US-12617399-B2 - Vehicle driving assistance apparatus, vehicle driving assistance method, and computer-readable storage medium storing vehicle driving assistance program

Abstract

A vehicle driving assistance apparatus executes an autonomous acceleration/deceleration control to maintain an own vehicle moving speed within a predetermined speed range, or maintain an inter-vehicle distance within a predetermined distance range, executes a coasting control when the deceleration of the own vehicle is requested in a situation where the autonomous acceleration/deceleration control is being executed, and executes a power running control when the acceleration of the own vehicle is requested in the situation where the autonomous acceleration/deceleration control is being executed. The vehicle driving assistance apparatus terminates executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of a gradient of a road on which the own vehicle is moving and the moving speed of the own vehicle in the situation where the autonomous acceleration/deceleration control is being executed.

Inventors

• Hideki Kamatani

Assignees

• TOYOTA JIDOSHA KABUSHIKI KAISHA
• DENSO CORPORATION

Dates

Publication Date

20260505

Application Date

20231206

Priority Date

20221208

Claims (14)

1. 1 . A vehicle driving assistance apparatus, comprising an electronic control unit configured to: execute an autonomous acceleration/deceleration control of autonomously controlling an acceleration and a deceleration of an own vehicle so as to maintain a moving speed of the own vehicle within a predetermined speed range, or maintain a distance between the own vehicle and another vehicle existing around the own vehicle within a predetermined distance range; execute a coasting control of causing the own vehicle to coast when the deceleration of the own vehicle is requested in a situation where the electronic control unit is executing the autonomous acceleration/deceleration control; and execute a power running control of running the own vehicle with power when the acceleration of the own vehicle is requested in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the electronic control unit is configured to terminate executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of (i) a gradient of a road on which the own vehicle is moving and (ii) the moving speed of the own vehicle becomes satisfied in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the predetermined condition includes one of a first condition and a second condition, wherein the first condition corresponds to one of: a high speed condition that the moving speed of the own vehicle is greater than a predetermined vehicle speed threshold; and an upward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to an upward slope gradient which is greater than a predetermined upward slope gradient threshold, wherein the second condition corresponds to a downward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to a downward slope gradient which is greater than a predetermined downward slope gradient threshold, and wherein the electronic control unit is further configured to start to execute a moving speed control of autonomously accelerating or decelerating the own vehicle to maintain the moving speed of the own vehicle at a predetermined moving speed when the first condition becomes satisfied, and the electronic control unit terminates executing the autonomous acceleration/deceleration control.
2. 2 . The vehicle driving assistance apparatus as claimed in claim 1 , wherein the predetermined condition includes one of a first condition and a second condition, wherein a probability of the first condition becoming satisfied is greater when the moving speed of the own vehicle is equal to or greater than a predetermined first speed than when the moving speed of the own vehicle is smaller than the predetermined first speed, or a probability of the first condition becoming satisfied is greater when the gradient of the road on which the own vehicle is moving is equal to or greater than a predetermined first gradient than when the gradient of the road on which the own vehicle is moving is smaller than the predetermined first gradient, and wherein a probability of the second condition becoming satisfied is greater when the gradient of the road on which the own vehicle is moving is equal to or smaller than a predetermined second gradient than when the gradient of the road on which the own vehicle is moving is greater than the predetermined second gradient.
3. 3 . The vehicle driving assistance apparatus as claimed in claim 1 , wherein the electronic control unit is configured to execute the coasting control when the second condition becomes satisfied, and the electronic control unit terminates executing the autonomous acceleration/deceleration control in a situation where the moving speed of the own vehicle is smaller than the predetermined moving speed.
4. 4 . The vehicle driving assistance apparatus as claimed in claim 1 , wherein the power running control corresponds to an optimum power running control of (i) activating a driving apparatus at an activation state where an energy efficiency of moving the own vehicle is equal to or greater than a predetermined energy efficiency and (ii) moving the own vehicle by a driving force output from the driving apparatus, and wherein the predetermined upward slope gradient threshold is set to one of: a gradient at which an absolute value of a deceleration rate of the own vehicle is equal to or greater than a predetermined deceleration rate threshold in a situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient, and the own vehicle is moved by the coasting control; and a gradient at which an acceleration rate of the own vehicle is equal to or smaller than a predetermined acceleration rate threshold in a situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient, and the own vehicle is moved by the optimum power running control.
5. 5 . The vehicle driving assistance apparatus as claimed in claim 1 , wherein the power running control corresponds to an optimum power running control of (i) activating a driving apparatus at an activation state where an energy efficiency of moving the own vehicle is equal to or greater than a predetermined energy efficiency and (ii) moving the own vehicle by a driving force output from the driving apparatus, and wherein the predetermined upward slope threshold is set to a gradient at which a rate of an absolute value of an upward-slope-gradient coasting deceleration rate of the own vehicle to an upward-slope-gradient optimum acceleration rate of the own vehicle is greater than a predetermined rate, wherein the upward-slope-gradient optimum acceleration rate corresponds to an acceleration rate of the own vehicle realized by moving the own vehicle by the optimum power running control in the situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient, and wherein the upward-slope-gradient coasting deceleration rate corresponds to a deceleration rate of the own vehicle realized by moving the own vehicle by the coasting control in the situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient.
6. 6 . A vehicle driving assistance method, comprising steps of: executing an autonomous acceleration/deceleration control of autonomously controlling an acceleration and a deceleration of an own vehicle so as to maintain a moving speed of the own vehicle within a predetermined speed range, or maintain a distance between the own vehicle and another vehicle existing around the own vehicle within a predetermined distance range; executing a coasting control of causing the own vehicle to coast when the deceleration of the own vehicle is requested in a situation where the electronic control unit is executing the autonomous acceleration/deceleration control; and executing a power running control of running the own vehicle with power when the acceleration of the own vehicle is requested in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the vehicle driving assistance method comprises a step of terminating executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of (i) a gradient of a road on which the own vehicle is moving and (ii) the moving speed of the own vehicle becomes satisfied in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the predetermined condition includes one of a first condition and a second condition, wherein the first condition corresponds to one of: a high speed condition that the moving speed of the own vehicle is greater than a predetermined vehicle speed threshold; and an upward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to an upward slope gradient which is greater than a predetermined upward slope gradient threshold, wherein the second condition corresponds to a downward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to a downward slope gradient which is greater than a predetermined downward slope gradient threshold, and wherein the vehicle driving assistance method further comprises starting to execute a moving speed control of autonomously accelerating or decelerating the own vehicle to maintain the moving speed of the own vehicle at a predetermined moving speed when the first condition becomes satisfied, and terminating executing the autonomous acceleration/deceleration control.
7. 7 . A computer-readable storage medium storing a vehicle driving assistance program which is configured to: execute an autonomous acceleration/deceleration control of autonomously controlling an acceleration and a deceleration of an own vehicle so as to maintain a moving speed of the own vehicle within a predetermined speed range, or maintain a distance between the own vehicle and another vehicle existing around the own vehicle within a predetermined distance range; execute a coasting control of causing the own vehicle to coast when the deceleration of the own vehicle is requested in a situation where the electronic control unit is executing the autonomous acceleration/deceleration control; and execute a power running control of running the own vehicle with power when the acceleration of the own vehicle is requested in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the vehicle driving assistance program is configured to terminate executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of (i) a gradient of a road on which the own vehicle is moving and (ii) the moving speed of the own vehicle becomes satisfied in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the predetermined condition includes one of a first condition and a second condition, wherein the first condition corresponds to one of: a high speed condition that the moving speed of the own vehicle is greater than a predetermined vehicle speed threshold; and an upward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to an upward slope gradient which is greater than a predetermined upward slope gradient threshold, wherein the second condition corresponds to a downward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to a downward slope gradient which is greater than a predetermined downward slope gradient threshold, and wherein the vehicle driving assistance program is further configured to start to execute a moving speed control of autonomously accelerating or decelerating the own vehicle to maintain the moving speed of the own vehicle at a predetermined moving speed when the first condition becomes satisfied, and terminating executing the autonomous acceleration/deceleration control.
8. 8 . A vehicle driving assistance apparatus, comprising an electronic control unit configured to: execute an autonomous acceleration/deceleration control of autonomously controlling an acceleration and a deceleration of an own vehicle so as to maintain a moving speed of the own vehicle within a predetermined speed range, or maintain a distance between the own vehicle and another vehicle existing around the own vehicle within a predetermined distance range; execute a coasting control of causing the own vehicle to coast when the deceleration of the own vehicle is requested in a situation where the electronic control unit is executing the autonomous acceleration/deceleration control; and execute a power running control of running the own vehicle with power when the acceleration of the own vehicle is requested in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the electronic control unit is configured to terminate executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of (i) a gradient of a road on which the own vehicle is moving and (ii) the moving speed of the own vehicle becomes satisfied in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the predetermined condition includes one of a first condition and a second condition, wherein the first condition corresponds to one of: a high speed condition that the moving speed of the own vehicle is greater than a predetermined vehicle speed threshold; and an upward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to an upward slope gradient which is greater than a predetermined upward slope gradient threshold, wherein the second condition corresponds to a downward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to a downward slope gradient which is greater than a predetermined downward slope gradient threshold, and wherein the electronic control unit is configured to execute a moving speed control of autonomously accelerating or decelerating the own vehicle to maintain the moving speed of the own vehicle at a predetermined moving speed when the second condition becomes satisfied, and the electronic control unit terminates executing the autonomous acceleration/deceleration control in a situation where the moving speed of the own vehicle is equal to or greater than a predetermined moving speed.
9. 9 . The vehicle driving assistance apparatus as claimed in claim 8 , wherein the predetermined condition includes one of a first condition and a second condition, wherein a probability of the first condition becoming satisfied is greater when the moving speed of the own vehicle is equal to or greater than a predetermined first speed than when the moving speed of the own vehicle is smaller than the predetermined first speed, or a probability of the first condition becoming satisfied is greater when the gradient of the road on which the own vehicle is moving is equal to or greater than a predetermined first gradient than when the gradient of the road on which the own vehicle is moving is smaller than the predetermined first gradient, and wherein a probability of the second condition becoming satisfied is greater when the gradient of the road on which the own vehicle is moving is equal to or smaller than a predetermined second gradient than when the gradient of the road on which the own vehicle is moving is greater than the predetermined second gradient.
10. 10 . The vehicle driving assistance apparatus as claimed in claim 8 , wherein the electronic control unit is configured to execute the coasting control when the second condition becomes satisfied, and the electronic control unit terminates executing the autonomous acceleration/deceleration control in a situation where the moving speed of the own vehicle is smaller than the predetermined moving speed.
11. 11 . The vehicle driving assistance apparatus as claimed in claim 8 , wherein the power running control corresponds to an optimum power running control of (i) activating a driving apparatus at an activation state where an energy efficiency of moving the own vehicle is equal to or greater than a predetermined energy efficiency and (ii) moving the own vehicle by a driving force output from the driving apparatus, and wherein the predetermined upward slope gradient threshold is set to one of: a gradient at which an absolute value of a deceleration rate of the own vehicle is equal to or greater than a predetermined deceleration rate threshold in a situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient, and the own vehicle is moved by the coasting control; and a gradient at which an acceleration rate of the own vehicle is equal to or smaller than a predetermined acceleration rate threshold in a situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient, and the own vehicle is moved by the optimum power running control.
12. 12 . The vehicle driving assistance apparatus as claimed in claim 8 , wherein the power running control corresponds to an optimum power running control of (i) activating a driving apparatus at an activation state where an energy efficiency of moving the own vehicle is equal to or greater than a predetermined energy efficiency and (ii) moving the own vehicle by a driving force output from the driving apparatus, and wherein the predetermined upward slope threshold is set to a gradient at which a rate of an absolute value of an upward-slope-gradient coasting deceleration rate of the own vehicle to an upward-slope-gradient optimum acceleration rate of the own vehicle is greater than a predetermined rate, wherein the upward-slope-gradient optimum acceleration rate corresponds to an acceleration rate of the own vehicle realized by moving the own vehicle by the optimum power running control in the situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient, and wherein the upward-slope-gradient coasting deceleration rate corresponds to a deceleration rate of the own vehicle realized by moving the own vehicle by the coasting control in the situation where the gradient of the road on which the own vehicle is moving corresponds to the upward slope gradient.
13. 13 . A vehicle driving assistance method, comprising steps of: executing an autonomous acceleration/deceleration control of autonomously controlling an acceleration and a deceleration of an own vehicle so as to maintain a moving speed of the own vehicle within a predetermined speed range, or maintain a distance between the own vehicle and another vehicle existing around the own vehicle within a predetermined distance range; executing a coasting control of causing the own vehicle to coast when the deceleration of the own vehicle is requested in a situation where the electronic control unit is executing the autonomous acceleration/deceleration control; and executing a power running control of running the own vehicle with power when the acceleration of the own vehicle is requested in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the vehicle driving assistance method comprises a step of terminating executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of (i) a gradient of a road on which the own vehicle is moving and (ii) the moving speed of the own vehicle becomes satisfied in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the predetermined condition includes one of a first condition and a second condition, wherein the first condition corresponds to one of: a high speed condition that the moving speed of the own vehicle is greater than a predetermined vehicle speed threshold; and an upward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to an upward slope gradient which is greater than a predetermined upward slope gradient threshold, wherein the second condition corresponds to a downward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to a downward slope gradient which is greater than a predetermined downward slope gradient threshold, and wherein the vehicle driving assistance method further comprises executing a moving speed control of autonomously accelerating or decelerating the own vehicle to maintain the moving speed of the own vehicle at a predetermined moving speed when the second condition becomes satisfied, and terminating executing the autonomous acceleration/deceleration control in a situation where the moving speed of the own vehicle is equal to or greater than a predetermined moving speed.
14. 14 . A computer-readable storage medium storing a vehicle driving assistance program which is configured to: execute an autonomous acceleration/deceleration control of autonomously controlling an acceleration and a deceleration of an own vehicle so as to maintain a moving speed of the own vehicle within a predetermined speed range, or maintain a distance between the own vehicle and another vehicle existing around the own vehicle within a predetermined distance range; execute a coasting control of causing the own vehicle to coast when the deceleration of the own vehicle is requested in a situation where the electronic control unit is executing the autonomous acceleration/deceleration control; and execute a power running control of running the own vehicle with power when the acceleration of the own vehicle is requested in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the vehicle driving assistance program is configured to terminate executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of (i) a gradient of a road on which the own vehicle is moving and (ii) the moving speed of the own vehicle becomes satisfied in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control, wherein the predetermined condition includes one of a first condition and a second condition, wherein the first condition corresponds to one of: a high speed condition that the moving speed of the own vehicle is greater than a predetermined vehicle speed threshold; and an upward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to an upward slope gradient which is greater than a predetermined upward slope gradient threshold, wherein the second condition corresponds to a downward slope gradient condition that the gradient of the road on which the own vehicle is moving corresponds to a downward slope gradient which is greater than a predetermined downward slope gradient threshold, and wherein the vehicle driving assistance program is further configured to execute a moving speed control of autonomously accelerating or decelerating the own vehicle to maintain the moving speed of the own vehicle at a predetermined moving speed when the second condition becomes satisfied, and terminating executing the autonomous acceleration/deceleration control in a situation where the moving speed of the own vehicle is equal to or greater than a predetermined moving speed.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to Japanese patent application No. JP 2022-196567 filed on Dec. 8, 2022, the content of which is hereby incorporated by reference in its entirety. BACKGROUND Field The present invention relates to a vehicle driving assistance apparatus, a vehicle driving assistance method, and a computer-readable storage medium storing a vehicle driving assistance program. Description of the Related Art There is known a vehicle driving assistance apparatus which executes an autonomous acceleration/deceleration control of controlling a moving speed of the own vehicle by autonomously accelerating or decelerating the own vehicle based on a set speed, or controlling a distance between the own vehicle and a preceding vehicle by autonomously accelerating or decelerating the own vehicle based on a target inter-vehicle distance. Further, there is also known a vehicle driving assistance apparatus which causes the own vehicle to coast when a deceleration of the own vehicle is requested in a situation where the vehicle driving assistance apparatus is executing the autonomous acceleration/deceleration control in order to improve an energy efficiency of moving the own vehicle (for example, refer to JP 2018-134925 A). When the deceleration of the own vehicle is requested in the situation where the own vehicle is moved by the autonomous acceleration/deceleration control which uses a coasting, the coasting control is executed, and the own vehicle coasts. Therefore, when the own vehicle is moving on an even road in the situation where the own vehicle is moved by the autonomous acceleration/deceleration control, a movement energy efficiency (i.e., the energy efficiency of moving the own vehicle) is improved. In this regard, for example, when the own vehicle is moving on an upward slope, a deceleration rate of the own vehicle caused to coast is great. As a result, a type of running the own vehicle is frequently switched between a power running of the own vehicle and a coasting of the own vehicle. In this case, the movement energy efficiency in executing the autonomous acceleration/deceleration control may decrease. Therefore, in such a situation, the autonomous acceleration/deceleration control should not continue being executed. On the other hand, when the own vehicle is moving on a downward slope, the own vehicle caused to coast is not decelerated, and may be accelerated. In this case, the moving speed of the own vehicle may increase excessively. As a result, even when the autonomous acceleration/deceleration control is executed, the moving speed of the own vehicle cannot be maintained within the predetermined speed range, or the distance between the own vehicle and the other vehicle cannot be maintained within the predetermined distance range. Therefore, in such a situation, the autonomous acceleration/deceleration control should not continue being executed. Further, when the moving speed of the own vehicle is relatively great, a movement resistance of the own vehicle is great. Therefore, in such a situation, when the autonomous acceleration/deceleration control using the coasting is executed, the movement energy efficiency of moving the own vehicle may decrease. SUMMARY An object of the present invention is to provide a vehicle driving assistance apparatus, a vehicle driving assistance method, and a computer-readable storage medium storing a vehicle driving assistance program which can prevent the autonomous acceleration/deceleration control from continuing being executed in a situation where the autonomous acceleration/deceleration control should not be executed. According to the present invention, a vehicle driving assistance apparatus, comprising an electronic control unit. The electronic control unit is configured to execute an autonomous acceleration/deceleration control of autonomously controlling an acceleration and a deceleration of an own vehicle so as to maintain a moving speed of the own vehicle within a predetermined speed range, or maintain a distance between the own vehicle and another vehicle existing around the own vehicle within a predetermined distance range, execute a coasting control of causing the own vehicle to coast when the deceleration of the own vehicle is requested in a situation where the electronic control unit is executing the autonomous acceleration/deceleration control, and execute a power running control of running the own vehicle with power when the acceleration of the own vehicle is requested in the situation where the electronic control unit is executing the autonomous acceleration/deceleration control. Further, the electronic control unit is configured to terminate executing the autonomous acceleration/deceleration control when a predetermined condition relating to at least one of (i) a gradient of a road on which the own vehicle is moving and (ii) the moving speed of the own vehicle in the situation where the electronic control u