DE102023115449B4 - VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND STORAGE MEDIUM - Google Patents

Abstract

A vehicle control device (100), comprising: a recognition unit (110) configured to recognize an environmental situation of a vehicle (M); a detection unit (120) configured to detect future speed information, which is information about a speed relating to a route along which the vehicle (M) will travel in the future; a suggestion unit (130) configured to suggest an adjustment for the speed of the vehicle (M) based on the future speed information; anda control unit (140) configured to cause the vehicle (M) to travel by automatically controlling the speed of the vehicle (M) based on the surrounding situation and the future speed information when an occupant has agreed to the suggestion,wherein the suggestion unit (130) starts the suggestion at the time of arrival at a first prescribed distance before a position associated with the future speed information and ends the suggestion upon the lapse of a prescribed period of time from the time of arrival of the vehicle (M) at the first prescribed distance before the position when the vehicle (M) travels a second prescribed distance from a point of the first prescribed distance before the position.

Description

BACKGROUND

Field of the invention

The present invention relates to a vehicle control device, a vehicle control method or a storage medium.

Description of the state of the art

Conventionally, a following driving control device is disclosed which controls driving of a self-vehicle so as to follow a preceding vehicle while driving within a speed limit on a road when a driver desires to perform a following driving process within the speed limit on the road while driving, and which performs a control process so as to follow a preceding vehicle while driving at a current speed exceeding the speed limit on the road when the driver desires to perform a following driving process at the current speed exceeding the speed limit on the road while driving (Japanese Unexamined Patent Application, JP 2009 - 184 464 A ).

The DE 10 2015 213 183 A1 discloses a vehicle control device comprising a recognition unit and a detection unit, wherein the vehicle control device is capable of taking into account upcoming speed limits and offering a driver the opportunity to confirm these as a target speed. Furthermore, reference is made to DE 10 2015 207 821 A1 referred to.

SUMMARY

However, user comfort may be reduced with the conventional device. For example, a control system that suggests a speed adjustment is not sufficiently considered.

The present invention was conceived in view of such circumstances, and an object of the present invention is to provide a vehicle control device, a vehicle control method, and a storage medium capable of further improving user convenience. Furthermore, the present invention will contribute to the development of a sustainable transportation system.

• (1): Gemäß einem Aspekt der vorliegenden Erfindung ist eine Fahrzeugsteuervorrichtung bereitgestellt, umfassend: eine Erkennungseinheit, welche dazu eingerichtet ist, eine Umgebungssituation eines Fahrzeugs zu erkennen; eine Erfassungseinheit, welche dazu eingerichtet ist, zukünftige Geschwindigkeitsinformationen zu erfassen, welche Informationen über eine Geschwindigkeit sind, welche sich auf eine Route bezieht, entlang welcher das Fahrzeug in Zukunft fahren wird; eine Vorschlagseinheit, welche dazu eingerichtet ist, eine Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage der zukünftigen Geschwindigkeitsinformationen vorzuschlagen; und eine Steuereinheit, welche dazu eingerichtet ist, das Fahrzeug dazu zu veranlassen, zu fahren, indem sie die Geschwindigkeit des Fahrzeugs auf der Grundlage der Umgebungssituation und der zukünftigen Geschwindigkeitsinformationen automatisch steuert, wenn ein Insasse dem Vorschlag zugestimmt hat, wobei die Vorschlagseinheit den Vorschlag zu dem Zeitpunkt einer Ankunft an einer ersten vorgeschriebenen Distanz vor einer mit den zukünftigen Geschwindigkeitsinformationen assoziierten Position startet und den Vorschlag bei dem Verstreichen einer vorgeschriebenen Zeitspanne von dem Zeitpunkt der Ankunft des Fahrzeugs an der ersten vorgeschriebenen Distanz vor der Position beendet, wenn das Fahrzeug eine zweite vorgeschriebene Distanz von einem Punkt der ersten vorgeschriebenen Distanz vor der Position fährt.
• (2): In dem oben beschriebenen Aspekt (1) fährt das Fahrzeug auf einer Straße eines ersten Abschnitts und es ist geplant, dass das Fahrzeug nach einem Passieren der Straße des ersten Abschnitts auf einer Straße eines zweiten Abschnitts fährt, wobei, wenn die Steuereinheit eine automatisierte Geschwindigkeitssteuerung ausführt, um die Geschwindigkeit des Fahrzeugs auf der Grundlage der Umgebungssituation und einer festgelegten Geschwindigkeit, welche durch den Fahrer festgelegt worden ist, automatisch zu steuern, ohne auf eine Betätigung eines Fahrers zurückzugreifen, die Vorschlagseinheit den Vorschlag für den Fahrer, die Geschwindigkeit des Fahrzeugs auf der Grundlage der Umgebungssituation und einer zweiten abschnittsspezifischen Geschwindigkeit zu steuern, ohne auf die Betätigung des Fahrers zurückzugreifen, bei der ersten vorgeschriebenen Distanz vor einem Startpunkt des zweiten Abschnitts startet, wenn sich die festgelegte Geschwindigkeit von der zweiten abschnittsspezifischen Geschwindigkeit unterscheidet, welche mit dem zweiten Abschnitt assoziiert ist, und die Vorschlagseinheit den Vorschlag bei dem Verstreichen der vorgeschriebenen Zeitspanne von dem Zeitpunkt der Ankunft an der ersten vorgeschriebenen Distanz vor der Position beendet, wenn das Fahrzeug die zweite vorgeschriebene Distanz von dem Punkt der ersten vorgeschriebenen Distanz vor der Position fährt.
• (3): In dem oben beschriebenen Aspekt (1) oder (2) ist die Steuereinheit dazu in der Lage, eine automatisierte Geschwindigkeitssteuerung bei einer Geschwindigkeit auszuführen, welcher größer als oder gleich wie ein Schwellenwert ist, und die vorgeschriebene Zeitspanne wird auf der Grundlage einer Zeitspanne festgelegt, welche durch Addieren einer zweiten vorgeschriebenen Zeitspanne, welche eine Reservezeitspanne ist, zu einer ersten vorgeschriebenen Zeitspanne erhalten wird, in welcher das Fahrzeug die zweite vorgeschriebene Distanz gefahren ist, wenn die Steuereinheit die automatisierte Geschwindigkeitssteuerung bei einer Geschwindigkeit des Schwellenwerts ausführt.
• (4): In einem der oben beschriebenen Aspekte (1) bis (3) ist die zweite vorgeschriebene Distanz länger als die erste vorgeschriebene Distanz.
• (5): In einem der oben beschriebenen Aspekte (1) bis (4) ist die Geschwindigkeit, welche sich auf die Route bezieht, eine Geschwindigkeitsbegrenzung oder eine legale Geschwindigkeit, welche für eine Straße der Route festgelegt ist.
• (6): In einem der oben beschriebenen Aspekte (1) bis (5) ist die mit den zukünftigen Geschwindigkeitsinformationen assoziierte Position eine Position, an welcher ein Straßenschild bereitgestellt ist, auf welchem die zukünftigen Geschwindigkeitsinformationen angezeigt werden.
• (7): In einem der oben beschriebenen Aspekte (1) bis (6) erfasst die Erfassungseinheit die zukünftigen Geschwindigkeitsinformationen, welche die Informationen der Geschwindigkeit sind, welche sich auf die Route bezieht, entlang welcher das Fahrzeug fahren wird, mit Bezug auf Karteninformationen, in welchen eine in der Route umfasste Straße mit einer Geschwindigkeitsbegrenzung oder einer legalen Geschwindigkeit der Straße assoziiert ist, und erfasst die zukünftigen Geschwindigkeitsinformationen, welche aus einem Bild erhalten werden, in welchem ein Straßenschild, auf welchem die Geschwindigkeitsbegrenzung oder die legale Geschwindigkeit angezeigt wird, durch eine Abbildungseinheit abgebildet wird, und nachdem die Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage einer ersten Geschwindigkeit der zukünftigen Geschwindigkeitsinformationen, welche mit Bezug auf die Karteninformationen erhalten worden sind, vorgeschlagen worden ist, erfasst die Vorschlagseinheit die zukünftigen Geschwindigkeitsinformationen, welche von der Erfassungseinheit aus dem Bild erhalten worden sind, und schlägt die Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage einer zweiten Geschwindigkeit der zukünftigen Geschwindigkeitsinformationen vor, welche aus dem Bild erhalten worden sind, wenn eine Differenz zwischen der ersten Geschwindigkeit und der zweiten Geschwindigkeit der zukünftigen Geschwindigkeitsinformationen vorhanden ist, welche aus dem Bild erhalten worden sind.
• (8): In einem der oben beschriebenen Aspekte (1) bis (7), schlägt die Vorschlagseinheit, wenn sich die erste Geschwindigkeit von der zweiten Geschwindigkeit unterscheidet, die Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage der zweiten Geschwindigkeit der zukünftigen Geschwindigkeitsinformationen, welche aus dem Bild erhalten worden sind, vor und beendet den Vorschlag bei dem Verstreichen der vorgeschriebenen Zeitspanne von dem Zeitpunkt des Vorschlags der Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage der zweiten Geschwindigkeit, wenn das Fahrzeug die zweite vorgeschriebene Distanz von dem Zeitpunkt des Vorschlags der Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage der zweiten Geschwindigkeit fährt.
• (9): In einem der oben beschriebenen Aspekte (1) bis (8) steuert die Steuereinheit die Geschwindigkeit des Fahrzeugs auf der Grundlage der zukünftigen Geschwindigkeitsinformationen, wenn eine Betätigungstaste betätigt worden ist und das Fahrzeug zu dem Zeitpunkt des Vorschlags, welcher durch die Vorschlagseinheit gemacht worden ist, an oder in der Nähe Position angekommen ist, welche mit den zukünftigen Geschwindigkeitsinformationen assoziiert ist, und die Steuereinheit ändert die festgelegte Geschwindigkeit bei der automatisierten Geschwindigkeitssteuerung in Übereinstimmung mit einer Betätigung der Betätigungstaste, wenn die Betätigungstaste betätigt worden ist, nachdem die Vorschlagseinheit den Vorschlag, bei dem Verstreichen der vorgeschriebenen Zeitspanne von dem Zeitpunkt der Ankunft des Fahrzeugs an der ersten vorgeschriebenen Distanz vor der Position, beendet hat, wenn das Fahrzeug die zweite vorgeschriebene Distanz von dem Punkt der ersten vorgeschriebenen Distanz vor der Position fährt.
• (10) Gemäß einem weiteren Aspekt der vorliegenden Erfindung ist ein Fahrzeugsteuerverfahren bereitgestellt, umfassend: Ausführen, durch einen Computer, eines Prozesses eines Erkennens einer Umgebungssituation eines Fahrzeugs; Ausführen, durch den Computer, eines Prozesses eines Erfassens zukünftiger Geschwindigkeitsinformationen, welche Informationen über eine Geschwindigkeit sind, welche sich auf eine Route bezieht, entlang welcher das Fahrzeug in Zukunft fahren wird; Ausführen, durch den Computer, eines Prozesses eines Vorschlagens einer Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage der zukünftigen Geschwindigkeitsinformationen; Ausführen, durch den Computer, eines Prozesses eines Veranlassens des Fahrzeugs dazu, zu fahren, indem die Geschwindigkeit des Fahrzeugs auf der Grundlage der Umgebungssituation und der zukünftigen Geschwindigkeitsinformationen automatisch gesteuert wird, wenn ein Insasse dem Vorschlag zugestimmt hat; und Ausführen, durch den Computer, eines Prozesses eines Startens des Vorschlags zu dem Zeitpunkt einer Ankunft an einer ersten vorgeschriebenen Distanz vor einer mit den zukünftigen Geschwindigkeitsinformationen assoziierten Position und eines Beendens des Vorschlags bei dem Verstreichen einer vorgeschriebenen Zeitspanne von dem Zeitpunkt der Ankunft des Fahrzeugs an der ersten vorgeschriebenen Distanz vor der Position, wenn das Fahrzeug eine zweite vorgeschriebene Distanz von einem Punkt der ersten vorgeschriebenen Distanz vor der Position fährt.
• (11): Gemäß noch einem weiteren Aspekt der vorliegenden Erfindung ist ein Speichermedium bereitgestellt, welches ein Programm speichert, um einen Computer dazu zu veranlassen, Folgendes auszuführen: einen Prozess eines Erkennens einer Umgebungssituation eines Fahrzeugs; einen Prozess eines Erfassens zukünftiger Geschwindigkeitsinformationen, welche Informationen über eine Geschwindigkeit sind, welche sich auf eine Route bezieht, entlang welcher das Fahrzeug in Zukunft fahren wird; einen Prozess eines Vorschlagens einer Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage der zukünftigen Geschwindigkeitsinformationen; einen Prozesses eines Veranlassens des Fahrzeugs dazu, zu fahren, indem die Geschwindigkeit des Fahrzeugs auf der Grundlage der Umgebungssituation und der zukünftigen Geschwindigkeitsinformationen automatisch gesteuert wird, wenn ein Insasse dem Vorschlag zugestimmt hat; und einen Prozess eines Startens des Vorschlags zu dem Zeitpunkt einer Ankunft an einer ersten vorgeschriebenen Distanz vor einer mit den zukünftigen Geschwindigkeitsinformationen assoziierten Position und eines Beendens des Vorschlags bei dem Verstreichen einer vorgeschriebenen Zeitspanne von dem Zeitpunkt der Ankunft des Fahrzeugs an der ersten vorgeschriebenen Distanz vor der Position, wenn das Fahrzeug eine zweite vorgeschriebene Distanz von einem Punkt der ersten vorgeschriebenen Distanz vor der Position fährt.

A vehicle control apparatus, a vehicle control method, and a storage medium according to the present invention adopt the following configuration.

• (1): According to one aspect of the present invention, there is provided a vehicle control device comprising: a recognition unit configured to recognize an environmental situation of a vehicle; an acquisition unit configured to acquire future speed information, which is information about a speed related to a route along which the vehicle will travel in the future; a suggestion unit configured to suggest an adjustment for the speed of the vehicle based on the future speed information; and a control unit configured to cause the vehicle to travel by automatically controlling the speed of the vehicle based on the surrounding situation and the future speed information when an occupant has agreed to the suggestion, wherein the suggestion unit starts the suggestion at the time of arrival at a first prescribed distance ahead of a position associated with the future speed information and ends the suggestion upon the lapse of a prescribed period of time from the time of arrival of the vehicle at the first prescribed distance ahead of the position when the vehicle travels a second prescribed distance from a point of the first prescribed distance ahead of the position.
• (2): In the aspect (1) described above, the vehicle travels on a road of a first section and, after passing the road of the first section, the vehicle is scheduled to travel on a road of a second section, wherein, when the control unit executes automated speed control to automatically control the speed of the vehicle based on the surrounding situation and a set speed set by the driver without resorting to a driver's operation, the suggestion unit starts the suggestion to the driver to control the speed of the vehicle based on the surrounding situation and a second section-specific speed without resorting to the driver's operation at the first prescribed distance before a start point of the second section when the set speed differs from the second section-specific speed associated with the second section, and the suggestion unit terminates the suggestion upon the lapse of the prescribed period of time from the time of arrival at the first prescribed distance before the position when the vehicle travels the second prescribed distance from the point of the first prescribed distance before the position.
• (3): In the above-described aspect (1) or (2), the control unit is capable of executing automated cruise control at a speed greater than or equal to a threshold, and the prescribed time period is set based on a time period obtained by adding a second prescribed time period, which is a reserve time period, to a first prescribed time period in which the vehicle has traveled the second prescribed distance when the control unit executes the automated cruise control at a speed of the threshold.
• (4): In any of the aspects (1) to (3) described above, the second prescribed distance is longer than the first prescribed distance.
• (5): In any of the aspects (1) to (4) described above, the speed related to the route is a speed limit or a legal speed set for a road on the route.
• (6): In any one of the above-described aspects (1) to (5), the position associated with the future speed information is a position at which a road sign on which the future speed information is displayed is provided.
• (7): In any one of the aspects (1) to (6) described above, the acquisition unit acquires the future speed information, which is the information of the speed related to the route along which the vehicle will travel, with reference to map information in which a road included in the route is associated with a speed limit or a legal speed of the road, and acquires the future speed information obtained from an image in which a road sign on which the speed limit or the legal speed is displayed is imaged by an imaging unit. After proposing the adjustment for the speed of the vehicle based on a first speed of the future speed information obtained with reference to the map information, the proposing unit acquires the future speed information obtained by the acquisition unit from the image and proposes the adjustment for the speed of the vehicle based on a second speed of the future speed information obtained from the image when there is a difference between the first speed and the second speed of the future speed information obtained from the image.
• (8): In any one of the above-described aspects (1) to (7), when the first speed is different from the second speed, the suggestion unit suggests the adjustment for the speed of the vehicle based on the second speed of the future speed information obtained from the image, and terminates the suggestion at the lapse of the prescribed period of time from the time of suggesting the adjustment for the speed of the vehicle based on the second speed when the vehicle travels the second prescribed distance from the time of suggesting the adjustment for the speed of the vehicle based on the second speed.
• (9): In any one of the above-described aspects (1) to (8), the control unit controls the speed of the vehicle based on the future speed information when an operation button has been operated and the vehicle has arrived at or near the position associated with the future speed information at the time of the suggestion made by the suggestion unit, and the control unit changes the set speed in the automated speed control in accordance with an operation of the operation button when the operation button has been operated after the suggestion unit has finished the suggestion, upon the lapse of the prescribed period of time from the time the vehicle arrives at the first prescribed distance ahead of the position, when the vehicle travels the second prescribed distance from the point of the first prescribed distance ahead of the position.
• (10) According to another aspect of the present invention, there is provided a vehicle control method comprising: executing, by a computer, a process of recognizing an environmental situation of a vehicle; executing, by the computer, a process of acquiring future speed information, which is information about a speed related to a route along which the vehicle will travel in the future; executing, by the computer, a process of proposing an adjustment for the speed of the vehicle based on the future speed information; executing, by the computer, a process of causing the vehicle to travel by automatically controlling the speed of the vehicle based on the environmental situation and the future speed information when an occupant has agreed to the suggestion; and executing, by the computer, a process of starting the suggestion at the time of arrival at a first prescribed distance before a position associated with the future speed information and terminating the suggestion at the elapse of a prescribed period of time from the time of arrival of the vehicle at the first prescribed distance before the position when the vehicle travels a second prescribed distance from a point of the first prescribed distance before the position.
• (11): According to yet another aspect of the present invention, there is provided a storage medium storing a program for causing a computer to execute: a process of recognizing a surrounding situation of a vehicle; a process of acquiring future speed information, which is information about a speed related to a route along which the vehicle will travel in the future; a process of proposing an adjustment for the speed of the vehicle based on the future speed information; a process of causing the vehicle to travel by automatically controlling the speed of the vehicle based on the surrounding situation and the future speed information when an occupant has agreed to the suggestion; and a process of starting the suggestion at the time of arrival at a first prescribed distance before a position associated with the future speed information and terminating the suggestion at the elapse of a prescribed period of time from the time of arrival of the vehicle at the first prescribed distance before the position when the vehicle travels a second prescribed distance from a point of the first prescribed distance before the position.

According to aspects (1) to (11), the vehicle control device can improve the convenience for a user by starting and ending the suggestion at appropriate timings.

According to aspect (7), when the future speed information of the map information obtained in advance is different from the future speed information of the image captured by the imaging unit, the vehicle control device re-suggests the adjustment for the speed using the future speed information of the image, so that the convenience for the user can be further improved.

According to aspect (8), since the vehicle control device terminates the suggestion at an appropriate timing after the adjustment for speed has been suggested again, the convenience for the user is improved.

According to aspect (9), in the vehicle control device, a first operation button functions as a button for giving another instruction in the presence or absence of a suggestion, but it is possible to use the button in common without reducing the operability because the timing at which the suggestion ends is appropriate.

BRIEF DESCRIPTION OF THE DRAWINGS

• 1 is a configuration diagram of a vehicle system using a vehicle control device according to an embodiment.
• 2 is a diagram for describing a first operating unit, a second operating unit and a third operating unit.
• 3 is a diagram describing the behavior of a vehicle based on a suggestion and action by a driver.
• 4 is a diagram showing the state transition of the present embodiment.
• 5 is a diagram (part 1) to describe a specific example of a proposal unit process.
• 6 is a diagram (part 2) to describe a specific example of a proposal unit process.
• 7 is a diagram (part 3) to describe the specific example of the proposal unit process.
• 8 is a diagram (part 4) to describe the specific example of the proposal unit process.
• 9 is a flowchart showing an example of a flow of the process executed by a driving assistance device.
• 10 is a diagram describing an instruction received from the second operating unit.
• 11 is a flowchart showing an example of a flow of a process executed by the driving assistance device.
• 12 is a diagram for describing a process of a driving assistance device of a second embodiment.
• 13 is a flowchart showing an example of a flow of a process executed by the driving assistance device.

DESCRIPTION OF EMBODIMENTS

<First embodiment>

[Overall configuration]

1 1 is a configuration diagram of a vehicle system 1 using the vehicle control device according to an embodiment. A vehicle in which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a power generator connected to the engine, or electric power when a secondary battery or a fuel cell is discharged.

The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) sensor 14, a physical object detection device 16, a communication device 20, a human-machine interface (HMI) 30, a vehicle sensor 40, a navigation device 50, an operation unit 80, a driving assistance device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are connected to each other via a multiplexed communication line, such as a CAN (Controller Area Network) communication line, a serial communication line, or a wireless communication network. 1 The configuration shown is merely an example, and some components may be omitted or other components may be added. The driving assistance device 100 is an example of a "vehicle control device."

The camera 10 is, for example, a digital camera using a solid-state imaging element such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The camera 10 is mounted anywhere on the vehicle (hereinafter referred to as a self-vehicle M) in which the vehicle system 1 is mounted. When imaging the view in front of the self-vehicle M, the camera 10 is mounted on an upper part of a windshield, a rear surface of a rearview mirror, or the like. The camera 10, for example, periodically and iteratively images the surroundings of the self-vehicle M. The camera 10 may be a stereo camera.

The radar device 12 radiates radio waves, such as millimeter waves, around the host vehicle M and detects at least a position (a distance to and a direction) of a physical object by detecting radio waves (reflected waves) reflected from the physical object. The radar device 12 is arranged at an arbitrary location of the host vehicle M. The radar device 12 can detect a position and a speed of the physical object in a frequency-modulated continuous wave (FM-CW) scheme.

The LIDAR sensor 14 emits light (or electromagnetic waves with a wavelength close to that of light) toward the vicinity of the host vehicle M and measures the scattered light. The LIDAR sensor 14 detects a distance to an object based on the time period from light emission to light reception. The emitted light is, for example, pulsed laser light. The LIDAR sensor 14 is arranged at an arbitrary location on the host vehicle M.

The physical object detection device 16 performs a process of sensor function sion on detection results from some or all of the camera 10, the radar device 12, and the LIDAR sensor 14 included in the external detector to detect a position, type, speed, and the like of a physical object. The physical object detection device 16 outputs the detection results to the driving assistance device 100. The physical object detection device 16 may output the detection results of the camera 10, the radar device 12, and the LIDAR sensor 14 to the driving assistance device 100 as they are. The physical object detection device 16 may be omitted from the vehicle system 1.

The communication device 20 communicates with another vehicle located near the own vehicle M or communicates with various types of server devices via a radio base station using, for example, a cellular network or a Wi-Fi network, Bluetooth (registered trademark), Dedicated Short Range Communication (DSRC), or the like.

The HMI 30 presents various types of information to an occupant of the host vehicle M and receives an input operation from the occupant. The HMI 30 includes various types of display devices, such as a speaker, a buzzer, a touch panel, a switch, buttons, and the like. The HMI 30 includes a display device. The display device is, for example, a display device, i.e., a multi-information display, for displaying various information in the host vehicle M, such as a speedometer indicating a traveling speed of the host vehicle M or a tachometer indicating a rotational speed of the internal combustion engine provided in the host vehicle M, which is provided in the center of the instrument panel of the host vehicle M.

The vehicle sensor 40 includes a vehicle speed sensor configured to detect the speed of the host vehicle M, an acceleration sensor configured to detect acceleration, a yaw rate sensor configured to detect the angular velocity about a vertical axis, a direction sensor configured to detect a direction of the host vehicle M, and the like.

For example, the navigation device 50 includes a GNSS (global navigation satellite system) receiving unit 51, a navigation HMI 52, and a route decision unit 53. The navigation device 50 stores map information 54 in a storage device such as a hard disk drive (HDD) or a flash memory. The GNSS receiving unit 51 identifies a position of the host vehicle M based on a signal received from a GNSS satellite. The position of the host vehicle M can be identified or corrected by an inertial navigation system (INS) using an output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, buttons, and the like. The navigation HMI 52 may be partially or entirely shared (shared) with the above-described HMI 30. For example, the route decision unit 53 decides a route (hereinafter referred to as a route on a map) from the position of the host vehicle M identified by the GNSS receiving unit 51 (or from an arbitrary input position) to a destination input by the occupant using the navigation HMI 52 with reference to the map information 54. The map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and nodes connected by the link. The map information 54 may include the curvature of a road, point of interest (POI) information, and the like. The map information 54 includes, for example, information indicating a specified speed (e.g., a speed limit or a legal speed) for each link indicating the road. The specified limit (speed) is, for example, information indicating a legal speed or a speed limit displayed on a road or on a display board provided on the road, or the like.

The navigation device 50 can provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 can be implemented, for example, by a function of a terminal device such as a smartphone or a tablet device owned by the occupant. The navigation device 50 can transmit a current position and a destination to the navigation server via the communication device 20 and receive a route equivalent to the route on the map from the navigation server.

The operating unit 80 comprises, for example, a steering wheel, a direction indicator operating switch, an accelerator pedal, a brake pedal, a shift lever, and other operating units (not shown). A sensor for detecting an operation amount or the presence or absence of an operation is attached to the operating unit, and a detection result thereof is output to some or all of the driving assistance device 100, the driving force output device 200, the braking device 210, and the steering device 220. The steering wheel does not necessarily have to be ring-shaped, but may also be in the form of a variant steering wheel, a joystick, a button, or the like. A steering grip sensor is attached to the steering wheel.

The steering grip sensor is implemented, for example, by a capacitive sensor or a piezoelectric element. The steering grip sensor detects whether the driver is gripping the steering wheel or not. Gripping is a state in which the driver is holding the steering wheel, a state in which the hand is in contact with the steering wheel and a prescribed amount of force is applied to the steering wheel, or the like. The steering grip sensor can be one that detects gripping based on an image captured by a camera or detects gripping using an optical method, such as a radar device (a method that does not require contact with the sensor).

The control unit 80 further includes a first control unit 82, a second control unit 84 and a third control unit 86 (details will be described below).

The driving assistance device 100 includes, for example, a recognition unit 110, an information acquisition unit 120, a suggestion unit 130, and a speed control unit 140. Each of these functional sections is implemented, for example, by a hardware processor such as a central processing unit (CPU) that executes a program (software). Some or all of the above components may be implemented by hardware (including a circuit; circuitry) such as an LSI (Large-Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a graphics processing unit (GPU), or they may be implemented by software and hardware in cooperation. The program may be pre-stored in a storage device (a storage device including a non-transitory storage medium) such as a hard disk (HDD) or a flash memory of the driving assistance device 100, or may be stored in a removable storage medium such as a DVD or a CD-ROM and installed in the hard disk or the flash memory of the driving assistance device 100 when the storage medium (the non-transitory storage medium) is mounted in a driving device.

The detection unit 110 detects the position, speed, acceleration, and the like of physical objects near the host vehicle M based on information input from the camera 10, the radar device 12, and the LIDAR sensor 14 via the physical object detection device 16. For example, the position of the physical object is detected as a position on absolute coordinates with a representative point (a center of gravity, a drive shaft center, or the like) of the host vehicle M as the origin and used for control. The position of the physical object may be represented by a representative point such as a center of gravity or a corner of the physical object, or may be represented by an area/area. The "state" of a physical object may include the acceleration or jerking movement of the physical object, or an "action state" (e.g., whether a lane change is occurring or intended or not).

The recognition unit 110 recognizes a lane based on, for example, a road marking near the host vehicle M. The recognition unit 110 can recognize a lane by recognizing a boundary of the travel route (a road boundary), including a road marking, a shoulder, a curb, a median, a guardrail, and the like, as well as the road marking. In this recognition, a position of the host vehicle M obtained from the navigation device 50 and a processing result of the INS may be taken into account. The recognition unit 110 recognizes a temporary stop line, an obstacle, a red light signal, a toll booth, other road events, a sign marked on the road (a speed limit), and a road sign marked with the speed limit.

When the lane is detected, the detection unit 110 detects a position or an orientation of the host vehicle M with respect to the lane. For example, the detection unit 110 may detect a gap of a reference point of the host vehicle M from the center of the lane and an angle formed between the traveling direction of the host vehicle M and a line connected to the center of the lane as a relative position and an orientation of the host vehicle M with respect to the lane. Alternatively, the recognition unit 110 may recognize a position of the reference point of the own vehicle M with respect to a lateral end portion (a road marking or a road boundary) of the lane or the like as a relative position of the own vehicle M with respect to the lane.

The information acquisition unit 120 obtains information indicating a specified speed on a route on which the host vehicle M will travel in the future. The specified speed is a speed limit, a legal speed, a recommended speed, or the like. The information acquisition unit 120 obtains information indicating the specified speed of the route by referring to the map information 54. The prescribed speed is, for example, a speed limit, a legal speed, a recommended speed, and the like marked on the sign and the road as described above. Instead (or in addition), the information acquisition unit 120 may obtain information indicating a specified speed from an image captured by the camera 10.

The suggestion unit 130 suggests a speed adjustment to the occupant (e.g., the driver). For example, if a control process is executed to cause the host vehicle M to travel at a speed automatically set without the driver's input, the suggestion unit 130 suggests traveling within a speed limit on the road for future travel if the set speed differs from the road's speed limit. Details of this process are described below.

The speed control unit 140 automatically controls the driving force output device 200 and the braking device 210 without relying on the driver's operation, and automatically controls the speed of the host vehicle M. The speed control unit 140 executes a so-called adaptive cruise control (ACC).

For example, when there are no other vehicles in front of the own vehicle M and within a prescribed distance from the own vehicle M, the speed control unit 140 automatically controls the traveling driving force output device 200 and the braking device 210 without relying on the driver's operation, so that the own vehicle M travels at a speed set by the driver or a speed (a speed limit) suggested by the suggestion unit 130.

For example, when other vehicles are in front of the host vehicle M and within the prescribed distance from the host vehicle M, the speed control unit 140 automatically controls the traveling driving force output device 200 and the braking device 210 without relying on the driver's operation to track the other vehicle. Tracking indicates that the host vehicle M is behind another vehicle and is traveling while maintaining a position of the prescribed distance from the other vehicle.

The above-described control process executed by the speed control unit 140 may be executed under the condition that the driver is gripping the steering wheel, or it may be executed in a state where the driver is not gripping the steering wheel. Also, the above-described control process executed by the speed control unit 140 may be executed under the condition that the driver is monitoring the surroundings, or it may be executed in a state where the driver is not monitoring the surroundings. For example, the control process executed by the speed control unit 140 may be executed under the condition that the driver is monitoring the surroundings and gripping the steering wheel, or it may be executed when a predetermined condition is met among these predetermined conditions. Whether or not the driver is monitoring the surroundings can be determined by the driving assistance device 100 based on the image captured by the driver. The image captured by the driver is an image captured by a camera that images a vehicle compartment (not shown).

In addition to the ACC described above, the driving assistance device 100 may execute lane keeping control to cause the host vehicle M to travel in the center of the lane or control to cause the host vehicle M to automatically change lanes (auto lane change (ALC)) when a lane change instruction is issued by the driver.

The driving force output device 200 outputs driving force (torque) to drive wheels to enable the vehicle to travel. For example, the driving force output device 200 includes a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an electronic control unit (ECU) that controls the internal combustion engine, the electric motor, the transmission, and the like. The ECU controls the above-described components in accordance with information input from the driving assistance device 100 or information input from the driving operating element.

For example, the brake device 210 includes a brake caliper, a cylinder configured to transmit hydraulic pressure to the brake caliper, an electric motor configured to generate hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from the driving assistance device 100 or information input from a driving operation element, so that a braking torque corresponding to a braking operation is output to each wheel.

For example, the steering device 220 includes a steering ECU and an electric motor. The electric motor changes the direction of the steerable wheels, for example, by applying force to a rack-and-pinion mechanism. The steering ECU drives the electric motor in accordance with information input from the driving assistance device 100 or information input from the driving operating element to change the direction of the steerable wheels.

[Details of the control units]

2 is a diagram for describing the first operating unit 82, the second operating unit 84, and the third operating unit 86. The first operating unit 82, the second operating unit 84, and the third operating unit 86 are provided, for example, on the spokes of the steering wheel. The first operating unit 82 is, for example, a button for starting the ACC.

The second operation unit 84 functions as an operation unit that receives different instructions according to the state of the suggestion from the suggestion unit 130. If the operation is received when the ACC is being executed and a suggestion is made from the suggestion unit 130, the second operation unit 84 receives the agreement to the suggestion from the suggestion unit 130. In this case, the second operation unit 84 functions as a button for agreeing to the suggestion. The operation at this time is, for example, an operation of lowering a projection in a downward direction. If the operation is received while the ACC is being executed and the suggestion is not made from the suggestion unit 130, the second operation unit 84 receives a change in the speed set in the ACC in accordance with the operation. In this case, the second operation unit 84 functions as a button for adjusting the speed set in the ACC.

The third operation unit 86 functions as an operation unit that receives, for example, a different instruction in accordance with the state of the suggestion from the suggestion unit 130. If the operation is received when the ACC is being executed and a suggestion is made from the suggestion unit 130, the third operation unit 86 receives the rejection of the suggestion from the suggestion unit 130. In this case, the third operation unit 86 functions as a button for rejecting the suggestion. If the operation is received when the ACC is being executed and the suggestion is not made from the suggestion unit 130, the third operation unit 86 outputs, for example, an instruction to execute prescribed control. In this case, the third operation unit 86 functions as a button different from the button for rejecting the suggestion. The prescribed control is, for example, a control for changing the content displayed on the display or the like.

[Outline of a proposal unit process]

The suggestion unit 130 suggests an adjustment for the speed of the own vehicle M based on future speed information, which is speed information about a future route. If the occupant agrees to the suggestion, the speed control unit (control unit) 140 automatically controls the speed of the own vehicle M based on an environmental situation of the own vehicle M and the future speed information, and causes the own vehicle M to travel. The speed for the future route is the speed limit or the legal speed set for the road of the route. The speed control unit 140 controls the own vehicle M so that the own vehicle M travels at a permitted speed when there is no vehicle in front of the own vehicle M within a prescribed distance, and controls the own vehicle M so that the own vehicle M travels at a permitted speed or lower/slower at a prescribed distance while maintaining an inter-vehicle distance from the preceding vehicle when the preceding vehicle is within the prescribed distance.

The suggestion unit 130 starts the suggestion at the time of arrival at a first prescribed distance before a position associated with the future speed information, and ends the suggestion at the elapse of a prescribed period of time from the time of arrival at the first prescribed distance before the position when the host vehicle M travels a second prescribed distance from a point of the first prescribed distance before the position. The position associated with the future speed information is, for example, a position where a road sign displaying the future speed information is provided, or a position where the speed limit or legal speed changes.

When the host vehicle M is traveling on a road of the first section and is scheduled to travel on a road of the second section after passing the road of the first section, and the speed control unit 140 executes automatic cruise control (e.g., ACC) to automatically control the speed of the host vehicle without relying on the driver's operation based on the environmental situation of the host vehicle M and a speed set by the driver, the suggestion unit 130 starts the suggestion to the driver to control the speed of the host vehicle without relying on the driver's operation based on the environmental situation of the host vehicle M and the second section-specific speed at the first prescribed distance before the start point of the second section if the set speed is different from the second section-specific speed associated with the second section. For example, the speed limit of the second section may be different from or the same as the speed limit of the first section. A suggestion may, for example, This can be done, for example, if the speed limit of the second section is different from the speed limit of the first section. Automatic cruise control is, for example, a control system such as ACC or cruise control that causes the host vehicle M to drive at an automatically set speed.

The suggestion unit 130 terminates the suggestion upon the expiration of the prescribed time period from the arrival at the first prescribed distance before the position when the host vehicle M travels the second prescribed distance from the point of the first prescribed distance before the position. The second prescribed distance is longer than, for example, the first prescribed distance. Instead, the second prescribed distance may be identical to or shorter than, for example, the first prescribed distance.

[Behavior of the own vehicle based on a suggestion and an action of the driver]

3 is a diagram describing the behavior of the host vehicle based on the driver's suggestion and operation. The following describes the behavior of the host vehicle M in a state where ACC is running.

[1st suggestion]

It is proposed that vehicle system 1 inform the driver of the detected speed limit and reflect this at the set speed (set speed/target speed) of the ACC. For example, content C is shown on the display or a verbal suggestion is made.

[2-A. Confirmation of consent]

If the driver's consent operation is detected in response to the suggestion, the vehicle system 1 reflects the speed limit at the speed set by the ACC and withdraws the suggestion. When the host vehicle M enters the section corresponding to the speed limit, the speed is thereby adjusted to the speed limit. The speed can be adjusted to the speed limit if the occupant operates a prescribed switch instead of entering, or the speed can be adjusted to the speed limit when entering and the operation is performed.

[2-B. Rejection Confirmation]

If the driver's rejection action is detected in response to the suggestion, the vehicle system 1 withdraws the suggestion without considering the speed limit at the speed set by the ACC. Therefore, even if the host vehicle M enters the section corresponding to the speed limit, the speed is not adjusted to the speed limit, and the host vehicle M continues to travel at the set speed.

[2-C. No operation]

If neither the driver's acceptance nor rejection operation for the suggestion is detected, the vehicle system 1 withdraws the suggestion without reflecting the speed limit in the ACC set speed if the conditions to be described below are met (when the prescribed time has elapsed and the vehicle has traveled the second prescribed distance). Even if the host vehicle M enters the section corresponding to the speed limit, the speed will not be adjusted to the speed limit, and the host vehicle M will travel at the set speed.

[State transition diagram]

4 1 is a diagram showing the state transition of the present embodiment. When the main switch (e.g., the first operation unit 82) is operated, the ACC enters a standby state (S1). When the specified button (e.g., the second operation unit 84) is operated while the ACC is in the standby state, the ACC enters an ON state (S2). When the ACC is in the ON state and a cancel operation is performed, the ACC enters the standby state (S3).

If the speed limit is not detected while the ACC is in the ON state (S4), it transitions to a state where speed limit detection is performed (S7) when the speed limit is detected (S5). In the state where speed limit detection is performed (S7), the transition to a state where the speed limit is not detected is performed when the speed limit becomes undefined (S6).

If the speed limit differs from the ACC set speed in the state where speed limit detection is performed (S7), a speed change is suggested (S8). In this state, an acceptance or rejection of the driver's suggestion can be received.

If an approval operation (pressing the second operation unit 84 once) is performed in a state where the suggestion has been made, the speed limit is set to the set speed of the ACC, and the speed change is approved (S9). If a rejection operation or a withdrawal condition of the suggestion is met in the state where the suggestion has been made, the speed change suggestion is canceled (S10).

When the vehicle speed set by the ACC is changed according to an operation in the approved state of S9, the state transitions to the state of S10. When the set speed matches the speed limit in a state where the speed change suggestion in S10 is canceled, the transition to the state of S9 is performed.

In the above-described state of S4, S9, or S10, the set speed of the ACC can be adjusted. For example, if the driver performs an operation to change the set speed of the ACC in the above-described state of S4, S9, or S10, the vehicle system 1 reflects the speed in the set speed of the ACC according to the operation. Furthermore, if the mode switch is operated in a state where the ACC is in the standby or ON state, the mode transitions to a control mode different from the ACC.

[Specific example (part 1) for starting and canceling the proposal]

5 is a diagram (part 1) for describing a specific example of the process of the suggestion unit 130. The suggestion unit 130 suggests changing the set speed of the ACC at the first prescribed distance before a location where the speed limit is specified (a reference position P). The reference position is a location where the speed limit changes, a position where a sign indicating the speed limit is posted, a position where a mark indicating the speed limit is marked, or the like. A position at the first prescribed distance before the location is referred to as a "suggestion start position."

The proposal unit 130 withdraws the proposal when a withdrawal condition is met. The withdrawal conditions are (condition 1) that the vehicle has reached a position at the second prescribed distance (D2) from the proposal start position, and (condition 2) that a first period of time (e.g., T-T+10 as the "prescribed period of time") has elapsed from the time of arrival. at the proposal start position has elapsed. The speed control unit 140 controls the speed of the host vehicle M within the speed limit at the reference position if the proposal is approved before it is withdrawn, and withdraws the proposal if the proposal is rejected before it is withdrawn. If approval is obtained after the reference position, the speed control unit 140 controls the speed of the host vehicle M within the speed limit at a prescribed time after the approval.

[Specific example (part 2) of starting and canceling a proposal]

6 is a diagram (part 2) for describing a specific example of the process of the suggestion unit 130. Although a case where condition 1 is created/established before condition 2 is not possible in the above-described example of 5 As described above, condition 2 is placed before condition 1 in the example of 6 created/established. For example, if the road is congested/overloaded, Condition 2 may be met before the host vehicle M reaches the reference position. Since in this case, the suggestion is also made before Condition 1 is met, the withdrawal is suppressed long before the reference position. The suggestion continues at least until the driver of the host vehicle M reaches a position where the driver can recognize a sign of the reference position, a road marking, or the like.

As described above, the comfort for a user is also improved when traffic jams occur.

[Specific example (part 3) for starting and canceling a proposal]

7 is a diagram for describing a specific example of the process of the suggestion unit 130. The second prescribed distance D2 is set to a distance greater than, for example, a first prescribed distance D1. The second prescribed distance D2 is, for example, a distance at which an error in identifying the position of the own vehicle M in the map information is taken into account. The second prescribed distance D2 is, for example, a length approximately twice a maximum error or approximately twice the length of the first prescribed distance D1. For example, if the first prescribed distance D1 is 100 m and the maximum error is ±100 m, the second prescribed distance D2 is set to 200 m or about 200 m.

As in 7 For example, as shown in A, it is assumed that the vehicle system 1 identifies the position of the first prescribed distance D1 from the reference position. However, in reality, an error may occur, and the own vehicle M may be farther from the reference position than the first prescribed distance D1, as shown in B of 7 shown. In this case, for example, if the first prescribed distance D1 is set in Condition 1 or Condition 1 is set based on the first prescribed distance D1, Condition 2 may be met in traffic congestion or the like, and Condition 1 may be met at a distance of several tens or hundreds of meters from the reference position. In this case, the suggestion ends at a significantly earlier time before the reference position, and the user convenience may be low.

On the other hand, by setting a second prescribed distance D2 that is greater than the first prescribed distance D1, even if Condition 2 is met, Condition 1 is not met, and the suggestion will continue until the current position is, for example, close to or beyond the reference position. This improves user convenience.

[Specific example (part 4) for starting and canceling the proposal]

8 4 is a diagram (part 4) for describing a specific example of the process of the suggestion unit 130. The speed control unit 140 may perform automated cruise control (ACC) at a speed greater than or equal to a threshold, and the prescribed time period is set based on a time period obtained by adding a second prescribed time period, which is a reserve time period, to a first prescribed time period in which the vehicle has traveled the second prescribed distance when the speed control unit 140 executes automated cruise control at a threshold speed. If the time required is up to T - T+7 when the vehicle has traveled the second prescribed distance at the threshold speed described above, the prescribed time period is a time period obtained by adding the reserve time period (T+8 - T+10). For example, assume that the threshold is 30 km/h and the second prescribed distance is 200 m. In this case, the host vehicle M travels 200 m in 24 seconds. The prescribed time period is, for example, 30 seconds. obtained by adding a reserve time of 6 seconds to the 24 seconds.

As in 8 As shown, after the host vehicle M reaches the reference position P by traveling the second prescribed distance (200 m), the suggestion for the reserve time period continues. Even at 120 km/h, the host vehicle M travels 200 m in 6 seconds. In this case, the suggestion also continues for 24 seconds. As a result, the suggestion for the prescribed time period continues after passing the reference position P, even if an error occurs when there is no traffic congestion or the like. As a result, user convenience is improved.

[Flowchart (Part 1)]

9 1 is a flowchart showing an example of a flow of a process executed by the driving assistance device 100. First, the suggestion unit 130 of the driving assistance device 100 determines whether or not the ACC is being executed (step S100). When the ACC is being executed, the suggestion unit 130 determines whether or not there is an update of a speed sign (step S102). When there is an update of the speed sign, the suggestion unit 130 determines whether or not the host vehicle M is at a position of the first prescribed distance D1 in front of the speed sign (step S104).

When the host vehicle M is at a position of the first prescribed distance D1 before the speed sign, the suggestion unit 130 suggests a speed adjustment (step S106). If the speed of the speed sign matches the current speed of the host vehicle M (when there is a prescribed difference), this process can be omitted.

Subsequently, the suggestion unit 130 determines whether or not an approval operation for the suggestion has been performed (step S108). If the approval operation has been performed, the speed control unit 140 controls the speed of the host vehicle M within the recommended speed when the host vehicle M reaches the position of the speed sign (step S110).

If the approval operation has not been performed, the suggestion unit 130 determines whether the rejection operation has been performed (step S112). If the rejection operation has been performed, the suggestion unit 130 ends the speed adjustment suggestion (step S118).

If the rejection operation has not been performed, the suggestion unit 130 determines whether or not the first period of time has elapsed from the time at which the suggestion was started (step S114). If the first period of time has not elapsed, the process returns to the processing of step S106. If the first period of time has elapsed, the suggestion unit 130 determines whether or not the host vehicle M has traveled the second prescribed distance D2 from the position at which the suggestion was started (step S116). If the host vehicle M has not traveled the second prescribed distance D2, the process returns to the processing of step S106. If the host vehicle M has traveled the second prescribed distance D2, the suggestion unit 130 proceeds to the processing of step S118. This ends a routine of the present flowchart.

As described above, the vehicle system 1 starts and stops the suggestion at appropriate times, thereby improving the convenience for the user.

[Regarding an operation type received by the second control unit]

When the second operation unit 84 (the operation button) is operated when the suggestion unit 130 makes a suggestion and the host vehicle M has arrived at or near a position associated with the future speed information, the speed control unit 140 controls the speed of the vehicle based on the future speed information. Upon the elapse of a prescribed period of time from the time of arrival at the point of the first prescribed distance ahead of the position and when the host vehicle M travels the second prescribed distance from the point of the first prescribed distance ahead of the position, the speed control unit 140 changes a set speed in automated speed control in accordance with an operation of the second operation unit 84 when the second operation unit 84 is operated after the suggestion unit 130 completes the suggestion.

10 is a diagram for describing an instruction received from the second operation unit 84. When a suggestion is made, the driving assistance device 100 recognizes that the suggestion has been accepted and executes a process related to the Approval of the suggestion is expressed when the second operation unit 84 is operated. When the second operation unit 84 is operated after the suggestion has ended, the driving assistance device 100 recognizes that the speed set in the ACC has been changed, changes the speed set in the ACC, and controls the host vehicle M based on the changed speed.

As described above, the driving assistance device 100 changes the control content based on an operation of the second operation unit 84 and the timing at which the operation is performed, so that appropriate control is implemented even when the operation unit is shared. Furthermore, since the end time of the suggestion is not excessively long or short as described above, and the suggestion ends at an appropriate timing, the second operation unit 84 can be used as another operation switch while ensuring operability.

(Flowchart (Part 1))

11 is a flowchart showing an example of the flow of a process executed by the driving assistance device 100. First, it is determined whether the suggestion unit 130 of the driving assistance device 100 is suggesting a speed adjustment (step S200). If the suggestion is in progress, the suggestion unit 130 determines whether the second operation unit 84 has been operated (step S202). If the second operation unit 84 has been operated, the suggestion unit 130 recognizes that the suggestion has been accepted (step S204). If the second operation unit 84 has not been operated, a routine of the present flowchart ends.

If the suggestion is not in progress, the suggestion unit 130 determines whether the second operation unit 84 has been operated or not (step S206). If the second operation unit 84 has been operated, the suggestion unit 130 recognizes that the set speed of the ACC has been changed (step S208). If the second operation unit 84 has not been operated, a routine of the present flowchart ends.

As described above, the driving assistance device 100 can implement appropriate control based on the suggested state of the suggesting unit 130 and the operation of the second operation unit 84.

According to the first embodiment described above, the driving assistance device 100 can improve the convenience of the user by controlling a suggestion start time and a suggestion end time based on a distance and a time.

<Second embodiment>

A second embodiment will be described below. In the second embodiment, after making a suggestion based on information indicating the speed limit in the map information (first speed limit information), the suggestion unit 130 makes another suggestion when the information indicating the speed limit in the map information differs from information indicating the speed limit obtained from the image (second speed limit information). Differences from the first embodiment will be mainly described below.

12 1 is a diagram for describing a process of the driving assistance device 100 of the second embodiment. For example, assume that the suggestion unit 130 has made a suggestion based on map information (a speed limit of 50 km). Subsequently, the host vehicle M has approached a road sign. The recognition unit 110 has recognized the speed limit (a speed limit of 60 km) of the road sign from an image captured by the camera 10. The suggestion unit 130 again suggests a speed adjustment to the speed limit based on the image when the speed limit based on the map information (the first speed limit information) differs from the speed limit based on the image (the second speed limit information) (P1). The suggestion unit 130 ends the re-suggested suggestion when conditions 1 and 2 are met based on the timing of a re-suggested suggestion.

[Flow chart]

13 is a flowchart showing an example of a flow of a process executed by the driving assistance device 100. This process is a process executed after the suggestion unit 130, for example, makes the suggestion in step S106 of 9 made.

First, the driving assistance device 100 determines whether or not second speed limit information can be recognized from an image captured by the camera 10 (step S300). Next, the driving assistance device 100 determines whether or not a speed of the first speed limit information matches a speed of the second speed limit information (step S302). If the speed of the first speed limit information matches the speed of the second speed limit information, the driving assistance device 100 continues the process being executed (step S304). For example, if the suggestion is made, the suggestion is continued, and a process corresponding to the approval is performed if the suggestion is approved. If the suggestion is rejected, the suggestion is withdrawn. If conditions 1 and 2 of agreeing to the suggestion or rejecting it are met, the suggestion is withdrawn.

If the speed of the first speed limit information does not match the speed of the second speed limit information, the driving assistance device 100 determines whether or not the adjustment to the speed of the first speed limit information has been approved (step S306). If the adjustment has been approved and the host vehicle M has arrived at or near the position of the sign, the driving assistance device 100 adjusts the speed to the speed of the first speed limit information (step S308). If the adjustment has not been approved, the process proceeds to the processing of step S310.

In the processing of S310, the driving assistance device 100 proposes the adjustment based on the second speed limit information (step S310). Subsequently, the driving assistance device 100 determines whether a proposal end condition is met (step S312). At this time, the proposal end condition is based on a position at which the speed adjustment based on the second speed limit information is again proposed (the processing of step S310).

Condition 1 is that a first period of time has elapsed from the time of a renewed proposal. Condition 2 is that the host vehicle M has traveled a second prescribed distance D2 from a position of the renewed proposal. Conditions 1 and 2 may be the same as or different from the conditions described in the first embodiment. One or both of Conditions 1 and 2 may be conditions that are easier to achieve/satisfy than Condition 1 or Condition 2 of the first embodiment. For example, a second prescribed distance of Condition 1 of the second embodiment may be shorter than the second prescribed distance of Condition 1 of the first embodiment. For example, the first period of Condition 2 of the second embodiment may be shorter than the first period of Condition 2 of the first embodiment.

According to the second embodiment described above, the driving assistance device 100 can make a more appropriate suggestion by making a suggestion again when information indicating the speed limit in the map information differs from the speed limit obtained from the image (second speed limit information) after making a suggestion based on the information indicating the speed limit in the map information (first speed limit information). As a result, user convenience can be improved.

• eine Speichervorrichtung, welche ein Programm speichert; und
• einen Hardware-Prozessor,
• wobei der Hardware-Prozessor das Programm ausführt, welches in der Speichervorrichtung gespeichert ist, um Folgendes auszuführen:
  • einen Prozess eines Erkennens einer Umgebungssituation eines Fahrzeugs;
  • einen Prozess eines Erfassens zukünftiger Geschwindigkeitsinformationen, welche Informationen über eine Geschwindigkeit sind, welche sich auf eine Route bezieht, entlang welcher das Fahrzeug in Zukunft fahren wird;
  • einen Prozess eines Vorschlagens einer Anpassung für die Geschwindigkeit des Fahrzeugs auf der Grundlage der zukünftigen Geschwindigkeitsinformationen;
  • einen Prozesses eines Veranlassens des Fahrzeugs dazu, zu fahren, indem die Geschwindigkeit des Fahrzeugs auf der Grundlage der Umgebungssituation und der zukünftigen Geschwindigkeitsinformationen automatisch gesteuert wird, wenn ein Insasse dem Vorschlag zugestimmt hat; und
  • einen Prozess eines Startens des Vorschlags zu dem Zeitpunkt einer Ankunft an einer ersten vorgeschriebenen Distanz vor einer mit den zukünftigen Geschwindigkeitsinformationen assoziierten Position und eines Beendens des Vorschlags bei dem Verstreichen einer vorgeschriebenen Zeitspanne von dem Zeitpunkt der Ankunft des Fahrzeugs an der ersten vorgeschriebenen Distanz vor der Position, wenn das Fahrzeug eine zweite vorgeschriebene Distanz von einem Punkt der ersten vorgeschriebenen Distanz vor der Position fährt.

The above-described embodiment can be represented as follows: Control device comprising:

• a storage device that stores a program; and
• a hardware processor,
• wherein the hardware processor executes the program stored in the storage device to perform the following:
  • a process of recognizing an environmental situation of a vehicle;
  • a process of acquiring future speed information, which is information about a speed related to a route along which the vehicle will travel in the future;
  • a process of proposing an adjustment for the speed of the vehicle based on the future speed information;
  • a process of causing the vehicle to drive by automatically controlling the speed of the vehicle based on the surrounding situation and the future speed information when an occupant has agreed to the suggestion; and
  • a process of starting the suggestion at the time of arrival at a first prescribed distance before a position associated with the future speed information and terminating the suggestion at the elapse of a prescribed period of time from the time of arrival of the vehicle at the first prescribed distance before the position when the vehicle travels a second prescribed distance from a point of the first prescribed distance before the position.

While preferred embodiments of the invention have been described and illustrated above, it should be understood that these are exemplary of the invention and are not to be considered limiting. Additions, omissions, substitutions, and other changes may be made without departing from the spirit or scope of the present invention. Accordingly, the invention is not to be considered limited by the foregoing description and is limited only by the scope of the appended claims.

A vehicle control device includes a suggestion unit configured to suggest an adjustment for a speed of a vehicle based on future speed information; and a control unit configured to cause the vehicle to travel by automatically controlling the speed of the vehicle based on an environmental situation and the future speed information when an occupant has agreed to the suggestion. The suggestion unit starts the suggestion at the time of arrival at a first prescribed distance ahead of a position associated with the future speed information and ends the suggestion upon the elapse of a prescribed period of time from the time of the vehicle's arrival at the first prescribed distance ahead of the position when the vehicle travels a second prescribed distance from a point of the first prescribed distance ahead of the position.

Claims (11)

A vehicle control device (100), comprising: a recognition unit (110) configured to recognize an environmental situation of a vehicle (M); a detection unit (120) configured to detect future speed information, which is information about a speed related to a route along which the vehicle (M) will travel in the future; a suggestion unit (130) configured to suggest an adjustment for the speed of the vehicle (M) based on the future speed information; and a control unit (140) configured to cause the vehicle (M) to travel by automatically controlling the speed of the vehicle (M) based on the surrounding situation and the future speed information when an occupant has agreed to the suggestion, wherein the suggestion unit (130) starts the suggestion at the time of arrival at a first prescribed distance before a position associated with the future speed information and ends the suggestion upon the elapse of a prescribed period of time from the time of arrival of the vehicle (M) at the first prescribed distance before the position when the vehicle (M) travels a second prescribed distance from a point of the first prescribed distance before the position. Vehicle control device (100) according to Claim 1 , wherein the vehicle (M) travels on a road of a first section and it is planned that the vehicle (M) travels on a road of a second section after passing the road of the first section, wherein, when the control unit (140) executes an automated speed control to automatically control the speed of the vehicle (M) based on the environmental situation and a set speed set by the driver, without resorting to a driver's operation, the suggestion unit (130) starts the suggestion to the driver to control the speed of the vehicle (M) based on the environmental situation and a second section-specific speed, without resorting to the driver's operation, at the first prescribed distance before a starting point of the second section if the set speed differs from the second section-specific speed associated with the second section, and the suggestion unit (130) ends the suggestion upon the elapse of the prescribed period of time from the time of arrival at the first prescribed distance before the position when the vehicle (M) travels the second prescribed distance from the point of the first prescribed distance in front of the position. Vehicle control device (100) according to Claim 2 , wherein the control unit (140) is capable of executing automated cruise control at a speed greater than or equal to a threshold, and wherein the prescribed time period is set based on a time period obtained by adding a second prescribed time period, which is a reserve time period, to a first prescribed time period in which the vehicle (M) has traveled the second prescribed distance when the control unit (140) executes the automated cruise control at a speed of the threshold. Vehicle control device (100) according to Claim 1 or 2 , where the second prescribed distance is longer than the first prescribed distance. Vehicle control device (100) according to Claim 1 or 2 , where the speed related to the route is a speed limit or a legal speed set for a road on the route. Vehicle control device (100) according to Claim 1 or 2 , wherein the position associated with the future speed information is a position at which a road sign is provided on which the future speed information is displayed. Vehicle control device (100) according to Claim 1 or 2 , wherein the acquisition unit (120) acquires the future speed information, which is the information of the speed relating to the route along which the vehicle (M) will travel, with reference to map information (54) in which a road included in the route is associated with a speed limit or a legal speed of the road, and acquires the future speed information obtained from an image in which a road sign on which the speed limit or the legal speed is displayed is imaged by an imaging unit, and wherein, after the adjustment for the speed of the vehicle (M) has been proposed based on a first speed of the future speed information obtained with reference to the map information (54), the proposal unit (130) acquires the future speed information obtained by the acquisition unit (120) from the image and proposes the adjustment for the speed of the vehicle (M) based on a second speed of the future speed information obtained from the image when a difference between the first speed and the second speed of the future speed information obtained from the image. Vehicle control device (100) according to Claim 7 wherein, when the first speed is different from the second speed, the suggestion unit (130) suggests the adjustment for the speed of the vehicle (M) based on the second speed of the future speed information obtained from the image, and terminates the suggestion upon elapse of the prescribed period of time from the time of suggesting the adjustment for the speed of the vehicle (M) based on the second speed when the vehicle (M) travels the second prescribed distance from the time of suggesting the adjustment for the speed of the vehicle (M) based on the second speed. Vehicle control device (100) according to Claim 2 , wherein the control unit (140) controls the speed of the vehicle (M) based on the future speed information when an operation button (84) has been operated and the vehicle (M) has arrived at or near the position associated with the future speed information at the time of the suggestion made by the suggestion unit (130), and wherein the control unit (140) changes the set speed in the automated speed control in accordance with an operation of the operation button (84) when the operation button (84) has been operated after the suggestion unit (130) has finished the suggestion, upon the lapse of the prescribed period of time from the time of the vehicle (M) arriving at the first prescribed distance ahead of the position, when the vehicle (M) travels the second prescribed distance from the point of the first prescribed distance ahead of the position. A vehicle control method comprising: executing, by a computer, a process of recognizing an environmental situation of a vehicle (M); executing, by the computer, a process of acquiring future speed information, which is information about a speed related to a route along which the vehicle (M) will travel in the future; Executing, by the computer, a process of suggesting an adjustment for the speed of the vehicle (M) based on the future speed information; Executing, by the computer, a process of causing the vehicle (M) to travel by automatically controlling the speed of the vehicle (M) based on the surrounding situation and the future speed information when an occupant has agreed to the suggestion; and Executing, by the computer, a process of starting the suggestion at the time of arrival at a first prescribed distance ahead of a position associated with the future speed information and terminating the suggestion upon the lapse of a prescribed period of time from the time of arrival of the vehicle (M) at the first prescribed distance ahead of the position when the vehicle (M) travels a second prescribed distance from a point of the first prescribed distance ahead of the position. A storage medium storing a program for causing a computer to perform: a process of recognizing an environmental situation of a vehicle (M); a process of acquiring future speed information, which is information about a speed related to a route along which the vehicle (M) will travel in the future; a process of suggesting an adjustment for the speed of the vehicle (M) based on the future speed information; a process of causing the vehicle (M) to travel by automatically controlling the speed of the vehicle (M) based on the environmental situation and the future speed information, if an occupant has agreed to the suggestion; and a process of starting the suggestion at the time of arrival at a first prescribed distance before a position associated with the future speed information and terminating the suggestion upon the elapse of a prescribed period of time from the time of arrival of the vehicle (M) at the first prescribed distance before the position when the vehicle (M) travels a second prescribed distance from a point of the first prescribed distance before the position.