driving assistance device

专利摘要:
DRIVING ASSISTANCE APPLIANCE. The present invention relates to a driving assistance apparatus (1) which includes an assistance apparatus (4) which is capable of outputting driving assistance information to assist the driving of the vehicle (2) based on a quantity of target travel state of a vehicle (2) and an assistance control apparatus (50) which controls the assistance apparatus (4) to change a mode of the driving assistance information between a period of time from a first moment assistance based on the target travel status amount for a second assistance moment, which is based on the target travel status amount subsequent to the first assistance moment and a period of time from the second assistance moment onwards, thus, the driving assistance apparatus (1) is able to provide adequate driving assistance.
公开号:BR112014002298B1
申请号:R112014002298-4
申请日:2011-08-02
公开日:2021-05-18
发明作者:Hirotada Otake
申请人:Toyota Jidosha Kabushiki Kaisha；
IPC主号:

专利说明:

FIELD OF TECHNIQUE
[0001] The present invention relates to a driving assistance device. BACKGROUND TECHNIQUE
[0002] There are conventional driving assistance devices that are mounted on vehicles and emit information to assist drivers driving vehicles. Patent Document 1, for example, discloses a conventional driving assistance device of this type, in which a driver is notified when to start deceleration in cases where the driver has to stop at traffic signals, based on the period of arrival time until reaching the traffic lights, and the time period for changing the color of traffic lights.
[0003] Patent Document 1: Patent Application Publication No. JP 2010-244308. SUMMARY OF THE INVENTION
[0004] The apparatus described in Patent Document 1 mentioned above provides assistance to signal early deceleration by notifying a driver when to initiate deceleration, in cases where the driver has to stop at traffic signals, but there is scope for further improvement in relation to providing more adequate driving assistance, for example.
[0005] The invention was devised in view of the circumstances mentioned above, and an aim of the invention is to provide a driving assistance device capable of providing adequate driving assistance.
[0006] In order to achieve the objective described above, the driving assistance apparatus which relates to the present invention includes: an assistance apparatus that provides assistance to signal a recommended driving operation by issuing driving assistance information to assist the driving a vehicle based on a target travel state quantity at a prescribed location of the vehicle to provide driving assistance such that a vehicle travel state quantity becomes the target travel state quantity in a prescribed place; and an assistance control apparatus which controls the assistance apparatus to change a mode of the driving assistance information between a period of time from a first assistance moment based on a vehicle's current travel state amount and a target travel state quantity at a prescribed location for a second time of assistance, which is based on a vehicle's current travel state quantity and a target travel state quantity at a prescribed location and which is subsequent to the first assistance assistance moment, and a period of time from the second assistance moment onwards.
[0007] Furthermore, in the driving assistance apparatus described above, the assistance control apparatus can change the mode of the driving assistance information as time passes, in the period of time from the first assistance moment to the second moment of assistance.
[0008] In addition, in the driving assistance apparatus described above, the first assistance moment and the second assistance moment can be computed based on the amount of target trip state and a rate of vehicle deceleration in a state in which a throttle request operation and a vehicle brake request operation are cancelled.
[0009] Additionally, in the driving assistance apparatus described above, the target trip state amount may be a recommended vehicle speed at which brake request operation is recommended; and the first assist assist moment and the second assist assist moment can be computed based on the same rate of deceleration of the vehicle traveling to a prescribed location and different recommended vehicle speeds at different prescribed locations.
[0010] Additionally, in the driving assistance apparatus described above, the target trip state amount may be a recommended vehicle speed at which brake request operation is recommended; and the first assistance assistance moment and the second assistance assistance moment may be computed based on the same recommended vehicle speed at the same prescribed location and different rates of deceleration of the vehicle traveling to a prescribed location.
[0011] Furthermore, the driving assistance apparatus described above may additionally include a deceleration rate control apparatus that controls a vehicle deceleration rate until the brake request operation is performed, in accordance with a cancellation moment of the throttle request operation in a period of time from the first assistance moment to the second assistance moment.
[0012] Furthermore, in the driving assistance apparatus described above, the vehicle may be a hybrid vehicle that has an internal combustion engine and an electric motor as the travel drive sources.
[0013] Furthermore, in the driving assistance apparatus described above, the assistance control apparatus can control the assistance apparatus based on the amount of target travel status at a prescribed location.
[0014] Furthermore, in the driving assistance apparatus described above, the assistance apparatus may provide assistance to signal a recommended driving operation by outputting the driving assistance information.
[0015] In addition, in the driving assistance apparatus described above, the first assistance assistance moment may be a first moment through which the vehicle's travel status amount must become the target travel status amount at the location prescribed, upon performance of the recommended driving operation; and the second assistance moment may be a last moment by which the vehicle's travel state amount must become the target travel state amount at the prescribed location, upon performance of the recommended driving operation.
[0016] The driving assistance apparatus according to the invention has a beneficial effect of being able to provide adequate driving assistance. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 is a schematic compositional drawing of a vehicle control system related to a first modality.
[0018] Figure 2 is a block diagram that shows an example of an approximate composition of an electronic control unit (ECU) related to the first modality.
[0019] Figure 3 is a flowchart that shows an example of control by an ECU related to the first modality.
[0020] Figure 4 is a schematic diagram showing a relationship between vehicle speed and a distance remaining to a stop position, and an example of an assistance mode, in the vehicle control system related to the first mode.
[0021] Figure 5 is a schematic diagram showing an example of a display mode of assistance by a human-machine interface (HMI) apparatus related to the first modality.
[0022] Figure 6 is a flowchart that shows an example of control by an ECU related to a second mode.
[0023] Figure 7 is a schematic diagram showing a relationship between vehicle speed and a distance remaining to a stop position, and an example of an assistance mode, in the vehicle control system related to the second mode.
[0024] Figure 8 is a flowchart that shows an example of control by an ECU related to a third mode.
[0025] Figure 9 is a schematic diagram showing a relationship between vehicle speed and a distance remaining to a stop position, and an example of an assist mode, in the vehicle control system related to the third mode. WAYS TO CARRY OUT THE INVENTION
[0026] The embodiments of the invention are described in detail below based on the drawings. The invention is not limited to these embodiments. Furthermore, the constituent elements in the modalities described below include elements that can be substituted or easily devised by a person skilled in the art or elements that are substantially the same. First modality
[0027] Figure 1 is a schematic drawing showing a vehicle control system related to a first modality; Figure 2 is a block diagram showing an example of a schematic drawing of an ECU related to the first modality; Figure 3 is a flowchart showing an example of control performed by the ECU related to the first modality; Figure 4 is a schematic diagram showing an example of an assist mode and a relationship between vehicle speed and distance remaining to a stop position in the vehicle control system related to the first mode; and Figure 5 is a schematic diagram showing an example of an assistance display mode according to an HMI apparatus related to the first modality.
[0028] As shown in Figure 1, the driving assistance apparatus 1 according to the modality is applied to a vehicle control system 3 which is mounted on a vehicle 2. The driving assistance apparatus 1 is provided with a HMI device 4, which serves as an assistance device, and an ECU 50. The driving assistance device 1 assists the driving of the vehicle 2 by a driver, by means of the ECU 50 which controls the HMI device 4 and emits several driving assistance information in accordance with the circumstances.
[0029] The vehicle control system 3 to which the driving assistance device 1 of the modality is applied is an anticipatory economy driving assistance system that makes use of so-called anticipatory information. More specifically, the vehicle control system 3 uses anticipatory information to assist the driver's economical driving, causing the driving assistance device 1 to provide the driver assistance to promote driving that has a significant effect of improving fuel consumption. . Consequently, Vehicle Control System 3 is a system that is composed in such a way as to restrict fuel usage and improve fuel consumption. Typically, the driving assistance device 1 guides and assists the operations performed by the driver, issuing driving assistance information in order to assist the driver in economic driving.
[0030] In addition, the vehicle control system 3 according to the modality is a so-called hybrid system that combines a motor mechanism 5 and a generator motor 6 as a trip drive source for driving rotation of the vehicle drive wheels 2. More specifically, vehicle 2 is a hybrid vehicle in which a generator engine 6 is provided as a travel drive source in addition to the motor mechanism 5. In vehicle 2, the motor mechanism 5 is driven as efficiently in a state as possible, and the generator engine 6 is used to handle excessive or insufficient driving power or engine mechanism braking force as well as regenerative energy during deceleration and thus achieving fuel consumption improvement.
[0031] In the description given below, the vehicle control system 3 is a hybrid system which is provided with an engine engine 5 and a generator engine 6 as travel drive sources, but the invention is not limited thereto. The vehicle control system 3 may also be a system that is provided with an engine engine 5 as a travel drive source, but is not provided with a generator engine 6 or a system that is provided with a generator engine 6 as a source of travel drive, but not equipped with a motor mechanism 5. More specifically, vehicle 2 can also be a so-called conventional vehicle or electric vehicle (EV).
[0032] In other words, the vehicle control system 3 is constituted by an HMI apparatus 4, an engine mechanism 5 which is an internal combustion engine, a generator engine 6 which is an electrical device, a transmission 7, a braking apparatus 8, a battery 9, and the like. Furthermore, the vehicle control system 3 comprises a vehicle speed sensor 10, a throttle sensor 11, a brake sensor 12, a global positioning system (GPS) apparatus (also called "GPS" below ) 13, a wireless communications apparatus 14, and a database 15, and the like.
[0033] The HMI device 4 is an assistance device that can issue driving assistance information, which is information to assist the driving of vehicle 2, and provide driving assistance information to the driver. The HMI apparatus 4 is a vehicle-mounted device, which includes, for example, a display apparatus (visual information display apparatus) and a speaker (sound emitting apparatus), and the like, which are arranged within. of the vehicle cab 2. The HMI device 4 can make use of existing devices, for example, the display device of the navigation system, and the speakers, etc. The HMI device 4 presents information and thus guides the driving operation of the driver, through audio information and visual information (diagram information, text information), and the like, so as to be able to achieve improved fuel consumption. By presenting information in this way, the HMI 4 device assists in obtaining a target value by conducting the operation performed by the driver. The HMI apparatus 4 is electrically connected to an ECU 50 and is controlled by the ECU 50. The HMI apparatus 4 may also include, for example, a sensitive information-emitting apparatus or the like, which emits sensitive information, such as vibrations of steering wheel, steering wheel vibrations, pedal resistance or the like.
[0034] In the vehicle control system 3, an engine engine 5, a generator engine 6, a transmission 7, a braking device 8, a battery 9, and the like, are installed as multiple actuators to achieve vehicle travel 2 .
[0035] The engine mechanism 5 applies drive power to the wheels of the vehicle 2, in accordance with an acceleration request operation performed by the driver, for example, an accelerator pedal depression operation. Motor mechanism 5 consumes fuel and generates motor mechanism torque as a mechanical torque to produce drive power for travel that is applied to the drive wheels of vehicle 2. In summary, motor mechanism 5 is a thermal motor mechanism that emits energy thermal energy generated by burning fuel, in the form of mechanical energy, such as torque, and examples of this are a gasoline engine engine, a diesel engine engine, and an engine engine powered by liquefied petroleum gas (LPG), and similar. The engine mechanism 5 is, for example, provided with a fuel injection apparatus, an ignition apparatus and an acceleration valve apparatus, and the like, which are not illustrated, and these apparatus are electrically connected to the ECU 50 and are controlled by the ECU 50. The torque emitted from the engine engine 5 is controlled by the ECU 50. The drive power generated by the engine engine 5 can be used to generate electricity in the generator engine 6.
[0036] The generator engine 6 applies a drive power to the wheels of the vehicle 2 in accordance with an acceleration request operation performed by the driver, for example, an accelerator pedal depression operation. Motor generator 6 generates motor torque by converting electrical energy to mechanical drive power, such as travel drive power that is applied to the drive wheels of vehicle 2. Motor generator 6 is a rotating electrical mechanic that is provided of a stator, which is a fixed element, and a rotor, which is a rotating element. The generator motor 6 is an electric motor that converts electrical energy into mechanical drive power and emits this drive power, and it is also an electric generator that recovers mechanical drive power by converting it into electrical energy. In other words, the generator motor 6 combines a function such as an electric motor that is driven by an electrical power supply, converts electrical energy to mechanical energy, and emits that mechanical energy (drive function), and a function as a generator electric that converts mechanical energy into electrical energy (regeneration function). The generator motor 6 is electrically connected to the ECU 50 through an inverter, and the like, which converts direct current (DC) and alternating current (AC), and is controlled by the ECU 50. The torque emitted and the amount of electricity generated from the generator motor 6 are controlled by ECU 50 through inverter.
[0037] The transmission 7 is a drive power transmission apparatus that changes the speed of the rotational emission of the engine mechanism 5 and the generator engine 6, and transmits the emission to the drive wheels of the vehicle 2. The transmission 7 can be a a so-called manual transmission (MT) or it can be a so-called automatic transmission (AT), such as a staggered AT, a continuous variable transmission (CVT), a multi-mode MT (MMT), a sequential MT (SMT), a transmission of double clutch (DCT) or similar. Here, transmission 7 is described as a continuous transmission with the use of a planetary gear mechanism or the like, for example. In transmission 7, the transmission actuator, and the like, is electrically connected to the ECU 50, and is controlled by the ECU 50.
[0038] The braking apparatus 8 applies a braking force to the wheels of the vehicle 2 in accordance with a brake request operation carried out by the driver, for example in accordance with a brake pedal depression operation. The braking apparatus 8 applies a braking force to the wheels that are pivotally supported on the vehicle body of the vehicle 2, generating a prescribed frictional force (frictional resistance) between friction elements, such as a brake pad and a brake disc, for example. Due to this operation, the braking device 8 generates a braking force between the ground and the wheels of vehicle 2 and implements a braking operation on vehicle 2.
[0039] In the braking apparatus 8, the brake actuator, and the like, is electrically connected to the ECU 50, and is controlled by this ECU 50.
[0040] Battery 9 is a capacitor device that is capable of storing power and discharging stored power. Battery 9 is electrically connected to ECU 50, and emits signals related to various information to ECU 50.
[0041] When operating as an engine, the generator engine 6 receives a supply of power stored in battery 9, through the inverter, converts the supplied power to a travel drive power for vehicle 2, and emits this drive power . Furthermore, when functioning as a generator, the generator motor 6 is driven to generate electricity by the input drive power, and the electrical power generated is accumulated in the battery 9 by means of the inverter. In this case, the generator motor 6 can brake the rotation of the rotor (regenerative braking) through the rotational resistance produced in the rotor. As a result, during regenerative braking, the generator motor 6 can generate a motor regeneration torque, which is a negative motor torque, on the rotor, by electrical power regeneration, and consequently, a braking force can be applied to the vehicle drive wheels 2. More specifically, in vehicle control system 3 a mechanical drive power is input to the generator motor 6 from the vehicle drive wheels 2, and as a result of this, the generator motor 6 generates electricity by regeneration, to which the kinetic energy of vehicle 2 can be recovered as electrical energy. Accordingly, by transmitting the mechanical drive power (negative motor torque) produced by the generator motor rotor 6 to the drive wheels, the vehicle control system 3 can perform regenerative braking by the generator motor 6. In this case, if the amount of regeneration by the generator engine 6 (the amount of electricity generated) is made relatively small by the vehicle control system 3, than the braking force generated is relatively small, and the deceleration acting on vehicle 2 is relatively small . On the other hand, if the amount of regeneration by the generator engine 6 (the amount of electricity generated) is made relatively large by the vehicle control system 3, then the braking force generated is relatively large and the deceleration acting on vehicle 2 is relatively large.
[0042] The vehicle speed sensor 10, the throttle sensor 11 and the brake sensor 12 are state sensing apparatus that detect the travel state of the vehicle 2 and the inputs to the vehicle 2 by the driver (driver inputs) , in other words, state quantities and physical quantities related to the current operation of vehicle 2 by the driver. Vehicle speed sensor 10 detects the speed of vehicle 2 (called "vehicle speed" below). The throttle sensor 11 detects the degree of open throttle, which is the amount of operation (amount of depression) of the accelerator pedal by the driver. The brake sensor 12 detects the amount of operation (amount of depression) of the brake pedal by the driver, for example, by detecting a pressure from a master cylinder or the like. Speed sensor 10, throttle sensor 11 and brake sensor 12 are electrically connected to ECU 50 and emit detection signals to ECU 50.
[0043] The GPS device 13 is a device that detects the current location of the vehicle 2. The GPS device 13 receives a GPS signal emitted by a GPS satellite, and measures/computes GPS information, which is location information for vehicle 2 (X coordinate: X; Y coordinate: Y), based on the received GPS signal. The GPS device 13 is electrically connected to the ECU 50, and sends a signal related to the GPS information, to the ECU 50.
[0044] The wireless communications apparatus 14 is an anticipatory information acquisition apparatus that acquires anticipatory information related to the journey of the vehicle 2 using wireless communications. Wireless communications apparatus 14 acquires anticipatory information via wireless communications from apparatuses that exchange information via a communications infrastructure, such as road-to-vehicle communications devices (road devices), such as arranged optical beacons along the road, vehicle-to-vehicle communications devices installed in other vehicles or a central vehicle communication and information system (VICS) or the like, which operate via the Internet or the like. The wireless communications apparatus 14 acquires this anticipatory information, for example, in the form of preceding vehicle information, vehicle tracking information, signal information, road works and traffic restriction information, congestion information, vehicle traffic information. emergency, information from an accident history database, and so on. For example, signal information includes location information for traffic signals in the forward direction of travel of vehicle 2, and signal cycle information that indicates green, amber, and red light illumination cycles, and signal change times. , and so on. The wireless communications apparatus 14 is electrically connected to the ECU 50 and sends signals relating to anticipatory information to the ECU 50.
[0045] Database 15 stores various information. The database 15 stores map information which includes road information, various data and learning information obtained during the actual journey of the vehicle 2, and anticipatory information acquired by the wireless communications apparatus 14, and the like. For example, road information includes road slope information, road surface state information, road shape information, speed limit information, road bend (curve) information, temporary stop information, road information. stop line position, and the like. The information stored in the database 15 is referenced, as appropriate, by the ECU 50, and the required information is read. Database 15 is pictured as being installed in vehicle 2 here, but the invention is not limited to this and it is also possible to adopt a composition in which database 15 is provided in an information center or the like, which is external to vehicle 2, and is referred to by the ECU 50 to read the required information, via wireless communications or the like.
[0046] The ECU 50 is a control unit that implements general control of the entire vehicle control system 3; for example, the ECU 50 can be composed as an electronic circuit based on a generic microcomputer that includes a general processing unit (CPU), a read-only memory (ROM), a random access memory (RAM) and an interface. The detection results of the vehicle speed sensor 10, the throttle sensor 11 and the brake sensor 12, and the GPS information acquired by the GPS apparatus 13, the anticipatory information acquired by the wireless communications apparatus 14, of the various information stored in the database 15, of the trigger signals for the respective parts, and electronic signals corresponding to the control commands, and the like, are inputted to the ECU 50. In response to the inputted electronic signals, and the like, the ECU 50 controls the HMI apparatus 4, engine mechanism 5, engine generator 6, transmission 7, braking apparatus 8, battery 9, and the like. The ECU 50 implements, for example, engine drive control 5 based on throttle opening degree and vehicle speed, etc., generator engine drive control 6, transmission transmission control 7, brake control of the braking apparatus 8, and the like. Furthermore, the ECU 50 can implement various (travel modes) vehicle travel in vehicle 2, combining or selectively using engine engine 5 and engine generator 6, in accordance with the driving state, for example.
[0047] Furthermore, the ECU 50 can detect the activation or deactivation of the throttle, which is an acceleration request operation in relation to the vehicle 2 performed by the driver, based on the detection result of the throttle sensor 11, for example. Similarly, the ECU 50 can detect the activation and deactivation of the brake, which is a brake request operation against vehicle 2 performed by the driver, based on the detection result of the brake sensor 12, for example. A state where the driver's throttle operation is disabled is a state where the driver has canceled a throttle request operation with respect to vehicle 2, and a state where the driver's throttle operation is enabled is a state in which the driver performs a brake request operation in relation to vehicle 2.
[0048] Similarly, a state in which the braking operation performed by the driver is disabled is a state in which the driver cancels the brake request operation to vehicle 2 is canceled, and meanwhile a state in which the operation of driver braking is activated is a state in which the driver performs the brake request operation on vehicle 2.
[0049] The driving assistance device 1 includes the HMI device 4 and the ECU 50 described above. The driving assistance apparatus 1 provides assistance to signal the driver to carry out driving which has a high effect of improving fuel consumption, through the ECU 50 which controls the HMI apparatus 4 to release various driving assistance information, in accordance with the circumstances. The driving assistance device 1 provides guidance and assistance to signal a recommended driving operation to the driver, typically a driving operation involving changes, by means of the HMI device 4 which outputs various operating assistance information in accordance with the control deployed by ECU 50, based on a target trip state amount for vehicle 2 during trip. Here, the target trip state amount is typically a trip state amount of vehicle 2 at a prescribed location or at a prescribed time, in vehicle 2 during the trip. The ECU 50 of the driving assistance apparatus 1 controls the HMI apparatus 4 on the basis of the target trip quantities of status at the prescribed location or at the prescribed time, and the HMI apparatus 4 outputs driving assistance information, and provides signaling driver assistance to perform a recommended driving operation, in which driving assistance is performed in such a way that the travel status amount of vehicle 2 becomes the target travel status amount at the prescribed location or prescribed time.
[0050] The driving assistance device 1, according to the mode, issues driving assistance information in order to apply a margin to the signaling time of the driving operation recommended to the driver, instead of pointing out a signaling time of the operation of recommended driving for the driver. Consequently, the driving assistance device 1 achieves adequate driving assistance which restricts the strange impression caused to the driver by the driving assistance. In addition, here, the driving assistance device 1 changes the signaling mode of the driver's recommended driving operation in accordance with the change in time. Consequently, the driving assistance apparatus 1 makes the driver readily understand that a margin has been applied at the time of signaling the recommended driving operation, and the driver can readily appreciate the driving assistance provided by the driving assistance apparatus 1, and as a result, the most adequate driving assistance is achieved.
[0051] The ECU 50, according to the modality, controls the HMI 4 device, and varies the mode of the driving assistance information, in a first period from a first moment which is the first assistance moment to a last moment which is the second assist moment, and in a second time marker period from the last moment onwards. The HMI device 4 outputs the driving assistance information in a first mode during the first time period from the first moment to the last moment. On the other hand, the HMI device 4 outputs the driving assistance information in a second mode, which is different from the first mode, during the second period from the last moment onwards.
[0052] Here, the first moment and the last moment are both moments that are decided based on a target trip state amount, and the last moment is a moment after the first moment in a time series. The first moment is the first moment at which the travel status amount of vehicle 2 must become the target travel status amount, at the place prescribed by the driver's performance of the recommended driving operation, and this is also the moment to start of assistance by the driving assistance device 1. On the other hand, the last moment is the last moment at which the travel state quantity of vehicle 2 must become the target travel state quantity at the place prescribed by the realization of the driver of the recommended driving operation.
[0053] In other words, by the driver's performance of the recommended driving operation in the first period of time from the first moment to the last moment, the travel status amount of vehicle 2 will already have become the travel status amount- target by the prescribed location. The driving assistance apparatus 1 can provide driving assistance in such a way that the travel status amount of the vehicle 2 becomes the target travel status amount at a prescribed location or a prescribed time, by outputting assistance information to driving by the HMI device 4 in order to signal the driver to carry out a recommended driving operation, in such a way that the driver performs the recommended driving operation in the first period of time from the first moment to the last moment.
[0054] The ECU 50, depending on the modality, changes the state of the driving assistance information over the passage of time, in the first period of time from the first moment to the last moment. In other words, the ECU 50 changes the mode of the driving assistance information in accordance with the passage of time from the first moment, which is the assistance start moment. On the other hand, the ECU 50 according to the modality sets the mode of the driving assistance information in the second period of time from the last moment onwards. More specifically, the first mode of the driving assistance information in the first time period is a mode in which the driving assistance information is changed as time passes. On the other hand, the second mode of the driving assistance information in the second time period is a mode in which the driving assistance information is not changed as time passes.
[0055] Here, an example of a schematic composition of the ECU 50 will be described with reference to the block diagram in Figure 2.
[0056] Here, the target trip state quantity is described taking as an example, a target braking operation start speed, which is a recommended vehicle speed at which a braking operation (request operation brake) by the driver is recommended. Furthermore, a non-throttle operation (an operation canceling a throttle request operation) is described as an example of a recommended driving operation by which the driving assistance device 1 assists the driver. Furthermore, it is assumed that the driving assistance device 1 emits visual information as an example of driving assistance information. The driving assistance apparatus 1 is described here as displaying a visual information image such as driving assistance information on a visual information display apparatus, such as a central meter, upper head display (HUD), superimposed para display. -front windshield, liquid crystal display panel or similar, which constitutes the HMI device 4.
[0057] In other words, because the driver performs an operation without throttle in the first period of time from the first moment to the last moment, the speed of vehicle 2 becomes approximately the initial speed of target brake operation at the prescribed location. In other words, the first period of time from the first moment to the last moment is an optimal period of time without acceleration. The driving assistance apparatus 1 displays an image of the driving assistance information through the HMI apparatus 4 to signal a throttle-free operation, in such a way that the driver performs a throttle-free operation in the first time period from the first moment at the last moment. Consequently, the driving assistance apparatus 1 is capable of providing driving assistance in such a way that the speed of the vehicle 2 becomes the initial target brake operating speed at the prescribed location and at the prescribed time.
[0058] More specifically, as shown by the example in Figure 2, the ECU 50 includes a first computing information unit 51, a second computing information unit 52 and a vehicle control unit 53. The first computing unit of information 51 and the second computing unit of information 52 are computing units that are compatible with an intelligent transport system (ITS), for example, and are for the purpose of infrastructure coordination and navigation coordination. The vehicle control unit 53 is a control unit for controlling multiple units of the vehicle 2. The vehicle control unit 53 is connected to a trigger ECU or sensor that controls multiple triggers, such as an engine engine control ECU, an engine-generator control ECU, a transmission control ECU, a brake control ECU, a battery control ECU, or the like, via a control area network (CAN) 54 that is constructed as a network in the vehicle. The ECU 50 is not limited thereto and may also include a navigation device in addition to the first information computing unit 51.
[0059] The first information computing unit 51 computes the remaining distance of the vehicle 2 for a temporary stop or a turn in the forward direction of travel, based on static infrastructure information, for example, map information, or the like, which includes road information. Additionally, the first information computing unit 51 learns the normal driving behavior of the driver, and based on that, it estimates the driving behavior and learns/predicts the driver's deceleration and stopping behavior. The first computing unit 51 also computes the remaining distance from the vehicle 2 to a position where the vehicle decelerates and stops (may be called a "stop and deceleration position" below) in the forward direction of travel. Here, the deceleration and stop position obtained by learning the driver's normal driving behavior is, for example, a position where there is a high driver frequency of decelerating and stopping (hereinafter sometimes referred to as "deceleration and stop"), in addition to the temporary stops.
[0060] The first information computing unit 51 can perform the learning of the driver's deceleration and stopping behavior based on various information obtained through the actual vehicle travel 2, in other words, the learning of deceleration and stopping positions that correspond to the conductor. For example, based on various information obtained during the journey of the real vehicle 2, the first information computing unit 51 learns the habits and trends of the driving operation, from the normal driver's driving, in association with the person (by example, the driver's attributes), the location (eg the place where the operation is performed), the circumstances (eg the time band, etc.) and the like. For example, the first information computing unit 51 learns deceleration and stop positions, or the like, where there is a high frequency of a temporary stop or driver's deceleration and stop, mediating the statistical processing of throttle and non-throttle operations and operations with and without brake performed by the driver. The first information computing unit 51 stores the learned information in a database 15 as learning information.
[0061] In functional terms, the first information computing unit 51 is provided with a location evaluation unit 51a, a curve and temporary stop information acquisition unit (which may be called "of information acquisition unit of turn and stop" below) 51b, and a subtractor 51c. The location evaluation unit 51a acquires GPS information via the GPS apparatus 13 and acquires the information from the current location vehicle 2 (a host vehicle). The location evaluation unit 51a outputs this current location information to the turn and stop information acquisition unit 51b and the subtractor 51c. The turn and stop information acquisition unit 51b refers to the map information stored in the database 15, various information obtained through travel of the real vehicle 2, and learning information, based on the input of current location information from the location evaluation unit 51a, and acquires target location information that indicates a temporary stop, turn or position of deceleration and stop in the forward direction of travel of the vehicle 2. The turn and stop information acquisition unit 51b outputs these target location information for subtractor 51c. The subtractor 51c computes the differential between the vehicle location 2 as indicated by the current location information input from the location assessment unit 51a, and a temporary stop, deceleration curve or position and stop indicated by the target location information input of the turn and stop information acquisition unit 51b, and compute the remaining distance to the temporary stop, turn or deceleration and stop position. The subtractor 51c outputs distance remaining information which indicates that distance remaining to an adjustment unit 53a of the vehicle control unit 53.
[0062] The second information computing unit 52, for example, computes the remaining distance from vehicle 2 to a stopping position due to a red signal in the forward direction of travel, based on dynamic infrastructure information such as information sign, or the like.
[0063] In functional terms, the second information computing unit 52 is provided with a location evaluation unit 52a, a signal information acquisition unit 52b and a subtractor 52c. The location assessment unit 52a acquires current location information for vehicle 2 by acquiring GPS information via the GPS device 13. The location assessment unit 52a outputs this current location information to the subtractor 52c. The signal information acquisition unit 52b acquires signal information via the wireless communication apparatus 14 and acquires target location information which indicates a stopping position due to a red signal in the forward direction of travel of the vehicle 2, based on this signal information. The signal information acquisition unit 52b outputs the target location information to the subtractor 52c. The subtractor 52c computes a differential between the vehicle location 2 indicated by the location evaluation unit's current location information input 52a and the stopping position due to a red signal indicated by the acquisition unit's target location information input. of signal information 52b, and computes a remaining distance to the stop position due to a red signal. Subtractor 52c outputs distance remaining information that indicates that distance remaining to setting unit 53a of vehicle control unit 53.
[0064] The vehicle control unit 53 performs comprehensive control of the HMI apparatus 4 and the propulsion power of the vehicle 2, based on the remaining distance to the temporary stop, turn or position of deceleration and stop computed by the first computing unit of information 51, the remaining distance to a stop position due to a red signal computed by the second computing information unit 52, the speed Vx of the vehicle 2 and the switching of on/off throttle operation and brake operation.
[0065] In functional terms, the vehicle control unit 53 is provided with an adjustment unit 53a, a target computation unit 53b and a thrust and brake power control unit 53c. The adjustment unit 53a adjusts the remaining distance information for the temporary stop input, deceleration and stop position curve or position from the subtractor 51c and the remaining distance information for the stop position due to input of a red signal from of the subtractor 52c. For example, the adjustment unit 53a adjusts the remaining distance information based on the accuracy of the remaining distance information, or the relative size of the remaining distance, and so on, and outputs the adjustment result to the target computation unit. 53b.
[0066] The target computing unit 53b computes a target trip state amount based on the adjustment result of the remaining distance information input from the adjusting unit 53a, the vehicle 2 speed input Vx of the sensor vehicle speed 10 via a CAN 54, or similar, and so on. The target computing unit 53b controls the HMI apparatus 4 based on this target travel state amount. Additionally, the target computing unit 53b computes the first moment and the last moment to guide and assist a throttleless operation by means of the HMI apparatus 4, based on the target trip state amount, and controls the HMI 4 to issue driving assistance information accordingly.
[0067] Here, an example of first and last moment computation by the target computing unit 53b and the driving assistance provided through the HMI apparatus 4 is described with reference to Figures 3, 4 and 5. In the example at Figure 4, a case is described in which the objective is driving assistance in relation to a temporary stop or a stop position due to a red light, but the procedure is substantially similar in a case where the objective is assistance to the driving in relation to a curve in which a brake operation by the driver is foreseen. Here, if the objective is to assist driving in relation to a curve where a brake operation by the driver is foreseen, then the procedure differs from the example in Figure 4 in that the brake operation by the driver can end in a state where vehicle 2 speed is greater than zero (this applies similarly to the modalities provided below).
[0068] The target computation unit 53b computes the first moment and the last moment based on the amount of target trip state and the rate of deceleration without throttle. Here, the deceleration rate without throttle corresponds to the rate of deceleration of vehicle 2 when the acceleration operation and the brake operation are disabled (when an acceleration request operation and a brake request operation for vehicle 2 are both canceled ). Additionally, for example, the target trip state quantity is the initial target brake operation speed at which a brake operation by the driver is recommended, as described above, and the target computing unit 53b computes the first moment and the last moment based on the same rate of deceleration without throttle and starting speeds of target brake operation.
[0069] As shown in Figures 3 and 4, the target computing unit 53b first computes a target brake operation start upper limit speed V_b1 and a target brake operation start lower limit speed V_b2 as different start speeds of target brake operation, based on the current speed (approach speed) V_now of vehicle 2 (ST1). The target computing unit 53b computes the target brake operation start upper limit speed V_b1 by multiplying the vehicle speed V_now by a prescribed upper speed coefficient. The target computing unit 53b computes the target brake operation start lower limit speed V_b2 by multiplying the vehicle speed V_now by a prescribed lower speed coefficient which is less than the upper speed coefficient. The upper speed coefficient is, for example, defined such that the target brake operation start upper limit speed V_b1 is a speed at which the driver of vehicle 2 or the driver of a following vehicle does not have the impression emergency braking when a braking operation is performed. The lower speed coefficient is, for example, defined in such a way that the target brake operation start lower limit speed V_b2 is a speed at which a stopping position can be reached without stressing the driver of vehicle 2 or a driver of a following vehicle, due to an excessively low speed of vehicle 2, after performing a non-throttle operation and even performing a brake operation.
[0070] The target computing unit 53b then computes a first target operating start position X_b1 and a target brake operating last start position X_b2 as prescribed points, based on the upper limit start speed of target brake operation V_b1 and at the target brake operation start lower limit speed V_b2 and a previously established target brake deceleration rate A_brake (ST2).
[0071] The target brake deceleration rate A_brake is, for example, predefined as a fixed value according to a deceleration rate that does not give the driver the impression of emergency braking or cause a strange impression when the driver performs a brake operation. Here, moreover, since vehicle control system 3 is a hybrid system, then most desirably the A_brake target brake deceleration rate is set to a deceleration rate that has some margin relative to a threshold deceleration rate of regeneration in which regeneration can be efficiently performed by the motor-generator 6. Additionally, desirably, the target brake deceleration rate A_brake is set in accordance with a deceleration rate in which the requested deceleration in accordance with a brake operation by the driver can be satisfied by regenerative braking by the motor-generator 6. In this case, in the vehicle control system 3, which is a hybrid system, as long as the requested deceleration rate according to a brake operation by the driver is equal to or less than the target brake deceleration rate, then it is possible to stop vehicle 2 in the stop position by regenerative braking by motor-generator 6 without needing of friction braking by the brake apparatus 8. In this case, the vehicle control system 3 has the ability to regenerate the kinetic energy of the vehicle 2 efficiently as electrical energy by braking regeneration according to the brake operation by the driver , without consuming the kinetic energy of vehicle 2 in the form of thermal energy by frictional braking and therefore a good effect on improving fuel consumption can be expected.
[0072] The target computing unit 53b computes a first target run start position X_b1 based on the target brake run start upper limit speed V_b1 and the target brake deceleration rate A_brake, upon assuming , as a reference position, a stop position that corresponds to the remaining distance set by the setting unit 53a. In other words, the target computing unit 53b performs an inverse calculation of the brake operation start position whereby vehicle 2 can be stopped at the stop position, if vehicle 2 traveling at the upper limit start speed Brake operation rate V_b1 is decelerated at the brake target deceleration rate A_brake by a brake operation and set this as the first target operation start position X_b1.
[0073] Similarly, the target computing unit 53b computes the last target brake operation start position X_b2 based on the target brake operation start lower limit speed V_b2 and the brake deceleration rate target A_brake by assuming, as a reference position, a stop position that corresponds to the remaining distance set by the setting unit 53a. In other words, the target computing unit 53b performs an inverse calculation of the brake operation start position whereby vehicle 2 can be stopped at the stop position, if vehicle 2 traveling at the lower limit start speed Brake operation target V_b2 is decelerated at target brake deceleration rate A_brake by a brake operation and set this as the last target brake operation start position X_b2.
[0074] The combination of the first target run start position X_b1, which is a prescribed location, and the target brake run upper limit speed V_b1, which is a target travel state quantity, corresponds to a combination of the first brake operation start position and the brake operation start speed by which the vehicle can approach the stop position at the optimum rate of deceleration of target brake A_brake when the driver performs a brake. The combination of the last target brake operation start position X_b2, which is a prescribed location, and the target brake operation start lower limit speed V_b2, which is a target travel state quantity, corresponds to a combination of the last brake operation start position and the brake operation start speed by which the vehicle can approach the stop position at the optimum target brake deceleration rate A_brake when the driver performs a brake operation .
[0075] Vehicle control system 3 has the ability to cause vehicle 2 to stop at the stop position at the optimum rate of deceleration of target brake A_brake or less by the driver who performs a brake operation in a state where the vehicle 2 is located in a range from the first target brake start position X_b1 to the last target brake start position X_b2 and the vehicle speed is in a range of the brake operation start upper limit speed- target V_b1 at brake target low start operating limit speed V_b2. Here, the driving assistance apparatus 1 guides and assists a throttle-free operation by the driver in the first period of time from the first moment to the last moment, in such a way that the vehicle speed comes into a range of the limit speed target brake start of operation upper limit V_b1 to target brake operate start lower limit speed V_b2 when vehicle 2 enters a range from the first target run start position X_b1 to the last run start position of target brake X_b2. Therefore, the driving assistance apparatus 1 is able to provide adequate guidance such that the requested deceleration rate according to the brake operation is equal to or less than the optimal target brake deceleration rate A_brake when the driver performs , in effect, a brake operation in order to stop in the stop position.
[0076] Then, the target computing unit 53b computes a first non-accelerator orientation position X_a1 and a last non-accelerator orientation position X_a2 based on the first target operation start position X_b1 and the last start position of target brake operation X_b2, and at a previously established specified throttle free deceleration rate A_offbrake (ST3).
[0077] The A_offbrake deceleration rate is the deceleration rate of vehicle 2 when the throttle operation and the brake operation were both disabled. The throttle-free deceleration rate A_offbrake is previously defined as a fixed value based, for example, on the motor mechanism braking torque produced by rotational resistance in motor mechanism 5, transmission braking torque produced by rotational resistance in transmission 7 and , in the case of a hybrid system such as that of the mode, the engine regeneration torque that corresponds to the amount of regeneration produced by the engine-generator 6.
[0078] The target computation unit 53b computes the first non-throttle guidance position X_a1 based on the non-throttle deceleration rate A_offbrake and the target brake operation low limit speed V_b2 when assuming the last start position of brake target operation X_b2 as a reference position. More specifically, the target computing unit 53b performs an inverse calculation of the throttle operation off position whereby the vehicle speed 2 must become the target brake operation start lower limit speed V_b2 in the last position of start of target brake operation X_b2 when vehicle 2 is decelerated at the deceleration rate without throttle A_offbrake and sets this as the first guidance position without throttle X_a1.
[0079] Similarly, the target computing unit 53b computes the first non-throttle guidance position X_a1 based on the non-throttle deceleration rate A_offbrake and the target brake operation start upper limit speed V_b1 when assuming the first target start position X_b1 as a reference position. In other words, the target computing unit 53b performs an inverse calculation of the throttle operation off position whereby the vehicle speed 2 must become the target brake operation start upper limit speed V_b1 in the first target run start position X_b1 when vehicle 2 decelerates at the deceleration rate without throttle A_offbrake and sets this as the last guidance position without throttle X_a2.
[0080] The target computing unit 53b outputs driving assistance information related to assistance and guidance without throttle in a first time period from the first time vehicle 2 will reach the first guidance position without throttle X_a1 in current speed to the last moment vehicle 2 will reach the last guidance position without throttle X_a2 for HMI device 4. HMI device 4 displays a HMI related to assistance and guidance without throttle, the driving assistance information (ST4), after the current control period ends and the procedure transfers to the next control period.
[0081] The target computing unit 53b according to the modality varies the display mode of the driving assistance information, between the first period of time from the first moment to the last moment that are computed as described above and a second period of time from the last moment onwards. In other words, the target computing unit 53b switches between a driving assistance information mode from the first moment to the last moment and a driving assistance information mode from the last moment onwards. More specifically, the target computing unit 53b changes the display mode of the driving assistance information on either side of a threshold which is the last moment.
[0082] Here, the first mode of the driving assistance information in the first time period is a mode in which the displayed driving assistance information is changed as time passes. In other words, the first period of time from the first moment to the last moment is a display period of change in driving assistance on HMI device 4.
[0083] The target computing unit 53b gradually changes the display mode of the driving assistance information on the HMI device 4, from the first moment to the last moment. For example, as shown in the upper part of Figure 4 and Figure 5, the target computing unit 53b gradually changes the background color 55 of a car icon in the central meter that constitutes the HMI apparatus 4. For example, the target computing unit 53b gradually changes the background color 55 from a colorless state to a dark orange color or gradually increases the range of the background color 55 as time progresses from the first moment to the last moment. In this way, the target computing unit 53b achieves a first display mode of the driving assistance information in the HMI apparatus 4, in the first time period from the first moment to the last moment. Consequently, the driving assistance apparatus 1 can signal an accelerator-free operation by the driver in a progressive manner in the first period of time from the first moment to the last moment.
[0084] On the other hand, the second mode of the driving assistance information in the second time period is a display mode that does not change the driving assistance information as time passes. In other words, the second period of time from the last moment onwards is a fixed display time period in the driving assistance provided through the HMI apparatus 4. In this case, for example, the target computing unit 53b maintains the background color 55 unchanged to a dark orange color. In this way, the target computing unit 53b achieves a second display mode of the driving assistance information on the HMI apparatus 4 in the second period of time from the last moment onwards. Therefore, the driving assistance device 1 can signal a throttle-free operation to the driver through a stronger representation during the second period from the last moment onwards.
[0085] Consequently, the driving assistance apparatus 1 can guide and assist a throttle-free operation by the driver in the first period of time from the first moment to the last moment. Therefore, the driving assistance apparatus 1 has the ability to guide and assist the moment of operation without acceleration by the driver, in such a way that the speed comes in a range of the target brake operation start upper limit speed V_b1 to target brake operating start lower limit speed V_b2 when vehicle 2 enters a range from the first target brake operating start position X_b1 to the last target brake operating start position X_b2. As a result of this, the driving assistance apparatus 1 has the ability to provide adequate guidance in such a way that the requested deceleration rate according to the brake operation becomes the optimal target brake deceleration rate A_brake or less when the driver actually performs a brake operation in order to stop at the stop position. Consequently, the driving assistance device 1 has the ability to assist the driver without giving the driver the impression of sudden braking when the driver performs a brake operation, and in that case a significant effect on improving fuel consumption can be achieved .
[0086] The driving assistance device 1 according to the modality has the ability to achieve adequate driving assistance that suppresses the extraneous impression caused to the driver when issuing driving assistance information in order to apply a margin at the moment of signaling a driving operation recommended to the driver. More specifically, the driving assistance device 1 has the ability to provide driving assistance which factors in a reaction time until the driver actually performs a throttle-free operation after seeing and evaluating the display when displaying the assistance information. driving in order to have a time margin instead of accurately identifying a moment for signaling a non-throttle operation to the driver. The reaction time to actually performing an acceleratorless operation is subject to individual differences between drivers and varies with driver demands such as the prevailing traffic situation. However, the driving assistance apparatus 1 has the ability to provide adequate driving assistance irrespective of variations in reaction times, and the like, by offering driving assistance where a margin is applied to the moment when an operation without throttle is flagged.
[0087] Additionally, by providing driving assistance in which a margin is granted at the time of signaling the throttleless operation, then, even if there is fluctuation in the actual timing of the throttleless operation, the driving assistance apparatus 1 has the capability to keep this fluctuation within a previously predicted range and the effects on subsequent control and conduct operations can be minimized. When driving and assisting in a throttle-free operation within the range of a first period of time from the first moment to the last moment, for example, the driving assistance device 1 has the ability to restrict the occurrence of sudden braking when, by For example, a brake operation is performed while vehicle 2 speed is very high just before the stop position. Additionally, when guiding and watching an operation without accelerator in the range of the first period of time from the first moment to the last moment, the driving assistance device 1 has the ability to restrict the occurrence of stress caused to the driver of vehicle 2 or to the driver of a following vehicle due, for example, to the fact that the speed of vehicle 2 is too low before the stop position.
[0088] Additionally, here, when changing the assistance mode during signaling a throttle-free operation to the driver, as time passes from the first moment, the driving assistance device 1 has the ability to make the driver promptly understand that there is a margin when signaling the operation without accelerator. As a result, the driving assistance apparatus 1 makes it possible to transmit the driving assistance provided by the driving assistance apparatus 1 more readily to the driver, whereby more suitable driving assistance can be achieved.
[0089] The thrust and brake power control unit 53c controls the thrust and braking power when the driver actually performs a throttle-free operation in the first time period from the first moment to the last moment, to adjust the rate of actual vehicle deceleration 2 so as to become the specified no-throttle deceleration rate A_offbrake. Here, since the vehicle control system 3 is a hybrid system, then the thrust and brake power control unit 53c performs the regenerative engine mechanism braking expansion control, in which the regeneration to the engine engine braking is performed by the motor-generator 6 in addition to the normal motor mechanism braking, and the like, so that the deceleration rate becomes the specified no-throttle deceleration rate A_offbrake. Regeneration for motor mechanism braking based on this regenerative motor mechanism brake expansion control tends to have little effect on the amount of heat produced during regeneration and therefore tends to have a relatively high regeneration efficiency compared to regeneration of braking that corresponds to a brake operation performed by the driver as described above. Consequently, the vehicle control system 3 can guarantee a relatively long period of time to implement this regenerative engine mechanism braking expansion control through the driving assistance apparatus 1 which guides and assists the throttle-free operation by the driver at a time. suitable and therefore an improved effect on fuel consumption improvement can be expected.
[0090] Additionally, when the driver actually performs a throttle-free operation in the first time period from the first moment to the last moment, the target computing unit 53b issues driving assistance information that indicates that a throttle-free operation was performed properly in accordance with the regenerative motor mechanism brake expansion control for HMI device 4. HMI device 4 displays an HMI indicating that an operation without throttle has been performed properly, the driving assistance information, when changing the background color 55 for green, or similar, for example. Consequently, the driving assistance device 1 has the ability to inform the driver that he or she has achieved driving that contributes to the improvement of fuel consumption.
[0091] The vehicle control system 3 has the ability to obtain an effect on improving fuel consumption, even if the driver has already actually performed a non-throttle operation in the second time period after the last moment. In this situation, there are cases where, for example, the vehicle control system 3 for vehicle 2 in the stop position also uses friction braking by brake apparatus 8 in addition to regenerative braking by motor-generator 6 due to fact that the requested deceleration rate according to a brake operation by the driver is greater than the target brake deceleration rate A_brake. In this case, although a portion of the kinetic energy of vehicle 2 is consumed as thermal energy by friction braking and therefore the regeneration efficiency of vehicle 2 kinetic energy is somewhat reduced, vehicle control system 3 has the ability to ensure a prescribed effect on fuel consumption improvement since the remaining kinetic energy of vehicle 2 can be recovered as electrical energy by regenerative braking.
[0092] According to the modality described above, the driving assistance device 1 is provided with an HMI device 4 that has the ability to issue driving assistance information to assist the driving of the vehicle 2 based on an initial speed of vehicle target brake operation 2 and an ECU 50 which controls the HMI apparatus 4 and changes the mode of the driving assistance information between a period of time from the first moment based on the initial speed of brake operation. target to a last moment, which is based on the initial speed of target brake operation and which is subsequent to the first moment, and a period of time from the last moment onwards.
[0093] According to the modality described above, the driving assistance apparatus 1 is provided with an HMI apparatus 4 that can issue driving assistance information to assist the driving of the vehicle 2 based on the initial speed of brake operation vehicle target 2, and an ECU 50 which controls the HMI apparatus 4 to change the mode of driving assistance information as time passes from a first moment based on the initial speed of target brake operation.
[0094] Therefore, the driving assistance apparatus 1 has the ability to assist the driver with driving the vehicle 2 in a readily comprehensive manner at an appropriate time and therefore adequate driving assistance can be provided, for example, economic driving by the driver can be adequately assisted, thereby suppressing fuel usage and improving fuel consumption.
[0095] In the description given above, the driving assistance apparatus 1 is described by taking the vehicle 2 as being a hybrid vehicle, but the invention is not limited thereto and can also provide driving assistance properly in a conventional or an EV. Second Mode
[0096] Figure 6 is a flowchart that shows an example of control performed by the ECU referring to a second mode; and Figure 7 is a schematic drawing showing an example of an assist mode and a relationship between a distance remaining to a stop position and a vehicle speed in the vehicle control system relating to the second mode. The driving assistance apparatus relating to the second mode differs from the first mode in that the rate of deceleration of the vehicle is changed into a state in which the acceleration request operation and the brake request operation with respect to the vehicle are cancelled. Furthermore, a duplicate description of the composition, action and beneficial effects that are common with the modality described above is omitted as much as possible. Furthermore, reference is made to Figures 1 and 2, etc. in relation to the respective component parts of the driving assistance apparatus referring to the second mode (the same applies below).
[0097] The mode-related driving assistance apparatus 201 can change the deceleration rate of vehicle 2 when the acceleration operation and the brake operation are disabled, in other words, the deceleration rate without throttle A_offbrake. As stated earlier, the throttle-free deceleration rate A_offbrake is determined based on the motor mechanism braking torque produced by motor mechanism turning resistance 5, transmission braking torque produced by transmission turning resistance 7, and in the case of a hybrid system as in the mode, the engine regeneration torque corresponding to the generator engine regeneration amount 6, and the like. The driving assistance apparatus 201 can change the rate of deceleration without throttle A_offbrake, for example, by changing the speed ratio (gear) of the transmission 7 and/or the amount of regeneration of the generator motor 6.
[0098] The driving assistance apparatus 201 changes the throttle-free deceleration rate A_offbrake according to the distance remaining to the stop position at the time of actual throttle-free operation by the driver. Therefore, as long as an operation without real acceleration is performed within the first time period from the first moment to the last moment, the driving assistance apparatus 201 can make the combination of the actual brake operation start position and the start speed of brake operation substantially the same regardless of the timing of the throttle-free operation. In other words, the driving assistance apparatus 201 can achieve a suitable combination of the brake operation start position and the brake operation start speed by adjusting the throttle-free deceleration rate A_offbrake, even if there is a variation at the time of operation without real throttle within the first time period from the first moment to the last moment.
[0099] In the driving assistance apparatus 201 according to the modality, the ECU 50 functions as a deceleration rate control apparatus as well as an assistance control apparatus. The ECU 50 changes the deceleration rate without throttle A_offbrake by changing the speed ratio (gear) of the transmission 7 and the amount of regeneration of the generator engine 6, gradually. Here, for example, the ECU 50 can change the throttleless deceleration rate A_offbrake in two steps, that is, a first deceleration rate which is a no throttle range deceleration rate A_offbrakeD and a second deceleration rate which is an A_offbrakeB throttleless brake band deceleration rate. The A_offbrakeD non-throttle range deceleration rate corresponds to the off-throttle rate of deceleration when a range of gear is selected as the range of gear. The A_offbrakeB no throttle brake range deceleration rate corresponds to the no throttle deceleration rate when a brake range is selected as the gear range, and it is the deceleration rate that has a greater absolute value relative to the range deceleration rate without throttle A_offbrakeD. The ECU 50 changes the switching moment between the non-throttle range deceleration rate A_offbrakeD and the non-throttle range deceleration rate A_offbrakeB, according to the moment of actual non-throttle operation by the driver.
[00100] Below, in relation to Figures 6 and 7, an example of the calculation of the first moment and the last moment by the target computing unit 53b according to the modality, and the assistance and guidance by the HMI 4 device, will be described .
[00101] The target computation unit 53b computes the first moment and the last moment based on the amount of target trip state and the rate of deceleration without throttle. Furthermore, here, as stated earlier, the target trip state quantity is the target brake operation start speed at which a brake operation by the driver is recommended, and the target computation unit 53b according to mode computes a first moment and a last moment based on the same target speed of start of brake operation and different rates of deceleration without throttle.
[00102] As shown in Figures 6 and 7, firstly, the target computing unit 53b computes the target brake operation start speed V_b based on an actual speed (approach speed) V_now of vehicle 2 (ST21) . The target computing unit 53b multiplies the vehicle speed V_now by a prescribed speed coefficient in order to calculate the target brake operation start speed V_b. The speed coefficient is, for example, defined such that the target speed of start of brake operation V_b is a speed at which the driver of vehicle 2 and a driver of a vehicle below are not given the impression of braking sudden when an operating brake is performed, and a speed at which vehicle 2 can reach the stopping position without causing a stress due to vehicle 2's speed being too slow.
[00103] Thereafter, the target computing unit 53b computes the target brake operation start position X_b as a prescribed location, based on the target brake operation start speed V_b and a target rate of deceleration per previously established brake A_brake (ST22).
[00104] The target computing unit 53b computes the target brake start of operation position X_b based on the target brake start of operation speed V_b and the target brake deceleration rate A_brake, taking a stop position which corresponds to the remaining distance set by the setting unit 53a as a reference position. In other words, the target computing unit 53b performs a reverse calculation of the brake operation start position by which vehicle 2 is stopped at the stop position when vehicle 2 traveling at the brake operation start target speed V_b is decelerated at the target brake deceleration rate A_brake by a brake operation and sets it as the target brake operation start position X_b. The combination of the target brake operation start position X_b, which is a prescribed location, and the brake operation start target speed V_b, which is the target travel state quantity, corresponds to the combination of the position of brake start of operation and the speed of brake start of operation at which the vehicle can approach the stopping position at an optimal target rate of brake deceleration A_brake when the driver performs a brake operation.
[00105] By the same, the target computing unit 53b computes the first non-throttle guidance position X_a1 and the last non-throttle guidance position X_a2 based on the target position of start of brake operation X_b, and the rate of deceleration of non-throttle range A_offbrakeD and the deceleration rate per non-throttle range A_offbrakeB previously established (ST23).
[00106] The target computing unit 53b computes the first non-throttle guidance position X_a1 based on the non-throttle range deceleration rate A_offbrakeD and the target brake operation start speed V_b, taking the position -brake start-of-operation target X_b as a reference position. In other words, the target computing unit 53b performs a reverse calculation of the non-throttle position at which the speed of vehicle 2 can be brought to the target brake operation start speed V_b at the brake operation start target position X_b when vehicle 2 is decelerated in non-throttle range deceleration rate A_offbrakeD, and sets it as the first non-throttle guidance position X_a1.
[00107] Similarly, the target computing unit 53b computes the last non-throttle guidance position X_a2 based on the deceleration rate of the non-throttle range A_offbrake B and the target speed of start of brake operation V_b, taking the brake start-of-operation target position X_b as a reference position. More specifically, the target computing unit 53b performs a reverse calculation of the throttle-free operating position whereby the speed of the vehicle 2 can be brought to the target brake operation start speed V_b at the target brake operation start position of brake X_b when vehicle 2 is decelerated in the deceleration rate of non-throttle brake range A_offbrakeB, and this is defined as the last no-throttle guidance position X_a2.
[00108] The target computing unit 53b outputs, to the HMI device 4, the driving assistance information regarding guidance and assistance without accelerator in the first time period of the first moment when the vehicle 2 reaches the first guidance position no throttle X_a1 at current speed for the last time vehicle 2 reaches the last guidance position without throttle X_a2 at current speed. The HMI device 4 displays an HMI referring to guidance and assistance without accelerator, such as driving assistance information (ST24).
[00109] Target computing unit 53b varies the display mode of assistance and guidance information between a first time period from the first moment to the last computed moment as described above, and a second time period from the last moment onwards . The first mode of driving assistance information in the first time period is a mode that changes the displayed driving assistance information as time passes. On the other hand, the second mode of the driving assistance information in the second time period is a display mode in which the driving assistance information does not change as time passes. Consequently, the driving assistance apparatus 201 can guide and assist an acceleratorless operation by the driver in the first period of time from the first moment to the last moment.
[00110] The braking and triggering power control unit 53c controls the braking and triggering power, when the driver actually performs a throttle-free operation in the first time period from the first moment to the last moment, in order to adjust the vehicle 2 actual deceleration rate to become the throttleless gear range specific deceleration rate A_offbrakeD. During the same, the drive and braking power control unit 53c performs a motor mechanism regenerative braking expansion control in order to perform a motor mechanism braking regeneration by the generator motor 6, in addition to a normal motor mechanism braking , It's similar.
[00111] The drive and braking power control unit 53c according to the mode computes the moment at which to switch the deceleration rate without throttle, based on the current speed V_now of vehicle 2 and the remaining distance L to the position from the current position X_r at the time of operation without real throttle by the driver. The actuation and braking power control unit 53c switches the throttle-free deceleration rate from the throttle-free gear range deceleration rate A_offbrakeD to the throttle-free brake range deceleration rate A_offbrakeB, at the moment when the inequality in the expression (1) below is set out, for example. The drive and brake power control unit 53c adjusts the actual vehicle deceleration rate 2 to become the A_offbrakeB (ST25) no throttle brake range deceleration rate, the current control period ends and the procedure transfers to the next control period.

[00112] In expression (1) above, [V_now] represents the current speed of vehicle 2 when the driver performs a throttleless operation. [V_b] represents the target brake operation start speed. [A_offbrakeB] represents the deceleration rate of the off-throttle brake range. [L] represents the remaining distance from the current position to the stop position at the time of the driver's real-throttle-free operation. [X_b] represents the target position of start of brake operation.
[00113] The driving assistance device 201 that has the composition described above can guide and assist the moment of an operation without accelerator by the driver, in such a way that the vehicle speed becomes the target speed of start of brake operation V_b when vehicle 2 reaches brake operation start target position X_b, driving assistance information is displayed in a first mode during the first time period from the first moment to the last moment. As a result thereof, the driving assistance apparatus 201 can provide adequate guidance such that the required deceleration rate according to a brake operation is equivalent to the optimal target brake deceleration rate A_brake or less than the same, when the driver actually performs a brake operation in order to stop in a stopping position, and therefore it is possible to achieve a significant effect in improving a fuel consumption.
[00114] In this case, the driving assistance apparatus 201 decides the first moment and the last moment based on the same target speed of start of brake operation and different rates of deceleration without throttle, and therefore the first period of time from first moment to last moment can be set for a relatively long period of time. Consequently, the driving assistance apparatus 201 can prevent the first period of time from the first moment to the last moment from becoming too short, and can therefore provide more adequate driving assistance to the driver.
[00115] Even if there is a variation in the moment of operation without real throttle within the first time period from the first moment to the last moment, the driving assistance device 201 can achieve a suitable combination of the actual start position of brake operation and starting speed of brake operation by adjusting the deceleration rate without throttle. In other words, the driving assistance apparatus 201 can make the combination of the actual brake operation start position and the brake operation start speed substantially the same, regardless of the time of operation without throttle, as long as the actual operation no throttle is performed within the first time period from the first moment to the last moment. As a result thereof, the driving assistance apparatus 201 can suppress the occurrence of variation in a combination of the actual brake operation start position and brake operation start speed, in relation to the combination of the target start position brake operation rate and the target brake operation start speed at which the vehicle can approach the stop position at the A_brake optimum brake deceleration target rate when the driver performs a brake operation.
[00116] The driving assistance device 201 according to the modality described above can assist the driver with driving vehicle 2 in a readily understandable manner at an appropriate time, and therefore an adequate driving assistance can be achieved, by For example, economical driving by the driver can be adequately assisted, and thereby suppresses fuel usage and improves fuel consumption.
[00117] In addition, according to the driving assistance device 201 referring to the modality described above, the amount of target travel state is the target speed of start of brake operation, and the first moment and the last moment are computed based on the same target brake start speed and different throttle-free deceleration rates. Consequently, the driving assistance apparatus 201 can prevent the first period of time from the first moment to the last moment from becoming too short, and therefore can provide more adequate driving assistance to the driver.
[00118] Furthermore, in the driving assistance apparatus 201 referring to the mode described above, an ECU 50 is provided to control the rate of deceleration of vehicle 2 until a brake operation is performed, according to the timing of an operation without throttle (time of cancellation) for a first period of time from the first moment to the last moment. Therefore, the driving assistance apparatus 201 can prevent the combination of the brake operation start position and the brake operation start speed from being other than the target combination, and consequently the occurrence of variation in a combination of the actual brake operation start position and brake operation start speed can be suppressed and it is possible to avoid making an awkward impression on the driver. Third Mode
[00119] Figure 8 is a flowchart showing an example of control by the ECU referring to a third mode, and Figure 9 is a schematic drawing of an example of an assistance mode and a relationship between the distance remaining to the position of stop and vehicle speed, in the vehicle control system referring to the third mode. The driving assistance device for the third mode is different from the second mode in that the vehicle's deceleration rate can be changed continuously (without steps).
[00120] In the driving assistance apparatus 301 according to the modality, the ECU 50 also serves as a deceleration rate control apparatus as well as an assistance control apparatus. The ECU 50 according to the mode changes the deceleration rate without accelerator A_offbrake continuously, continuously changing the speed ratio (gear) of the transmission 7 and the amount of regeneration in the generator engine 6. If the control system vehicle 3 to which this driving assistance apparatus 301 is applied is composed so as to change the rate of deceleration without accelerator A_offbrake, continuously, by means of the ECU 50 continuously changing the speed ratio of the transmission 7, then a continuous variable AT, or similar, which can continuously change the speed ratio is adopted as transmission 7.
[00121] Here, for example, the ECU 50 can change the non-throttle deceleration rate A_offbrake continuously between the non-throttle range deceleration rate A_offbrakeD and the non-throttle range deceleration rate A_offbrakeB.
[00122] Below, examples of computing the first and last moments by the target computing unit 53b and guidance assistance by the HMI 4 device according to the modality are described in relation to Figures 8 and 9.
[00123] Target computing unit 53b computes the first moment and the last moment based on the same target speed of start of brake operation and different rates of deceleration without throttle as described above. The target computing unit 53b outputs, to the HMI apparatus 4, driving assistance information regarding guidance and assistance without throttle in the first time period of the first moment when vehicle 2 reaches the first guidance position without throttle X_a1 in current speed for the last time vehicle 2 reaches the last guidance position without throttle X_a2 at current speed. The HMI 4 device displays an HMI referring to guidance and assistance without accelerator, such as driving assistance information (ST24).
[00124] The target computing unit 53b changes the display mode of the driving assistance information between the first time period from the first time to the last time it was computed, and the second time period from the last time onward. The first mode of driving assistance information in the first time period is a mode in which the displayed driving assistance information changes as time passes. On the other hand, the second mode of the driving assistance information in the second time period is a display mode that does not change the driving assistance information over time. Consequently, the driving assistance apparatus 301 can guide and assist an acceleratorless operation by the driver in a first period of time from the first moment to the last moment.
[00125] The braking and triggering power control unit 53c controls the braking and triggering power, when the driver actually performs a throttle-free operation in the first period of time from the first moment to the last moment, in order to adjust the vehicle 2's actual deceleration rate so as to become an optimal deceleration rate between the non-throttle range deceleration rate A_offbrakeD and the no-throttle brake range deceleration rate A_offbrakeB. During the same, the drive and braking power control unit 53c performs a motor mechanism regenerative braking expansion control in order to perform a motor mechanism braking regeneration by the generator motor 6, in addition to a normal motor mechanism braking , It's similar.
[00126] The brake and drive power control unit 53c according to the mode computes the target rate of deceleration without throttle based on the current vehicle speed 2 V_now and the remaining distance L to the stop position from the current position X_r at the time of actual throttle-free operation performed by the driver, and adjusts the actual throttle-free deceleration rate to become the target-throttle deceleration rate (ST35), whereby the current control period ends and the procedure carries over to the next control period. The drive and brake power control unit 53c uses expression (2) below, for example, to calculate the target deceleration rate without throttle A_targetoffbrake.

[00127] In expression (2) above, [A_targetoffbrake] represents the target rate of deceleration without throttle. [V_now] represents the current speed of vehicle 2 when the driver performs a throttleless operation. [V_b] represents the target brake operation start speed. [L] represents the distance remaining to the stop position from the current position at the time of the driver's real-throttle-free operation. [X_b] represents a brake operation start target position.
[00128] The driving assistance apparatus 301 configured as described above can guide and assist the moment of a non-throttle operation by the driver, such that the vehicle speed becomes the target speed of start of brake operation V_b when vehicle 2 reaches brake operation start target position X_b, driving assistance information is displayed in a first mode during the first time period from the first moment to the last moment. As a result thereof, the driving assistance apparatus 301 can provide a suitable guidance such that the requested deceleration rate according to a brake operation is equivalent to the optimal target brake deceleration rate A_brake or less than the same, when the driver actually performs a brake operation in order to stop in the stopping position, and can therefore achieve a significant effect in improving a fuel consumption.
[00129] In this case, the driving assistance apparatus 301 can set the first time period from the first moment to the last moment for a relatively long period, since the first moment and the last moment are decided based on the same target speed start of brake operation and at different deceleration rates without throttle. Consequently, the driving assistance apparatus 301 can prevent the first period of time from the first moment to the last moment from becoming too short, and can therefore provide more adequate driving assistance to the driver.
[00130] The driving assistance device 301 can achieve a suitable combination of the actual brake operation start position and the brake operation start speed by adjusting the deceleration rate without throttle continuously according to the time of operation real without throttle, even if there is a variation in the timing of the real throttle operation within the first time period from the first moment to the last moment. In other words, the driving assistance apparatus 301 can make the combination of the actual brake operation start position and the brake operation start speed substantially the same, regardless of the time of operation without throttle and other external disturbances ( eg variations in road surface resistance or air resistance), and the like, as long as the actual throttle-free operation is performed within the first time period from the first moment to the last moment. As a result thereof, the driving assistance apparatus 301 can restrict the occurrence of variation in a combination of the actual brake operation start position and the brake operation start speed, in relation to the combination of the target position of brake start of operation and the target brake start of operation speed at which the vehicle can approach the stop position at the optimal target brake deceleration rate A_brake when the driver performs a brake operation.
[00131] The driving assistance device 301 referring to the modality described above can assist the driver with driving vehicle 2 in a readily understandable manner at an appropriate time, and therefore adequate driving assistance can be provided, for example, economic driving by the driver can be adequately assisted, and thereby suppresses fuel usage and improves fuel consumption.
[00132] In addition, in the driving assistance device 301 referring to the mode described above, the amount of target travel state is the target speed of start of brake operation and the first moment and the last moment are computed based on the same target speed for starting brake operation and at different deceleration rates without throttle. Consequently, the driving assistance apparatus 301 can prevent the first period of time from the first moment to the last moment from becoming too short, and can therefore provide more adequate driving assistance to the driver.
[00133] In addition, the driving assistance device 301 referring to the mode described above is equipped with an ECU 50 that controls the rate of deceleration of vehicle 2 until a brake operation is performed, according to the moment without accelerator (moment of cancellation) in the first period of time from the first moment to the last moment. Therefore, the driving assistance apparatus 301 can prevent the combination of the brake operation start position and the brake operation start speed from being other than the target combination, and consequently, the occurrence of variation in a combination of the actual brake operation start position and brake operation start speed can be suppressed and it is possible to avoid making an awkward impression on the driver.
[00134] The driving assistance apparatus referring to embodiments of the invention described above are not limited to the embodiments given above, and various modifications can be made within the scope of the claims. The driving assistance apparatus relating to the modalities may also be composed of constituent elements which suitably combine the modalities described above.
[00135] In the description given above, the assistance control apparatus and the deceleration rate control apparatus are described as being shared with the ECU 50, but the invention is not limited thereto. For example, the assistance control apparatus and the deceleration rate control apparatus can respectively be composed separately from the ECU 50, and mutually exchange information such as detection signals, trigger signals, control commands and the like.
[00136] In the description given above, the first mode of the driving assistance information in the first time period is a mode that changes the driving assistance information as time passes, while the second mode of the driving assistance information in the second time period is a mode that does not change the driving assistance information over time, but the invention is not limited to this. The first mode and the second mode are not limited to the above and can be different modes.
[00137] In the description given above, the target trip state quantity is the target brake operation start speed, which is the recommended vehicle speed at which a brake operation (brake request operation) by the user is recommended, but the invention is not limited thereto. The target trip state quantity can be a target state quantity that indicates the vehicle's travel state, for example, it can be a target vehicle acceleration or deceleration rate, a target speed ratio ( target gear), a target steering angle, or similar.
[00138] In the description given above, the recommended driving operation that the driving assistance device guides and assists the driver to perform, in other words, driving assisted by the driving assistance device is an operation without accelerator (cancellation of a acceleration request operation) performed by the driver, but the invention is not limited to this. The recommended driving operation that the driving assistance device guides and assists the driver to perform can be, for example, an acceleration request operation, a brake request operation, a brake request cancel operation, an operation a gear change, a steering operation, or the like.
[00139] In the description given above, the driving assistance apparatus emits visual information as driving assistance information, but the invention is not limited to this. The driving assistance device may also emit audible information or tactile information, for example as driving assistance information, and may suitably vary the mode of this sound information or tactile information.
[00140] In the description given above, the first moment and the last moment are computed based on the same deceleration rate without throttle and different brake start target speeds, or based on the same target start speed and different rates of deceleration without throttle, but the invention is not limited to that. For example, the first moment and the last moment can be computed based on different rates of deceleration without throttle and different speeds of start of brake operation. 1, 201, 301 driving assistance device 2 vehicle 3 vehicle control system 4 HMI device (assistance device) 5 motor mechanism (internal combustion engine) 6 generator motor 13 GPS device 14 wireless communication device 15 database 50 ECU (assist control apparatus, deceleration rate control apparatus) 51 first information computing unit 52 second computing information unit 53 vehicle control unit 54 CAN

权利要求:
Claims (7)
[0001]
1. Driving assistance apparatus in a vehicle (2) characterized in that it comprises: an assistance apparatus (4) configured to provide assistance by displaying first and second driving assistance information, said first driving assistance information being a recommendation to cancel an acceleration operation based on a recommended vehicle speed, said recommended speed being at which said second driving assistance information, being a recommendation to perform a braking operation at a prescribed location, is issued , the prescribed location being at a predetermined distance from a temporary stop, a stop due to a red light or a curve; and an assistance control apparatus (50) configured to control the assistance apparatus to change the method of displaying said first assistance assistance information between a period of time from the first assistance moment to a second assistance moment which is subsequent to the first assistance moment and a period of time from the second assistance moment onwards, said first and second assistance moments being computed using a current speed, road information, recommended speed and a predetermined rate of deceleration the vehicle in a state where a throttle operation and a brake operation are cancelled.
[0002]
2. Driving assistance apparatus according to claim 1, characterized in that the assistance control apparatus (50) is dedicated to changing the mode of the driving assistance information over time, in the period of time from the first assistance moment to the second assistance moment.
[0003]
3. Driving assistance device, according to claim 1, characterized in that the recommended speed is a recommended vehicle speed in which the brake request operation is recommended; and the first assist moment and the second assist moment are computed based on the same rate of vehicle deceleration (2) traveling to a prescribed location, and different recommended vehicle speeds at different prescribed locations.
[0004]
4. Driving assistance device, according to claim 1, characterized in that the first assistance moment and the second assistance moment are computed based on the same recommended vehicle speed in the same prescribed location, and rates of different deceleration of the vehicle (2) traveling to a prescribed location.
[0005]
5. Driving assistance device according to any one of claims 1 to 4, characterized in that it further comprises a deceleration rate control device (50) which is dedicated to controlling a motor (5), a motor electric (6), a transmission (7) and/or a braking device (8) in order to decelerate the vehicle at a predetermined rate of deceleration of the vehicle (2) until the brake request operation is performed, in accordance with with a moment of cancellation of the throttle request operation in a period of time from the first assistance moment to the second assistance moment.
[0006]
6. Driving assistance device according to any one of claims 1 to 5, characterized in that the vehicle (2) is a hybrid vehicle having an internal combustion engine (5) and an electric motor (6) as Travel trigger sources.
[0007]
7. Driving assistance device, according to claim 1, characterized in that the first assistance moment is a first moment at which the vehicle speed (2) must become the recommended speed at the prescribed location, through the performing the recommended driving operation; and the second assistance moment is the last moment when the vehicle speed (2) must become the recommended speed at the prescribed location, through the performance of the recommended driving operation.

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WO2013018198A1|2013-02-07|

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法律状态:
2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-10-08| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-03-23| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-05-18| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 02/08/2011, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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PCT/JP2011/067694|WO2013018198A1|2011-08-02|2011-08-02|Driving assistance device|

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