicle body of the vehicle 100 . On the two-dimensional map, the CPU determines that the above-described rectangle (that is, the vehicle body of the vehicle 100) is positioned ahead of the current position of the vehicle 100 by a predetermined first distance Dc1, and that the curbstone 902 is positioned in the road width direction. A position separated by a predetermined distance Srd from is set as a target position Fp. Note that the first distance Dc1 is a value smaller than the predetermined distance threshold Dth.

Step 735: The CPU, as shown in FIG. 9, calculates a movement path P1 for moving the vehicle 100 from the current position to the target position Fp. Movement path P1 is set such that longitudinal axis Lax passing through the center of vehicle 100 in the vehicle width direction is parallel to traveling direction Rd of road 901 when vehicle 100 reaches target position Fp. Furthermore, the CPU calculates a steering angle pattern for moving the vehicle 100 along the movement path P1. As a result, the vehicle 100 can be moved to a position where it approaches the curb 902 by a predetermined distance Srd.

Step 740: The CPU calculates a speed pattern when the vehicle 100 is moved along the movement path P1. The speed pattern is set such that the vehicle speed of the vehicle 100 matches the target vehicle speed Va when the vehicle 100 reaches the target position Fp. Specifically, the speed pattern is set such that the vehicle speed of the vehicle 100 is gradually reduced to a predetermined target vehicle speed Va, and then the vehicle speed is maintained at the target vehicle speed Va until the vehicle 100 reaches the target position Fp. be done. Note that the CPU may calculate the speed pattern so as to maintain the current vehicle speed (that is, the vehicle speed at the time when the driving assistance request is generated) until the vehicle 100 reaches the target position Fp.

Step 745: The CPU sets the value of the execution flag FL3 to "1".
Step 750: As shown in FIG. 14, the CPU displays a message 1401 to the effect that driving assistance is to be started in the third display area 303 of the assistance mode screen, and causes the speaker 74 to speak the message.

Step 755: The CPU executes driving support control. Specifically, the CPU executes steering angle automatic control by transmitting a steering command (target steering angle) to the EPS-ECU 40 according to the steering angle pattern. The CPU executes automatic driving force control by transmitting a driving force control command to the engine ECU 20 according to the speed pattern. Furthermore, the CPU executes automatic braking force control by transmitting a braking force control command to the brake ECU 30 according to the speed pattern. Therefore, the driver can move the vehicle 100 closer to the curb 902 (that is, move it to the target position Fp) without operating the steering wheel, accelerator pedal, and brake pedal.

When step 755 is being executed, if the driver operates the brake pedal to request a large braking force, the brake actuator 31 is controlled to generate a braking force that meets the request. Furthermore, in that case, the driving force of the vehicle is set to "0" by controlling the engine actuator 21 .

On the other hand, in the example shown in FIGS. 10 and 11, the value of the mode flag FL2 is "2" when the CPU executes the process of step 715. FIG. In this case, the CPU sequentially performs steps 725, 735, 740, 745, 750 and 755 described below. After that, the CPU proceeds to step 795 and temporarily terminates this routine.

Step 725: The CPU sets the target position Fp to the front right of the vehicle 100, as shown in FIG. Specifically, the CPU determines that the above-mentioned rectangle (that is, the vehicle body of the vehicle 100) is a curbstone at a position that is a predetermined first distance Dc1 forward from the current position of the vehicle 100 on the two-dimensional map. A position separated from 1102 by a predetermined distance Srd is set as the target position Fp.

Step 735: The CPU, as shown in FIG. 11, calculates a movement path P2 for moving the vehicle 100 from the current position to the target position Fp. Movement path P2 is set such that longitudinal axis Lax of vehicle 100 is parallel to travel direction Rd of road 1101 when vehicle 100 reaches target position Fp. Furthermore, the CPU calculates a steering angle pattern for moving the vehicle 100 along the movement path P2.
Step 740: The CPU calculates the speed pattern when the vehicle 100 is moved along the movement path P2 as described above.
Step 745: The CPU sets the value of the execution flag FL3 to "1".
Step 750: As shown in FIG. 14, the CPU displays a message 1401 to the effect that driving assistance is to be started in the third display area 303 of the assistance mode screen, and causes the speaker 74 to speak the message.
Step 755: The CPU executes steering angle automatic control, driving force automatic control and braking force automatic control as described above.

In the case of the example shown in FIGS. 12 and 13, the value of the mode flag FL2 is "3" when the CPU executes the process of step 715. FIG. In this case, the CPU sequentially performs steps 730, 735, 740, 745, 750 and 755 described below. After that, the CPU proceeds to step 795 and temporarily terminates this routine.

Step 725: The CPU assumes on the two-dimensional map that the oncoming vehicle 101 is traveling at the current vehicle speed while maintaining the current traveling direction. For example, as shown in FIG. 13, the CPU determines the position 101a of the oncoming vehicle at a first time point t1 after a predetermined time from the present, and the position 101a of the oncoming vehicle at a second time point t2 after a predetermined time from the first time t1. predict the position 101b of . Based on this assumption, the CPU detects an area on the road 1301 in front of the vehicle 100 where no oncoming vehicles (101, 101a and 101b) will exist in the future (shaded area 1304 in FIG. 13). do. When the length of the area 1304 in the road width direction is equal to or greater than a predetermined length (the length of the vehicle body in the vehicle width direction + a predetermined margin), the CPU determines the area 1304 as a "movable area". Then, the CPU sets the target position Fp within the movable area 1304 . At this time, the target position Fp is such that the distance Ws1 (the distance in the vehicle width direction or the road width direction) between the vehicle 100 and the oncoming vehicles (101a and 101b) is equal to or greater than a predetermined distance Wsth, and the distance between the vehicle 100 and the curb 1302 is is set so that the interval Ws2 (the distance in the vehicle width direction or the road width direction) is equal to or greater than a predetermined interval Wsth. The distance Wsth is the minimum distance that should be secured between the vehicle 100 and the three-dimensional object while the vehicle 100 is running. If the length of the area 1304 in the road width direction is less than the predetermined length, the CPU sets both the request flag FL1 and the mode flag FL2 to "0", proceeds directly to step 795, and terminates this routine. Terminate once. At this time, the CPU may cause the third display area 303 of the support mode screen to display that the movement route cannot be set, and cause the speaker 74 to speak the message.

Step 735: The CPU, as shown in FIG. 13, calculates a movement path P3 for moving the vehicle 100 from the current position to the target position Fp. Movement path P3 is set such that longitudinal axis Lax of vehicle 100 is parallel to traveling direction Rd of road 1301 when vehicle 100 reaches target position Fp. Further, the CPU calculates a steering angle pattern for moving the vehicle 100 along the movement path P3.
Step 740: The CPU computes the speed pattern when the vehicle 100 is moved along the movement path P3, as described above. That is, the CPU gradually decreases the vehicle speed of the vehicle 100 to the target vehicle speed Va, and then calculates the speed pattern so that the vehicle speed is maintained at the target vehicle speed Va until the vehicle 100 reaches the target position Fp.
Step 745: The CPU sets the value of the execution flag FL3 to "1".
Step 750: As shown in FIG. 14, the CPU displays a message 1401 to the effect that driving assistance is to be started in the third display area 303 of the assistance mode screen, and causes the speaker 74 to speak the message.
Step 755: The CPU executes steering angle automatic control, driving force automatic control and braking force automatic control as described above.

When the CPU executes the routine of FIG. 7 again after the driving support control is started and proceeds to step 705 , the CPU determines “No” at step 705 and proceeds to step 760 . The CPU determines whether or not a predetermined end condition is satisfied. The termination condition is met when either of the following conditions D1 and D2 is met.
(Condition D1) The vehicle 100 has reached the target position Fp.
(Condition D2) A predetermined cancel operation has been performed on the support mode screen. For example, the cancel operation may be a downward slide operation.

If the termination condition is not satisfied, the CPU makes a "No" determination in step 760, proceeds to step 755, and continues driving support control (steering angle automatic control, driving force automatic control, and braking force automatic control). After that, the CPU proceeds to step 795 and temporarily terminates this routine.

On the other hand, if the termination condition is satisfied, the CPU makes a "Yes" determination in step 760, proceeds to step 765, and sets all of request flag FL1, mode flag FL2 and execution flag FL3 to "0". At this time, the CPU may cause the speaker 74 to utter a message to the effect that the driving assistance is finished. After that, the CPU proceeds to step 795 and temporarily terminates this routine.

According to the configuration of the first device described above, when the driver desires to execute driving support control in a situation where a three-dimensional object exists around the vehicle 100, the driver controls the vehicle speed to be equal to or lower than the predetermined low speed threshold value Vth. to decelerate the vehicle 100. When the vehicle speed becomes equal to or lower than the predetermined low speed threshold value Vth, the first device switches the display mode of the touch panel 63 from the navigation mode to the driving assistance mode. Thereby, the support mode screen is displayed on the touch panel 63 . Since the assistance mode screen is displayed when the vehicle 100 is traveling at a relatively low speed in this way, the safety of the driver when performing a slide operation on the assistance mode screen can be enhanced. Furthermore, the driver can perform the slide operation while checking the surroundings of the vehicle by looking at the bird's-eye view image 401 of the support mode screen.

In a situation where the support mode screen is displayed on the touch panel 63, the driver slides in the direction corresponding to the mode he or she wants to execute (the first mode, left alignment mode, the first mode, right alignment mode, or the second mode). perform an operation. The first device selects the support mode according to the operation direction of the slide operation when a three-dimensional object exists around the vehicle 100 (condition A4, condition B4, or condition C6). The first device then executes driving support control in the selected support mode. As described above, according to the first device, the driver simultaneously requests the start of the driving assistance control and selects the assistance mode of the driving assistance control by one operation (slide operation) on the assistance mode screen. It can be carried out. Since the number of operations on the screen for starting the driving support control is reduced compared to the conventional device, the time until the driving support control is started is shortened. Therefore, it is possible to reduce the possibility that the driver will feel annoyed.

<Second embodiment>
Next, a driving support device (hereinafter sometimes referred to as a "second device") according to a second embodiment of the present invention will be described. The second device differs from the first device in that the target position Fp or the target vehicle speed Va is changed according to the moving distance of the slide operation. This difference will be mainly described below.

When a slide operation is performed on the support mode screen, the driving support ECU 10 identifies (obtains) a movement distance SD, which is the distance the finger is moved on the support mode screen, based on the operation information. there is

When the first mode is selected, the driving assistance ECU 10 changes the distance Srd between the vehicle 100 and the three-dimensional object when the vehicle 100 reaches the target position Fp according to the movement distance SD.
When the second mode is selected, the driving assistance ECU 10 changes the target vehicle speed Va according to the movement distance SD.

(Specific operation)
The CPU of the driving assistance ECU 10 of the second device executes the routine shown in FIG. 15 instead of the routine shown in FIG. The routine shown in FIG. 15 is a routine obtained by adding steps 1505, 1510 and 1515 to the routine shown in FIG. 15, the steps for performing the same processing as the steps shown in FIG. 6 are given the reference numerals attached to such steps in FIG. Therefore, detailed description of the steps with the same reference numerals as in FIG. 6 will be omitted.

In the example shown in FIGS. 8 and 9, the CPU sets the value of the mode flag FL2 to "1" at step 625 of the routine of FIG. At step 1505, the CPU identifies (acquires) the movement distance SD of the slide operation based on the operation information. A map Map1 shown in FIG. 16 is stored in the ROM 10c of the driving support ECU 10. FIG. The map Map1 defines the relationship between the movement distance SD and the space Srd to be secured between the vehicle 100 and the three-dimensional object. The CPU obtains the interval Srd by applying the movement distance SD to the map Map1 (ie, Srd=Map1(SD)).

As shown in FIG. 16, the greater the movement distance SD, the greater the interval Srd. When the movement distance SD is equal to or greater than "SD1" and less than "SD2", the interval Srd is set to the first interval D1. When the movement distance SD is equal to or greater than "SD2" and less than "SD3", the interval Srd is set to the second interval D2. The second interval D2 is greater than the first interval D1. When the movement distance SD is "SD3" or more, the interval Srd is set to the third interval D3. The third interval D3 is larger than the second interval D2.

After that, the CPU sets the value of the request flag FL1 to "1" at step 650, proceeds to step 1595, and once terminates this routine. Then, when the CPU executes the routine of FIG. 7 and proceeds to step 720, the CPU sets the target distance so that the vehicle body of the vehicle 100 is separated from the curb 902 by the distance Srd (that is, the value obtained in step 1505). Set the position Fp.

Similarly, in the example shown in FIGS. 10 and 11, the CPU sets the value of the mode flag FL2 to "2" at step 635 of the routine of FIG. At step 1510, the CPU obtains the interval Srd by applying the movement distance SD to the map Map1 (ie, Srd=Map1(SD)). After that, the CPU sets the value of the request flag FL1 to "1" at step 650, proceeds to step 1595, and once terminates this routine. Then, when the CPU executes the routine of FIG. 7 and proceeds to step 725, the CPU sets the target distance so that the vehicle body of the vehicle 100 is separated from the curb 1102 by the distance Srd (that is, the value obtained in step 1510). Set the position Fp.

On the other hand, in the case of the example shown in FIGS. 12 and 13, the CPU sets the value of the mode flag FL2 to "3" at step 645 of the routine of FIG. A map Map2 shown in FIG. 17 is stored in the ROM 10c of the driving support ECU 10. FIG. The map Map2 defines the relationship between the movement distance SD and the target vehicle speed Va. The CPU obtains the target vehicle speed Va by applying the movement distance SD to the map Map2 (that is, Va=Map2(SD)).

As shown in FIG. 17, the target vehicle speed Va increases as the movement distance SD increases. When the movement distance SD is equal to or greater than "SD1" and less than "SD2", the target vehicle speed Va is set to the first vehicle speed V1. When the movement distance SD is equal to or greater than "SD2" and less than "SD3", the target vehicle speed Va is set to the second vehicle speed V2. The second vehicle speed V2 is a value greater than the first vehicle speed V1. When the movement distance SD is "SD3" or more, the target vehicle speed Va is set to the third vehicle speed V3. The third vehicle speed V3 is a value greater than the second vehicle speed V2 and less than the low speed threshold Vth.

After that, the CPU sets the value of the request flag FL1 to "1" at step 650, proceeds to step 1595, and once terminates this routine. Then, when the CPU executes the routine of FIG. 7 and proceeds to step 740, the CPU gradually decreases the vehicle speed of the vehicle 100 to the target vehicle speed Va (that is, the value obtained in step 1515), and then A speed pattern is calculated so that the vehicle speed is maintained at the target vehicle speed Va until the vehicle 100 reaches the target position Fp.

According to the configuration of the second device described above, the driver can select the mode he/she wants to execute (the first mode, left alignment mode, the first mode, right alignment mode, or the second mode) on the support mode screen. When the slide operation is performed in the direction, the movement distance SD of the slide operation is adjusted. When the driver selects the first mode, the driver can change the distance Srd between the vehicle 100 and the three-dimensional object when the vehicle 100 reaches the target position Fp by adjusting the movement distance SD. . On the other hand, when the driver selects the second mode, the driver can change the target vehicle speed Va, which is the vehicle speed when the vehicle 100 passes the oncoming vehicle 101, by adjusting the movement distance SD. Thus, according to the second device, the driver can request the start of the driving support control, select the support mode, and control in the selected support mode by one operation (slide operation) on the support mode screen. The adjustment of the quantity (distance Srd, target vehicle speed Va) can be performed at the same time.

Note that the map Map1 is not limited to the example in FIG. The CPU may obtain the interval Srd using Map1' shown in FIG. In Map1', the larger the movement distance SD, the smaller the interval Srd. When the movement distance SD is equal to or greater than "SD1" and less than "SD2", the interval Srd is set to the third interval D3. When the movement distance SD is equal to or greater than "SD2" and less than "SD3", the interval Srd is set to the second interval D2. When the movement distance SD is "SD3" or more, the interval Srd is set to the first interval D1. Similarly, the map Map2 may be a map that defines the relationship between them so that the target vehicle speed Va decreases as the movement distance SD increases.

<Third Embodiment>
Next, a driving support device (hereinafter sometimes referred to as a "third device") according to a third embodiment of the present invention will be described. The third device is different from the first device in that it proposes a support mode according to the surrounding conditions of the vehicle, the operating conditions of the turn signal lamps 53, and the like. This difference will be mainly described below.

1. Proposal of Left Alignment Mode The driving support ECU 10 monitors the display mode of the screen, the surrounding conditions of the vehicle, and the operating condition of the turn signal lamp 53 . The driving support ECU 10 proposes the first mode, the left alignment mode, to the driver when all the conditions described below are satisfied.
(Condition E1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition E2) The display mode of the screen is the driving support mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition E3) The left turn signal lamp 53 is flashing (in operation).
(Condition E4) On the left side of the vehicle, a three-dimensional object extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.
(Condition E5) When the predetermined period Tp has passed since all of the conditions E1 to E4 are satisfied, the first driving assistance request has not yet occurred. That is, the driver did not perform a leftward slide operation within a predetermined period Tp from the time when all of the conditions E1 to E4 were satisfied.

2. Proposal of Right Alignment Mode The driving support ECU 10 proposes the right alignment mode of the first mode to the driver when all the conditions described below are satisfied.
(Condition F1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition F2) The display mode of the screen is the driving assistance mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition F3) The right turn signal lamp 53 is flashing (in operation).
(Condition F4) On the right side of the vehicle, a three-dimensional object extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.
(Condition F5) When the predetermined period Tp has passed since all of the conditions F1 to F4 are satisfied, the second driving assistance request has not yet occurred. That is, the driver did not perform a rightward slide operation within the predetermined period Tp from the time when all of the conditions F1 to F4 were satisfied.

3. Proposal of Second Mode The driving assistance ECU 10 proposes the second mode to the driver when all the conditions described below are met.
(Condition G1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition G2) The display mode of the screen is the driving support mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition G3) The road on which the vehicle is currently traveling has one lane.
(Condition G4) The width of the road on which the vehicle is currently traveling is equal to or less than a predetermined road width threshold value Wth.
(Condition G5) A moving object (an oncoming vehicle) existing in front of the vehicle and moving toward the vehicle is detected.
(Condition G6) When the predetermined period Tp has passed since all of the conditions G1 to G5 are satisfied, the third driving assistance request has not yet occurred. That is, the driver did not perform an upward sliding operation within the predetermined period Tp from the time when all of the conditions G1 to G5 were satisfied.

(Specific operation)
The CPU of the driving assistance ECU 10 of the third device (simply referred to as "CPU") executes the routine shown in FIG. It's supposed to run.

At a predetermined timing, the CPU starts processing from step 1900 in FIG. 19, proceeds to step 1905, and determines whether or not the value of the request flag FL1 is "0". That is, the CPU determines whether or not the conditions E1, F1 and G1 are satisfied. If the value of the request flag FL1 is not "0", the CPU determines "No" at step 1905, directly proceeds to step 1995, and ends this routine.

Assuming that the value of the request flag FL1 is "0", the CPU determines "Yes" at step 1905 and proceeds to step 1910 to determine whether the current display mode of the touch panel 63 is the driving support mode. determine whether That is, the CPU determines whether or not the conditions E2, F2 and G2 are satisfied. If the current display mode is not the driving assistance mode, the CPU makes a "No" determination in step 1910, proceeds directly to step 1995, and terminates this routine.

Assuming that the display mode is the driving support mode, the CPU determines "Yes" in step 1910, proceeds to step 1915, and determines whether or not the value of the suggestion flag FL4 is "0". The value of the proposal flag FL4 is set to "1" when a proposal screen, which will be described later, is displayed. Furthermore, the value of the proposal flag FL4 is set to "0" when a reset condition, which will be described later, is established after the proposal screen is displayed.

Assume now that the value of the proposal flag FL4 is "0". In this case, the CPU determines "Yes" in step 1915, proceeds to step 1920, and determines whether the conditions E3 and E4 are satisfied. Assume that the current situation is the situation shown in FIG. 9 and the left turn signal lamp 53 is blinking. In this case, conditions E3 and E4 are satisfied, so the CPU makes a "Yes" determination in step 1920, and sequentially performs steps 1925 and 1950 described below. After that, the CPU proceeds to step 1955 .

Step 1925: The CPU sets the value of the mode flag FL2 to "1".
Step 1950: The CPU waits for a predetermined period of time Tp. During this period Tp, the CPU repeatedly executes the routines of FIGS.

After the predetermined period Tp has passed, the CPU proceeds to step 1955 . At step 1955, the CPU determines whether or not the value of the request flag FL1 is "0". That is, the CPU determines whether or not the condition E5 is satisfied. If the value of the request flag FL1 is not "0" (that is, if the driver has already generated the first driving assistance request by performing a leftward sliding operation within the predetermined period Tp), the CPU proceeds to step 1955. , the routine proceeds directly to step 1995 and the present routine ends.

On the other hand, if the value of the request flag FL1 is "0", the CPU makes a "Yes" determination in step 1955, and sequentially performs steps 1960 and 1965 described below. After that, the CPU proceeds to step 1970 .

Step 1960: The CPU displays the proposal screen (pop-up screen) 2000 shown in FIG. The proposal screen 2000 includes a message 2001 asking whether to execute driving support control in the left alignment mode, a Yes button 2002 and a No button 2003 .
Step 1965: The CPU sets the value of the proposal flag FL4 to "1".

When the CPU proceeds to step 1970, it determines whether or not the Yes button 2002 has been pressed. If the Yes button 2002 has been pressed, the CPU determines "Yes" in step 1970, proceeds to step 1975, and sets the value of the request flag FL1 to "1". After that, the CPU proceeds to step 1995 and once terminates this routine. As a result, when the CPU executes the routine of FIG. 7, the driving support control is executed in the left alignment mode.

On the other hand, if the No button 2003 is pressed, the CPU determines "No" in step 1970, proceeds to step 1980, and sets the value of the mode flag FL2 to "0". After that, the CPU proceeds to step 1995 and once terminates this routine. In this case, driving support control is not executed.

If neither the Yes button 2002 nor the No button 2003 is pressed during the period from when the CPU proceeds to step 1970 to when the predetermined time elapses, the CPU assumes that the No button 2003 has been pressed. Proceed to step 1980 .

On the other hand, assume that the current situation is the situation shown in FIG. 11 and the right turn signal lamp 53 is blinking. When the CPU proceeds to step 1920 in this situation, it determines "No" and proceeds to step 1930 to determine whether or not conditions F3 and F4 are established. Since the conditions F3 and F4 are satisfied, the CPU makes a "Yes" determination in step 1930, and sequentially performs steps 1935 and 1950 described below. After that, the CPU proceeds to step 1955 .

Step 1935: The CPU sets the value of the mode flag FL2 to "2".
Step 1950: The CPU waits for a predetermined period of time Tp. During this period Tp, the CPU repeatedly executes the routines of FIGS.

After that, when proceeding to step 1955, the CPU determines whether or not the value of the request flag FL1 is "0". That is, the CPU determines whether or not the condition F5 is satisfied. If the value of the request flag FL1 is not "0" (that is, if the driver has already generated the second driving assistance request by performing a rightward sliding operation within the predetermined period Tp), the CPU proceeds to step 1955. , the routine proceeds directly to step 1995 and the present routine ends.

On the other hand, if the value of the request flag FL1 is "0", the CPU executes the appropriate steps from steps 1960 to 1980 as described above. Then, the CPU proceeds to step 1995 and temporarily terminates this routine. In this situation, when the CPU proceeds to step 1960, the CPU displays a message asking whether or not to execute the driving support control in the right alignment mode, a Yes button, and a No button on the proposal screen. .

On the other hand, assume that the current situation is the situation shown in FIG. When the CPU proceeds to step 1920 in this situation, it determines “No” and proceeds to step 1930 . Further, the CPU determines "No" in step 1930, proceeds to step 1940, and determines whether or not all conditions G3 to G5 are satisfied. In this case, since all conditions G3 to G5 are satisfied, the CPU makes a "Yes" determination in step 1940, and sequentially performs steps 1945 and 1950 described below. After that, the CPU proceeds to step 1955 .

Step 1945: The CPU sets the value of the mode flag FL2 to "3".
Step 1950: The CPU waits for a predetermined period of time Tp. During this period Tp, the CPU repeatedly executes the routines of FIGS.

After that, when proceeding to step 1955, the CPU determines whether or not the value of the request flag FL1 is "0". That is, the CPU determines whether or not the condition G6 is satisfied. If the value of the request flag FL1 is not "0" (that is, if the driver has performed an upward sliding operation within the predetermined period Tp to generate the third driving assistance request), the CPU proceeds to step 1955. , the routine proceeds directly to step 1995 and the present routine ends.

On the other hand, if the value of the request flag FL1 is "0", the CPU executes the appropriate steps from steps 1960 to 1980 as described above. Then, the CPU proceeds to step 1995 and temporarily terminates this routine. In this situation, when the CPU proceeds to step 1960, the CPU displays a message asking whether or not to execute driving support control in the second mode (narrow road driving mode) and a Yes button on the proposal screen. , No button.

After the proposal screen 2000 is displayed, the CPU executes the routine of FIG. 19 again and proceeds to step 1915 . The CPU determines whether or not a predetermined reset condition is satisfied. The reset condition is met when either of the following conditions H1 and H2 is met.
(Condition H1) The elapsed time from when the proposal screen 2000 was displayed (that is, when the value of the proposal flag FL4 became "1") was equal to or greater than a predetermined time threshold.
(Condition H2) The ignition switch is changed from ON to OFF.

If the reset condition is not satisfied, the CPU makes a "No" determination in step 1985, directly proceeds to step 1995, and terminates this routine. Therefore, if the No button 2003 is pressed when the proposal screen 2000 is displayed, the value of the proposal flag FL4 is maintained at "1" until the reset condition is satisfied. is not displayed.

On the other hand, if the reset condition is satisfied, the CPU determines "Yes" in step 1985, proceeds to step 1990, and sets the value of the proposal flag FL4 to "0". After that, the CPU proceeds to step 1995 and once ends this routine.

According to the above configuration, when the support mode screen is displayed on the touch panel 64, the third device satisfies the predetermined conditions related to the surrounding conditions of the vehicle (three-dimensional objects and roads), the operating conditions of the turn signal lamps 53, and the like. It is determined whether or not (step 1920, step 1930, step 1940). The third device displays a proposal screen 2000 for proposing execution of the driving support control on the support mode screen when the slide operation is still not performed even after the predetermined period Tp has elapsed from the time when the predetermined condition is satisfied. (step 1960). The third device executes the driving support control when the driver approves the execution of the driving support control on the proposal screen 2000 (when the Yes button 2002 is pressed). In this way, the third device can automatically suggest execution of the driving support control according to the surrounding conditions of the vehicle, the operating condition of the turn signal lamp 53, and the like. The driver can start driving support control only by a predetermined approval operation (pressing Yes button 2002).

In step 1960 of the routine in FIG. 19, the CPU may change the display method of the proposal screen 2000 according to the support mode. When proposing the left alignment mode, the CPU may display the proposal screen 2000 on the support mode screen so that the proposal screen 2000 gradually appears from the left end of the support mode screen, as shown in FIG. Furthermore, when proposing the right alignment mode, the CPU may display the proposal screen 2000 on the support mode screen so that the proposal screen 2000 gradually appears from the right end of the support mode screen. In addition, when proposing the second mode (narrow road driving mode), as shown in FIG. 22, the CPU changes the proposal screen 2000 to the support mode screen so that the proposal screen 2000 appears gradually from the upper end of the support mode screen. It can be displayed above. Since the method of displaying the suggestion screen 2000 differs for each assistance mode, it becomes easier for the driver to recognize which assistance mode is being proposed.

<Fourth Embodiment>
Next, a driving support device (hereinafter sometimes referred to as a "fourth device") according to a fourth embodiment of the present invention will be described. The fourth device differs from the first device in that it generates either the first driving assistance request or the second driving assistance request according to the operation on the display element (vehicle mark described later) on the bird's-eye view image. ing. This difference will be mainly described below.

As shown in FIG. 23 , the driving assistance ECU 10 determines whether or not a long press operation has been performed on the vehicle 100 in the bird's-eye view image 401 based on the operation information. When the driving support ECU 10 determines that the long press operation has been performed on the vehicle 100 , the grid pattern 2301 is displayed on the bird's-eye view image 401 . This makes it easier for the driver to align vehicle marks, which will be described later.

Furthermore, as shown in FIG. 24 , when the vehicle 100 is long pressed, the driving assistance ECU 10 displays a vehicle mark (display element) 2401 so as to overlap the vehicle 100 in the overhead image 401 . Vehicle mark 2401 has substantially the same shape as vehicle 100 . As shown in FIG. 25, the driver can move the vehicle mark 2401 by performing a slide operation following a long press operation. The driver can move the vehicle mark 2401 "in the upper left direction and the upper right direction" by a slide operation. Note that the moving direction of the vehicle mark 2401 is restricted. That is, the driving support ECU 10 restricts the movement direction of the vehicle mark 2401 so that the vehicle mark 2401 cannot be moved in any direction other than "upper left direction and upper right direction".

As shown in FIG. 26, in the present embodiment, the upper left slide operation is a slide operation within the range of 135° or more and less than 180° in azimuth angle. A slide operation in the upper right direction is a slide operation within a range of 180° or more and 225° or less in azimuth angle. Note that the definition of the azimuth range of each of the upper left slide operation and the upper right slide operation is not limited to the above example.

The vehicle mark 2401 may have a function (sometimes referred to as a “snap function”) of automatically drawing the left front end 2401a or the right front end 2401b to the nearest intersection of the grid pattern 2301. good. This makes it easier for the driver to align the vehicle mark 2401 .

As shown in FIG. 25, when the vehicle mark 2401 is slid in the upper left direction or the upper right direction, the driving assistance ECU 10 determines the timing at which the slide operation ends (that is, when the driver touches the finger) based on the operation information. The coordinates (coordinates on the three-dimensional data) of the center position Mp of the vehicle mark 2401 at the time of separation from the support mode screen are calculated. Furthermore, the driving assistance ECU 10 converts the coordinates of the center position Mp on the three-dimensional data into coordinates on the two-dimensional map. Then, the driving assistance ECU 10 sets the converted coordinates as the target position Fp.

(Driving assistance request)
As described below, the driving assistance ECU 10 monitors the display mode of the screen, the operation direction of the slide operation, the situation around the vehicle, and the like, and determines whether or not a driving assistance request has been generated.

1. First Driving Assistance Request The driving assistance ECU 10 determines that a first driving assistance request has occurred when all the conditions described below are met.
(Condition I1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition I2) The display mode of the screen is the driving assistance mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition I3) The vehicle mark 2401 is slid to the upper left on the bird's-eye view image 401 .
(Condition I4) On the left side of the vehicle, a three-dimensional object extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.
(Condition I5) Assuming that the position of the vehicle 100 is moved to "the position corresponding to the center position Mp of the vehicle mark 2401 at the time when the slide operation is completed" on the two-dimensional map, the vehicle 100 and the three-dimensional object is greater than or equal to a predetermined interval Wsth. The distance Wsth is the minimum distance that should be secured between the vehicle 100 and the three-dimensional object, as described above.

2. Second Driving Assistance Request The driving assistance ECU 10 determines that a second driving assistance request has occurred when all the conditions described below are satisfied.
(Condition J1) None of the first driving assistance request, the second driving assistance request, and the third driving assistance request is generated.
(Condition J2) The display mode of the screen is the driving support mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition J3) A slide operation is performed in the upper right direction of the vehicle mark 2401 on the bird's-eye view image 401 .
(Condition J4) On the right side of the vehicle, a three-dimensional object extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.
(Condition J5) Assuming that the position of the vehicle 100 is moved to "the position corresponding to the center position Mp of the vehicle mark 2401 at the time when the slide operation is completed" on the two-dimensional map, the vehicle 100 and the three-dimensional object is greater than or equal to a predetermined interval Wsth.

(Specific operation)
The CPU of the driving assistance ECU 10 of the fourth device (simply referred to as "CPU") executes the routine shown in FIG. It's supposed to run.

At a predetermined timing, the CPU starts processing from step 2700 in FIG. 27, proceeds to step 2705, and determines whether or not the value of the request flag FL1 is "0". That is, the CPU determines whether the conditions I1 and J1 are satisfied. If the value of the request flag FL1 is not "0", the CPU determines "No" at step 2705, directly proceeds to step 2795, and ends this routine.

Assuming that the value of the request flag FL1 is "0", the CPU determines "Yes" at step 2705 and proceeds to step 2710 to determine whether the current display mode of the touch panel 63 is the driving support mode. determine whether That is, the CPU determines whether the conditions I2 and J2 are satisfied. If the current display mode is not the driving assistance mode, the CPU makes a "No" determination in step 2710, proceeds directly to step 2795, and terminates this routine.

Assuming that the display mode is the driving support mode, the CPU determines “Yes” in step 2710 and proceeds to step 2715 to perform a long press operation on the vehicle 100 in the bird's-eye view image 401 based on the operation information. determine whether or not the If the long-pressing operation on the vehicle 100 of the bird's-eye view image 401 has not been performed, the CPU determines "No" in step 2715, directly proceeds to step 2795, and temporarily ends this routine.

On the other hand, if a long press operation is performed on vehicle 100 in bird's-eye view image 401 , the CPU determines “Yes” in step 2715 and proceeds to step 2720 to display grid pattern 2301 in bird's-eye view image 401 . Furthermore, the CPU displays a vehicle mark 2401 so as to overlap the vehicle 100 in the overhead image 401 .

Next, the CPU proceeds to step 2725 and determines whether or not the vehicle mark 2401 has been slid. If the slide operation of the vehicle mark 2401 is not performed even after the predetermined time has passed since the lattice pattern 2301 and the vehicle mark 2401 were displayed, the CPU determines "No" in step 2725 and directly proceeds to step 2795 to proceed directly to this step. Terminate the routine once. In this case, the CPU erases the lattice pattern 2301 and the vehicle mark 2401 from the overhead image 401 .

On the other hand, if the vehicle mark 2401 has been slid, the CPU makes a "Yes" determination in step 2725, proceeds to step 2730, and determines whether all of the conditions I3 to I5 are satisfied. judge. If all of the above conditions I3 to I5 are satisfied, the CPU determines "Yes" in step 2730, and sequentially performs the processing of steps 2735, 2750 and 2755 described below. After that, the CPU proceeds to step 2795 and once ends this routine.

Step 2735: The CPU sets the value of the mode flag FL2 to "1".
Step 2750: As described above, the CPU obtains the coordinates on the two-dimensional map of the center position Mp of the vehicle mark 2401 at the time when the slide operation ends, and sets the coordinates on the two-dimensional map as the target position Fp. set.
Step 2755: The CPU sets the value of the request flag FL1 to "1".

On the other hand, if all of the conditions I3 to I5 are not satisfied at step 2725, the CPU determines "No" at step 2730 and proceeds to step 2740 to determine whether all of the above conditions J3 to J5 are satisfied. judge. If all of the above conditions J3 to J5 are satisfied, the CPU determines "Yes" at step 2740, proceeds to step 2745, and sets the value of the mode flag FL2 to "2". Next, the CPU sequentially performs the processes of steps 2750 and 2755 as described above. After that, the CPU proceeds to step 2795 and once ends this routine.

If all of the conditions J3 to J5 are not satisfied at step 2740, the CPU makes a "No" determination at step 2740, proceeds directly to step 2795, and temporarily terminates this routine.

Note that when the CPU executes the routine of FIG. 7 after the target position Fp is set in step 2750 of this routine, the CPU omits the processing of steps 720 and 725 . Therefore, when proceeding to step 735 , the CPU calculates the movement route from the current position to the target position Fp set in step 2750 . In this manner, the vehicle 100 can be moved to the position of the vehicle mark 2401 when the slide operation on the overhead image 401 ends.

According to the configuration of the fourth device described above, the driver performs the slide operation of the vehicle mark 2401 following the long press operation on the vehicle 100 on the bird's-eye view image 401 . By this operation, the driver can simultaneously request the start of the assistance mode (left alignment mode or right alignment mode) and set the target position Fp when executing the driving assistance control in the left alignment mode or right alignment mode. Furthermore, the driver can move the vehicle mark 2401 on the bird's-eye view image 401 by a slide operation to set the target position Fp to his/her preferred position.

It should be noted that the present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention.

(Modification 1)
Condition A4 and condition E4 are not limited to the above examples, and may be conditions related to lane markings. Condition A4 and condition E4 may be replaced with condition A4' and condition E4', respectively.
(Condition A4′) On the left side of the vehicle, a lane marking extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.
(Condition E4') On the left side of the vehicle, a lane marking extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.

Similarly, condition B4 and condition F4 may be replaced with condition B4' and condition F4', respectively.
(Condition B4′) On the right side of the vehicle, a lane marking extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.
(Condition F4') On the right side of the vehicle, a lane marking extending forward from the current position of the vehicle by a distance equal to or greater than a predetermined distance threshold value Dth is detected.

(Modification 2)
The condition A4 and the condition E4 may be conditions that are satisfied when a three-dimensional object (hereinafter referred to as a "target three-dimensional object") to be approached by the vehicle is detected. Condition A4 and condition E4 may be replaced with condition A4'' and condition E4'', respectively. The driving assistance ECU 10 can determine whether or not the target three-dimensional object exists based on the map information in the map DB 62 . Target three-dimensional objects include, for example, toll gates on toll roads, parking meters provided along roads, and the like. In this configuration, the driving assistance ECU 10 sets a position separated from the target three-dimensional object by a predetermined distance Srd in the road width direction as the target position Fp.
(Condition A4'') A predetermined target three-dimensional object exists on the left side of the vehicle and in front of the vehicle.
(Condition E4'') A predetermined target three-dimensional object exists on the left side of the vehicle and in front of the vehicle.

Similarly, condition B4 and condition F4 may be replaced by condition B4'' and condition F4'', respectively.
(Condition B4'') A predetermined target three-dimensional object exists on the right side of the vehicle and in front of the vehicle.
(Condition F4'') A predetermined target three-dimensional object exists on the right side of the vehicle and in front of the vehicle.

(Modification 3)
When the driving assistance ECU 10 detects finger contact on the assistance mode screen based on the operation information, the driving assistance ECU 10 may display on the assistance mode screen a guidance display indicating the correspondence relationship between the operation direction of the slide operation and the assistance mode. good. As shown in FIG. 28, when the driving assistance ECU 10 detects finger contact on the assistance mode screen, the driving assistance ECU 10 displays a first guidance 2801, a second guidance 2802, and a third guidance 2803 on the support mode screen. may be displayed. A first guidance 2801 is displayed on the left side of the finger contact portion 2810 on the support mode screen, indicating that the left direction corresponds to the left alignment mode. A second guide 2802 is displayed to the right of the finger contact portion 2810 to indicate that the right direction corresponds to the right justification mode. A third guidance 2803 is displayed above the finger contact portion 2810, indicating that the upward direction corresponds to the narrow road travel mode. According to this configuration, when the driver touches the support screen mode with his or her finger, the driver can recognize which direction corresponds to which support mode.

(Modification 4)
A specific moving direction of the slide operation may be associated with driving support control other than the first mode and the second mode. As shown in FIG. 29, the downward slide operation may be associated with the parking assistance mode. The driving assistance ECU 10 determines that a downward slide operation has been performed when the movement direction of the finger from the starting point Sp is in the range of 0° or more and less than 45° or in the range of 315° or more and less than 360°.

In this modification, the driving assistance ECU 10 determines that a parking assistance request has been issued when all the conditions described below are met.
(Condition K1) None of the first driving assistance request, the second driving assistance request, the third driving assistance request, and the parking assistance request has occurred.
(Condition K2) The display mode of the screen is the driving support mode. That is, the vehicle speed is equal to or lower than the predetermined low speed threshold value Vth.
(Condition K3) A downward slide operation has been performed.
(Condition K4) A parking area is detected around the vehicle. The parking area is an area around the vehicle in which there are no three-dimensional objects, and has a size in which the vehicle can be parked. In addition, when the driving assistance ECU 10 detects the demarcation line that demarcates the parking area based on the image data, the driving assistance ECU 10 detects the area surrounded by the demarcation line as the parking available area.

When a parking assistance request is generated, the driving assistance ECU 10 sets a target position Fp, which is the position of the own vehicle when parking is completed, within the parking available area. Then, the driving support ECU 10 calculates the moving route, the steering angle pattern and the speed pattern as described above. In this case, the speed pattern is calculated so that it becomes zero when the vehicle reaches the target position Fp. The driving assistance ECU 10 executes driving assistance control (steering angle automatic control, driving force automatic control, and braking force automatic control) according to the movement route, steering angle pattern, and speed pattern.

(Modification 5)
The screen configuration of the support mode screen is not limited to the above example. The support mode screen may include at least a bird's-eye view image for checking the situation around the vehicle.

(Modification 6)
The driving assistance ECU 10 may be configured to execute only steering angle automatic control as the driving assistance control. In this case, step 740 of the routine of FIG. 7 is omitted. Therefore, when the moving route and the steering angle pattern are determined, the driving assistance ECU 10 starts automatic steering angle control. A driver operates a brake pedal and an accelerator pedal to move the vehicle while adjusting the vehicle speed. When the vehicle reaches the target position Fp, the driving support ECU 10 displays a message informing the driver that the vehicle has reached the target position Fp in the third display area 303 of the mode support screen, and displays the message on the speaker. Let 74 speak.

DESCRIPTION OF SYMBOLS 10... Driving assistance ECU, 20... Engine ECU, 30... Brake ECU, 40... EPS ECU, 50... Meter ECU, 60... Navigation ECU, 63... Touch panel, 71a to 71e... Radar sensor, 72a to 72h... Ultrasonic sensor , 73a to 73d...cameras, 74...speakers.

Claims (11)

an information acquisition unit that acquires vehicle surrounding information including information about the situation around the vehicle, the information acquisition unit including at least an imaging unit that acquires image data around the vehicle;
a display device capable of displaying a screen to an occupant of the vehicle and detecting a touch operation of the occupant's finger on the screen;
Based on the image data acquired by the imaging unit, a bird's-eye view image that is an image of the vehicle and its surroundings viewed from a position away from the vehicle directly above the vehicle is generated, and at least the bird's-eye image is generated. causing the display device to display a support mode screen including
Determining a movement route that allows the vehicle to move from the current position of the vehicle to a target position based on the vehicle surrounding information;
a driving support unit configured to execute driving support control including automatic steering angle control of the vehicle for moving the vehicle along the determined movement route;
with
The driving support unit
In a situation where the support mode screen is displayed on the display device, when a slide operation, which is an operation of moving the finger on the support mode screen while being in contact with the support mode screen, is performed, the vehicle peripheral information configured to start executing the driving support control if the surrounding situation of the vehicle specified by satisfies a predetermined condition,
A driving support device,
The driving support unit
configured to determine that the predetermined condition is satisfied when the three-dimensional object detected by the vehicle surrounding information satisfies a predetermined three-dimensional object condition,
In the driving support device,
The driving support unit
A mode in which, when the slide operation is performed in a situation where the assistance mode screen is displayed on the display device, driving assistance is provided to bring the vehicle closer to a three-dimensional object existing on the right or left side of the vehicle. and a second mode in which driving assistance is performed so that the vehicle passes a moving object existing in front of the vehicle and moving toward the vehicle. death,
Execute the driving support control according to the selected mode
configured as
The driving support unit
selecting the first mode when the moving direction of the finger in the slide operation is within a predetermined first direction range;
selecting the second mode when the moving direction of the finger in the slide operation is a direction within a second direction range different from the first direction range;
configured as
Driving assistance device. an information acquisition unit that acquires vehicle surrounding information including information about the situation around the vehicle, the information acquisition unit including at least an imaging unit that acquires image data around the vehicle;
a display device capable of displaying a screen to an occupant of the vehicle and detecting a touch operation of the occupant's finger on the screen;
Based on the image data acquired by the imaging unit, a bird's-eye view image that is an image of the vehicle and its surroundings viewed from a position away from the vehicle directly above the vehicle is generated, and at least the bird's-eye image is generated. causing the display device to display a support mode screen including
Determining a movement route that allows the vehicle to move from the current position of the vehicle to a target position based on the vehicle surrounding information;
a driving support unit configured to execute driving support control including automatic steering angle control of the vehicle for moving the vehicle along the determined movement route;
with
The driving support unit
In a situation where the support mode screen is displayed on the display device, when a slide operation, which is an operation of moving the finger on the support mode screen while being in contact with the support mode screen, is performed, the vehicle peripheral information configured to start executing the driving support control if the surrounding situation of the vehicle specified by satisfies a predetermined condition,
A driving support device,
The driving support unit
configured to determine that the predetermined condition is satisfied when the three-dimensional object detected by the vehicle surrounding information satisfies a predetermined three-dimensional object condition,
In the driving support device,
The driving support unit is configured to determine that the three-dimensional object condition is satisfied when a three-dimensional object exists on the left side of the vehicle,
When the direction of movement of the finger in the slide operation is within a predetermined left direction range, the driving support unit sets a position where the vehicle is brought close to the three-dimensional object to a predetermined distance as the target position. Configured to set and perform the driving support control,
Driving assistance device. In the driving support device according to claim 2,
The driving support unit
configured to change the predetermined interval based on the moving distance of the finger on the support mode screen in the slide operation,
Driving assistance device. an information acquisition unit that acquires vehicle surrounding information including information about the situation around the vehicle, the information acquisition unit including at least an imaging unit that acquires image data around the vehicle;
a display device capable of displaying a screen to an occupant of the vehicle and detecting a touch operation of the occupant's finger on the screen;
Based on the image data acquired by the imaging unit, a bird's-eye view image that is an image of the vehicle and its surroundings viewed from a position away from the vehicle directly above the vehicle is generated, and at least the bird's-eye image is generated. causing the display device to display a support mode screen including
Determining a movement route that allows the vehicle to move from the current position of the vehicle to a target position based on the vehicle surrounding information;
a driving support unit configured to execute driving support control including automatic steering angle control of the vehicle for moving the vehicle along the determined movement route;
with
The driving support unit
In a situation where the support mode screen is displayed on the display device, when a slide operation, which is an operation of moving the finger on the support mode screen while being in contact with the support mode screen, is performed, the vehicle peripheral information configured to start executing the driving support control if the surrounding situation of the vehicle specified by satisfies a predetermined condition,
A driving support device,
The driving support unit
configured to determine that the predetermined condition is satisfied when the three-dimensional object detected by the vehicle surrounding information satisfies a predetermined three-dimensional object condition,
In the driving support device,
The driving support unit is configured to determine that the three-dimensional object condition is satisfied when a three-dimensional object exists on the right side of the vehicle,
The driving support unit sets a position where the vehicle is brought close to the three-dimensional object to a predetermined distance when the moving direction of the finger in the slide operation is within a predetermined rightward range as the target position. Configured to set and perform the driving support control,
Driving assistance device. In the driving support device according to claim 4,
The driving support unit
configured to change the predetermined interval based on the moving distance of the finger on the support mode screen in the slide operation,
Driving assistance device. an information acquisition unit that acquires vehicle surrounding information including information about the situation around the vehicle, the information acquisition unit including at least an imaging unit that acquires image data around the vehicle;
a display device capable of displaying a screen to an occupant of the vehicle and detecting a touch operation of the occupant's finger on the screen;
Based on the image data acquired by the imaging unit, a bird's-eye view image that is an image of the vehicle and its surroundings viewed from a position away from the vehicle directly above the vehicle is generated, and at least the bird's-eye image is generated. causing the display device to display a support mode screen including
Determining a movement route that allows the vehicle to move from the current position of the vehicle to a target position based on the vehicle surrounding information;
a driving support unit configured to execute driving support control including automatic steering angle control of the vehicle for moving the vehicle along the determined movement route;
with
The driving support unit
In a situation where the support mode screen is displayed on the display device, when a slide operation, which is an operation of moving the finger on the support mode screen while being in contact with the support mode screen, is performed, the vehicle peripheral information configured to start executing the driving support control if the surrounding situation of the vehicle specified by satisfies a predetermined condition,
A driving support device,
The driving support unit
configured to determine that the predetermined condition is satisfied when the three-dimensional object detected by the vehicle surrounding information satisfies a predetermined three-dimensional object condition,
In the driving support device,
The driving support unit is configured to determine that the three-dimensional object condition is satisfied when there is a moving object existing in front of the vehicle and moving toward the vehicle,
The driving support unit sets, as the target position, the position of the vehicle when the vehicle passes the moving object when the moving direction of the finger in the slide operation is within a predetermined upward range. , configured to perform the driving assistance control,
The driving support unit further
Vehicle speed control for controlling vehicle speed, which is the speed of the vehicle, can be executed as the driving support control,
executing the vehicle speed control so that the vehicle speed of the vehicle at the time when the vehicle reaches the target position coincides with the target vehicle speed;
configured as
Driving assistance device. In the driving support device according to claim 6,
The driving support unit
The target vehicle speed is changed based on the moving distance of the finger on the support mode screen in the slide operation.
Driving assistance device. In the driving support device according to claim 2,
The driving support unit
When the slide operation in which the direction of movement of the finger is within the leftward range is not performed within a predetermined period from the time when the support mode screen is displayed on the display device and the predetermined condition is satisfied, the causing the display device to display a proposal screen for proposing execution of the driving support control for causing the vehicle to approach a three-dimensional object existing on the left side of the vehicle;
When the passenger performs a predetermined approval operation on the proposal screen, the driving support control is executed.
configured as
Driving assistance device. In the driving support device according to claim 4,
The driving support unit
If the slide operation in which the direction of movement of the finger is within the rightward range is not performed within a predetermined period of time after the support mode screen is displayed on the display device and the predetermined condition is satisfied, the causing the display device to display a proposal screen for proposing execution of the driving support control for causing the vehicle to approach a three-dimensional object existing on the right side of the vehicle;
When the passenger performs a predetermined approval operation on the proposal screen, the driving support control is executed.
configured as
Driving assistance device. In the driving support device according to claim 6,
The driving support unit
If the slide operation in which the direction of movement of the finger is within the upward range is not performed within a predetermined period of time after the support mode screen is displayed on the display device and the predetermined condition is satisfied, the causing the display device to display a proposal screen for proposing execution of the driving support control for a vehicle existing in front of the vehicle and passing the moving object moving toward the vehicle;
When the passenger performs a predetermined approval operation on the proposal screen, the driving support control is executed.
configured as
Driving assistance device. In the driving support device according to claim 1,
The driving support unit
When a long press operation, which is an operation of keeping the finger in contact with the vehicle on the bird's-eye view image of the support mode screen for a predetermined time or more, is performed, a display element representing the vehicle is displayed on the bird's-eye view image. ,
configured to move the display element on the bird's-eye view image according to the slide operation when the slide operation is performed following the long press operation,
The driving support unit further determines the position of the display element on the bird's-eye view image at the end of the slide operation when the finger is released from the support mode screen while the slide operation is being performed. A driving support device configured to set a position corresponding to the target position as the target position.

Images