JP5845616B2 - Driving support device and driving support method - Google Patents

Description

  The present invention relates to a vehicle driving support technology capable of controlling the vehicle speed so as to achieve a target vehicle speed obtained based on restricted vehicle speed information on a traveling road in auto cruise traveling control, constant speed traveling control, and the like.

  As a driving support device based on a road sign, there is a device described in Patent Document 1. This device reports a legal speed change or adjusts the traveling speed based on the speed limit display position information set in the map data in the navigation device.

JP 2008-221973 A

In the above-mentioned Patent Document 1, there is a problem that the speed limit display position on the map and the display position on the actual road are different from each other due to an error in the map data, and the driver feels uncomfortable.
The present invention pays attention to the above points, and it is not always necessary to capture a speed limit sign with a camera and read the speed limit information from the captured image without switching the speed limit indicated in the map data. The object is to prevent the driver from feeling uncomfortable about the switching of the speed limit by matching the position information with the position on the road.

In order to solve the above-mentioned problem, the present invention obtains road speed limit vehicle speed information from map data information, and the driver can detect when the vehicle is located within a preset limit speed limit change estimation range. When the operation information of the target vehicle speed change operation element to be operated to change the current vehicle speed is acquired and an operation to increase the vehicle speed of the target vehicle speed change operation is detected , or the limited vehicle speed in the map data is When an operation for lowering the vehicle speed of the target vehicle speed change operator is detected when the host vehicle is located within a limit vehicle speed change estimation range set in advance with reference to the change position to be lowered , Information on the change position of the limited vehicle speed is updated based on the position where the operation of the target vehicle speed change operator is detected .

  According to the present invention, the information on the limited vehicle speed in the map data is updated based on the operation of the target vehicle speed changing operator operated by the driver when the host vehicle is positioned within the preset limit vehicle speed change estimation range. To do. For this reason, the information on the speed limit switching position indicated in the map data can be matched with the position on the road, and the driver can be prevented from feeling uncomfortable about the speed limit switching.

It is a figure showing the outline composition of the vehicles concerning the embodiment based on the present invention. It is a figure which shows the system configuration | structure which concerns on embodiment based on this invention. It is a figure which shows the structural example of the controller which concerns on embodiment based on this invention. It is a flowchart which shows the process example of the vehicle speed restriction | limiting information processing part which concerns on embodiment based on this invention. It is a figure which shows the example of a restriction | limiting vehicle speed change designation | designated range and a restriction | limiting vehicle speed display recognition possible range. It is a display figure of the example of restriction vehicle speed change notice to a driver concerning an embodiment based on the present invention. It is a flowchart which shows an example of the process sequence of SW operation determination processing which concerns on embodiment based on this invention. It is a flowchart which shows an example of the correction process procedure of the limit vehicle speed switching position which concerns on embodiment based on this invention. It is operation | movement explanatory drawing of the correction process of the limit vehicle speed switching position. It is an example of a timing chart of the correction process of the limit vehicle speed switching position. It is a figure which shows another structural example of the controller which concerns on embodiment based on this invention.

Next, embodiments of the present invention will be described with reference to the drawings.
(Constitution)
The vehicle 1 includes a driving device that generates a driving force (driving torque) and a braking device that generates a braking force.
As shown in FIG. 1, the drive device includes an engine 20 as a drive source, and a throttle actuator 11 that controls torque (drive force) generated in the engine to a value corresponding to the drive force command value. The drive source of the drive device is not limited to the engine 20, and may be an electric motor or a hybrid configuration in which the engine and the motor are combined.

  As shown in FIG. 1, the braking device includes a brake device 21 provided on the wheel 23, a fluid pressure circuit 22 connected to each brake device, and a brake actuator 12. The brake actuator 12 controls the braking force generated in each brake device 21 via the fluid pressure circuit 22 to a value corresponding to the braking force command value. The brake device 21 is not limited to a device that applies a braking force with fluid pressure, and may be an electric brake device or the like.

The vehicle also includes an inter-vehicle distance sensor 1, a vehicle speed sensor 2, an accelerator sensor 3, a throttle sensor 4, a brake fluid pressure sensor 5, and various switches 6 to 10 as shown in FIG.
The inter-vehicle distance sensor 1 measures the inter-vehicle distance from the preceding vehicle. The inter-vehicle distance sensor 1 includes, for example, a laser distance meter, scans a laser beam in the left-right direction in front of the vehicle, receives reflected light from the preceding vehicle, and measures the inter-vehicle distance from the preceding vehicle. The inter-vehicle distance sensor 1 may be composed of a sensor that measures the inter-vehicle distance using radio waves or ultrasonic waves.

The vehicle speed sensor 2 is a sensor for detecting the traveling speed (vehicle speed) V of the vehicle. The vehicle speed sensor 2 is attached to, for example, an output shaft of the transmission, and outputs a pulse signal having a period corresponding to the rotation speed. By measuring the cycle or the number of pulses of the vehicle speed pulse signal, the traveling speed (vehicle speed) V of the vehicle can be detected.
The accelerator sensor 3 detects a depression amount acc of an accelerator pedal (not shown). The throttle sensor 4 detects the throttle valve opening θth. Further, the brake fluid pressure sensor 5 detects the brake fluid pressure Pbrk.

When the main switch 6 is turned on, power is supplied to the controller 13 and other vehicle speed control devices, and the vehicle distance control and vehicle speed control are ready.
The brake switch 7 is a switch that detects depression of the brake pedal. When depression of the brake pedal is detected by the brake switch 7, the vehicle speed control is canceled as in the case of the cancel SW operation.

The throttle actuator 11 includes a vacuum pump, a vent valve, a safety valve, and the like. Then, the throttle actuator 11 drives a pump motor and a valve solenoid to adjust the throttle valve opening, thereby controlling the engine torque, that is, the driving force of the vehicle.
The brake actuator 12 includes a negative pressure booster and constitutes the brake actuator 12. The brake actuator 12 controls the braking force of the vehicle by adjusting the brake fluid pressure.

The vehicle also includes a controller 13 and a navigation system 16.
The vehicle also includes a set / coast SW8, a resume / accelerate SW9, and a cancel SW10. These SW8, 9, 10 are provided, for example, on a steering wheel. These SWs 8, 9 and 10 output detection signals to the controller 13.

The navigation system 16 acquires signals such as restricted vehicle speed information on the road that is running, restricted vehicle speed information on the road ahead, and the distance until the restricted vehicle speed is switched, and supplies the signal to the controller 13. The navigation system 16 also has a GPS function, detects its own vehicle position, and supplies it to the controller 13.
The controller 13 includes a microcomputer and peripheral components such as a memory, and executes a control program to be described later to perform inter-vehicle distance control, vehicle speed control, setting and changing processing of the set speed Vset, and the like. The controller 13, the sensors 1 to 5, and the actuators 11 and 12 are supplied with power from the battery 15 through the ignition key switch 14.

As shown in FIG. 3, the controller 13 includes a target vehicle speed calculation unit 13A, a braking / driving control unit 13B, and a vehicle speed restriction information processing unit 13C as processes related to driving support. The vehicle speed limit information processing unit 13C includes a limit vehicle speed information acquisition unit 13Ca and a vehicle speed limit information update unit 13Cb.
The limited vehicle speed information acquisition unit 13Ca acquires the limited vehicle speed information of the traveling road based on the map data information of the navigation system 16. When detecting the operation of the target vehicle speed changing operator, the vehicle speed limit information updating unit 13Cb updates the information on the limit vehicle speed switching position (change position of the limit vehicle speed) SP in the map data. Here, the operation of the target vehicle speed changing operator of the present embodiment is an operation of the set / coast SW8 or the resume / accelerate SW9 during the vehicle speed control.

  Further, the target vehicle speed calculation unit 13A obtains the target vehicle speed based on the operation information of the target vehicle speed change operator operated by the driver for changing the vehicle speed and the limit vehicle speed information acquired by the limit vehicle speed information acquisition unit 13Ca. The braking / driving control unit 13B calculates a driving force command value and a braking force command value for obtaining the target vehicle speed calculated by the target vehicle speed calculating unit 13A, and outputs the driving force command value and the braking force command value to the throttle actuator 11 and the brake actuator 12.

The processing of the target vehicle speed calculation unit 13A will be described.
When the target vehicle speed calculation unit 13A detects that the set / coast SW8 is operated during non-vehicle speed control, the target vehicle speed calculation unit 13A sets the actual vehicle speed V at the time of operation to the set speed Vset. The set speed Vset becomes the target vehicle speed. As a result, the braking / driving control unit 13B controls the braking / driving force of the vehicle so that the driver travels at a constant speed at the set speed Vset without performing an accelerator operation.

In addition, when the target vehicle speed calculation unit 13A detects that the set / coast SW8 is short-pressed (short-time SW operation) during the vehicle speed control, the target vehicle speed calculation unit 13A changes the set speed Vset to a vehicle speed reduced by a constant speed.
When the target vehicle speed calculation unit 13A detects that the resume / acceleration SW9 is short-pressed (short-time SW operation) during vehicle speed control, the target vehicle speed calculation unit 13A changes the set speed Vset to a vehicle speed increased by a constant speed. Accordingly, the braking / driving control unit 13B controls the braking / driving force of the vehicle so that the changed set speed Vset is obtained.

  In addition, when the target vehicle speed calculation unit 13A detects that the set / coast SW8 is pressed and held (SW operation over a certain period of time) during the vehicle speed control, the target vehicle speed calculation unit 13A performs an operation for lowering the set speed Vset by a certain time. Repeat every time. Further, the target vehicle speed calculation unit 13A repeats the operation of increasing the set speed Vset at a constant speed every time when the resume / acceleration SW9 is pressed for a long time during the vehicle speed control (a SW operation of a certain time period or more). Do. Accordingly, the braking / driving control unit 13B controls the braking / driving force of the vehicle so that the changed set speed Vset is obtained. However, when the vehicle position is within a limited vehicle speed change estimation area, which will be described later, the set / coast SW8 is pressed for a long time during vehicle speed control and the resume / accelerate SW9 is pressed for a long time during vehicle speed control. When changing the set speed Vset, priority is given to the change process in the vehicle speed limit information processing unit 13C.

The target vehicle speed calculation unit 13A cancels the vehicle speed control when the cancel SW 10 is operated during the vehicle speed control.
The vehicle also includes a camera 17. The camera 17 is composed of a camera such as a monocular camera.
Next, an example of the vehicle speed limit information processing unit 13C that updates information related to the limited vehicle speed in the control program executed by the controller 13 will be described with reference to FIG. 4 that is a flowchart. This update process is performed by a scheduled interrupt at regular intervals preset by an operating system (not shown).

  First, in step S10, the vehicle speed limit information processing unit 13C reads various data from the sensors. Specifically, the controller 13 sets the limit vehicle speed Vcurrent_limit of the road that is currently running from the navigation system 16, the limit vehicle speed Vnext_limit of the road ahead, the distance Change_Distance from the limit vehicle speed on the map to the position SP, set / coast SW8, resume / The operation information of the acceleration SW9 and the cancel SW10, the vehicle speed V, the imaging information of the camera 17, and the like are read.

In the subsequent step S20, it is determined whether or not the vehicle position is within the limited vehicle speed change estimation range RS1.
Here, the limit vehicle speed change estimation range RS1 indicates a range on the map where it is estimated that an actual limit vehicle speed sign exists within the range. The limit vehicle speed change estimation range RS1 is a limit vehicle speed switching position on the map which is a change point (switching point) of the limit speed when the limit vehicle speed Vcurrent_limit of the currently traveling road is different from the limit vehicle speed Vnext_limit of the preceding road. This is a range obtained by taking a predetermined distance section before and after the SP as a reference. The limit vehicle speed change estimation range RS1 of the present embodiment is a range determined by setting a predetermined distance section before and after the limit vehicle speed switching position SP on the map as a center (see FIG. 5). The preset constant distance that defines this limited vehicle speed change estimation range RS1 is the map data accuracy of the navigation system 16 to be used and the locator accuracy to detect where the vehicle is on the map data using GPS. Determined by. For example, when the limit vehicle speed change estimation range RS1 is set to 70 m before and after the limit vehicle speed switching position SP on the map (= the predetermined distance set in advance) (see FIG. 5), the distance Change_Distance until the limit vehicle speed is switched is If the vehicle is determined to be within the range of -70 m to 70 mm, it is determined that the vehicle is present in the limited vehicle speed change estimation range RS1.

In a succeeding step S30, a limited vehicle speed change notification process is performed.
If it is determined in step S20 that the vehicle is present in the limited vehicle speed change estimation range RS1, and it is determined in the previous interrupt execution process that the vehicle is not present in the limited vehicle speed change estimation range RS1, the display of the navigation system 16 The display of the limit vehicle speed Vcurrent_limit of the currently traveling road and the limit vehicle speed Vnext_limit of the road ahead and a display indicating whether the limit vehicle speed increases or decreases on the road ahead are started to blink together on the part 16a. FIG. 6 shows an example of the display. FIG. 6 illustrates a case where an arrow indicates whether the limit vehicle speed increases or decreases. In addition, a blinking display is started and a buzzer sound is output for a certain time to notify the driver of a change in the vehicle speed limit. Subsequently, when the long press operation of the set / coast SW8 and the resume / accelerate SW9 is detected in step S40, or when the vehicle speed control itself is canceled, the blinking display and the buzzer output are stopped.

In the subsequent step S40, the long pressing operation of the set / coast SW8 and the resume / accelerate SW9 is detected, and whether or not the set speed Vset of the vehicle speed control is changed to the limit vehicle speed Vnext_limit of the road ahead based on the detection result. Processing (SW operation determination processing) is performed. This process will be described later.
In the subsequent step S50, the limit vehicle speed switching position SP in the map data held by the navigation system 16 is corrected. Then return. The correction process in step S50 will be described later.

Next, an example of the processing procedure of the SW operation determination processing in step S40 will be described with reference to FIG. 4 which is a flowchart.
First, in step S400, the SW operation determination process is performed in step S20, and based on the determination result of whether or not the host vehicle is in the limited vehicle speed change estimation range RS1, the host vehicle is in the limit vehicle speed change estimation range RS1. If it exists, the process proceeds to step S401. If the host vehicle is outside the limited vehicle speed change estimation range RS1, the process is terminated and returned.

In step S401, it is determined by the process in step S30 whether or not a limit vehicle speed blinking process (see FIG. 6) is performed, which indicates a notification of a change in the limit vehicle speed to the driver. If the process of blinking the limit vehicle speed is being performed, the process proceeds to step S402. If the limit vehicle speed blinking process has not been performed, the process ends and returns.
In step S402, it is determined whether or not the set / coast SW8 is in the long press operation state by the driver's operation. If it is determined that the set / coast SW8 is in the long press operation state, the process proceeds to step S403. If it is determined not to be in the push operation state, the process proceeds to step S407.

In step S403, the current set speed Vset of the vehicle speed control is compared with the limit vehicle speed Vnext_limit of the front road where the limit vehicle speed changes. If “set speed Vset> the limit vehicle speed Vnext_limit of the front road”, the process proceeds to step S404. If not, the process proceeds to step S406.
In step S404, processing for changing the set speed Vset to the limit vehicle speed Vnext_limit on the road ahead is performed. Thereafter, the process proceeds to step S405, the blinking display of the limited vehicle speed of the navigation system 16 started in step S30 is stopped, and the process ends.

If it is determined in step S403 that the set speed Vset is equal to or less than the limit vehicle speed Vnext_limit of the road ahead and the process proceeds to step SS406, a process of changing the current set speed Vset to a value reduced by a constant speed is performed, and then the process returns.
On the other hand, in step S407, it is determined whether or not the resume / acceleration SW9 is in a state in which the driver presses the button for a long time. And when it determines with it being in a long press operation state, it progresses to step S408, and when not in a long press operation state, a process is complete | finished and it returns.

In step S408, the current set speed Vset of the vehicle speed control is compared with the limit vehicle speed Vnext_limit of the front road where the limit vehicle speed changes. If “set speed Vset <limit vehicle speed Vnext_limit of the front road”, the process proceeds to step S409. If “set speed Vset ≧ front limit vehicle speed Vnext_limit”, the process proceeds to step S411.
In step S409, a process of changing the set speed Vset to the limit vehicle speed Vnext_limit of the road ahead is performed. Thereafter, the process proceeds to step S410, the blinking display of the limited vehicle speed of the navigation system 16 started in step S30 is stopped, and the process is terminated. Then return.

On the other hand, in step S411, a process of changing the set speed Vset to a value increased by a constant speed is performed, and the process ends. Then return.
Next, an example of a correction processing procedure for the limited vehicle speed switching position SP in step S50 will be described with reference to FIG. 8 which is a flowchart.
First, in step S500, it is determined whether or not the process of adapting the set speed Vset during the vehicle speed control to the limit vehicle speed Vcurrent_limit by the process of step S40. If it is adapted, the process proceeds to step S501. On the other hand, if it is not adapted, the process ends and returns.

In step S501, it is determined whether the operation for changing the vehicle speed is an operation outside the limit vehicle speed display recognizable range RS0.
The limited vehicle speed display recognizable range RS0 is located within the limited vehicle speed change estimated range RS1 as shown in FIG. 5 and indicates a road range in which the driver can recognize the limited vehicle speed display. The limited vehicle speed display recognizable range RS0 of the present embodiment is a section of a distance (40 m in FIG. 5) set in advance in the front-rear direction around the limited vehicle speed switching position SP.

Specifically, in step S501, if the SW long press operation determined in step S40 is performed outside this limited vehicle speed display recognizable range RS0, the process proceeds to step S502, and if not, the process ends. And return.
In step S502, it is determined whether or not the operation position is ahead of the limit vehicle speed switching position SP in the traveling direction. In the case of the near side, the process proceeds to step S503, and in the case where it is not the front side (when it is behind the limit vehicle speed change point), the process proceeds to step S504.

In step S503, the position correction, that is, the update process is performed by shifting the information of the limit vehicle speed switching position SP stored in the map data of the navigation data system by a predetermined distance set in front (the vehicle side). Then return.
In this position correction (updating process), for example, if the vehicle is shifted by 10 m as a fixed distance to the front, the next time it passes through the same limited vehicle speed change point, it is a process performed in step S30, 10 m before this time. Restricted vehicle speed change notification processing to the person is performed.

On the other hand, in step S504, position correction, that is, update processing is performed by shifting the information on the limited vehicle speed switching position SP stored in the map data of the navigation data system by a predetermined distance set to the back side. Then return.
In this position correction (update process), for example, if the distance is shifted by 10 m as a fixed distance, the process executed in step S30 at the depth of 10 m (the vehicle side) from the current time when passing the same limited vehicle speed change point next time. That is, the process for notifying the driver of the limited vehicle speed change is performed.

(Operation other)
The vehicle speed control of the present embodiment is vehicle speed control that travels at a constant speed.
When the driver operates the set / coast SW 8 during non-vehicle speed control, the actual vehicle speed V at the time of operation is set to the set speed Vset so that the driver travels at the set speed Vset at a constant speed without performing the accelerator operation. The braking / driving force of the vehicle is controlled.
Also, if the set / coast SW8 is pressed shortly (short-time SW operation) during vehicle speed control, the set speed Vset is changed to a vehicle speed lowered by a constant speed, and the resume / accelerate SW9 is short-pressed (short-time SW operation). Then, the set speed Vset is changed to a vehicle speed increased by a certain speed, and the braking / driving force of the vehicle is controlled so as to be the set speed Vset after the change.

Further, when the set / coast SW 8 is pressed and held during the vehicle speed control (SW operation over a certain period of time), the operation of decreasing the set speed Vset by a certain speed is repeatedly performed every certain time. On the other hand, when the resume / accelerate SW9 is operated for a long time (SW operation for a certain period of time or more), the operation of increasing the set speed Vset at a constant speed is repeated at regular time intervals so that the changed set speed Vset is obtained. Controls the braking / driving force.
Further, when the cancel SW 10 is operated during the vehicle speed control, the vehicle speed control is canceled.

Although the vehicle speed control as described above is basically used, the following processing is performed when the host vehicle is located within the limited vehicle speed change estimation range RS1.
That is, if the host vehicle is present in the limit vehicle speed change estimation range RS1, as shown in FIG. 6, is the display of the limit vehicle speed Vcurrent_limit of the currently traveling road and the limit vehicle speed Vnext_limit of the front road, and whether the limit vehicle speed increases on the front road? It starts to blink together with a display indicating whether or not to lower (step S30).

  At this time, when it is detected that the vehicle has entered the limited vehicle speed change estimation range RS1 and the driver has pressed and pressed the set / coast SW8 with respect to the blinking display, the following processing is performed (step S402). . That is, in the case of “set speed Vset> front road limit vehicle speed Vnext_limit”, after the set speed Vset is changed to the front road limit vehicle speed Vnext_limit, the limit vehicle speed blinking display is stopped (steps S403, S404, S405). ). On the other hand, when “set speed Vset ≦ front limit vehicle speed Vnext_limit”, the operation of lowering the set speed Vset by a constant speed is repeated at regular intervals (step S406).

  Further, when it is detected that the driver enters the limited vehicle speed change estimation range RS1 and the driver presses and resumes the acceleration / acceleration SW9 with respect to the blinking display, the following processing is performed (step S407). . That is, in the case of “set speed Vset <front road limit vehicle speed Vnext_limit”, after the set speed Vset is changed to the front road limit vehicle speed Vnext_limit, the flashing display of the limit vehicle speed is stopped (steps S408, S409, S410). . On the other hand, in the case of “set speed Vset ≧ limit vehicle speed Vnext_limit of the road ahead”, the operation of increasing the set speed Vset by a constant speed is repeatedly performed at regular intervals (step S411).

  When the host vehicle enters the limited vehicle speed change estimation range RS1 through the above processing, the driver is notified that the limited vehicle speed changes on the road ahead (step S30). Further, when the limit vehicle speed Vnext_limit after the change of the front road increases with respect to the limit vehicle speed Vcurrent_limit of the currently traveling road, the resume / acceleration SW9 is long-pressed, and decreases to the limit vehicle speed Vcurrent_limit of the currently traveling road. In this case, the set speed Vset during the vehicle speed control can be appropriately changed to the limit vehicle speed Vcurrent_limit by the long pressing operation of the set / coast SW8 (step S40).

  Further, when the host vehicle is within the limit vehicle speed change estimation range RS1, the set speed Vset is set to the limit vehicle speed Vnext_limit on the road ahead by the long press operation of the resume / accelerate SW9 or the long press operation of the set / coast SW8. If changed (steps S404 and S409), the next correction process (update process) is performed. That is, when the long press operation of the resume / acceleration SW9 or the long press operation of the set / coast SW8 is determined as an operation outside the recognizable range RS0 (S501), the operation position is the limited vehicle speed switching position SP. The following position correction is performed depending on whether or not the vehicle is in front. If it is determined that the vehicle is in front of the vehicle, position correction, that is, update processing is performed by shifting the information of the limited vehicle speed switching position SP stored in the map data of the navigation data system by a predetermined distance set in front ( S503). on the other hand. When it is determined that the vehicle is on the back side (rear side), the information on the speed limit switching position SP stored in the map data of the navigation data system is shifted by a predetermined distance on the back side to Correction, that is, update processing is performed (S504).

  As shown in FIG. 5, this correction process is a correction process when there is a difference between the actual limit vehicle speed switching position and the limit vehicle speed switching position SP in the navigation map data. For example, if the actual limit vehicle speed switching position is shifted 60 m before the limit vehicle speed switching position in the map data of the navigation as in the pre-correction travel of FIG. The long pressing operation of the set / coast SW8 and the resume / accelerate SW9 by the person is assumed to be a normal operation that is performed at the same time as the confirmation of the actual speed limit sign. Therefore, if a long press operation is performed 60 m before the limited vehicle speed switching position SP in the map data of the navigation system, the limited vehicle speed switching position SP in the map data of the navigation is corrected by the correction process (the vehicle side). ) Is corrected by 10 m. Therefore, when the same vehicle speed change point is next passed, the vehicle speed switching position SP in the navigation map data is corrected to an error of 50 m from the actual vehicle speed switching position before the correction. The timing of the limited vehicle speed change notification process is an appropriate timing.

FIG. 10 is a timing chart showing the timing for notifying the driver of a change in the limited vehicle speed and the correction amount of the change position of the limited vehicle speed on the map when this correction process is repeated.
If the above-mentioned long press operation is performed outside the restricted vehicle speed display recognizable range RS0 (60 m before in FIG. 10) within the restricted vehicle speed change estimated range RS1 at the first traveling at the same restricted vehicle speed change point, The limit vehicle speed change point on the data is corrected to a position 10 m before (FIG. 10B).

  In the second run at the same vehicle speed change point, the vehicle speed change point on the map is corrected 10 meters before the previous time, so that there is a margin in the notification timing of the vehicle speed change to the driver. At this time, if the long press operation is performed outside the limit vehicle speed display recognizable range RS0 (50 m before) in the limit vehicle speed change estimation range RS1, the limit vehicle speed change point on the map data is displayed. Is further corrected to a position 10 m before (FIG. 10C).

And, in the third run at the same speed limit change point, the limit speed change point on the map is corrected 10m before the previous time (20m before the first), resulting in a change in the speed limit for the driver. There is room in the notification timing.
In this way, by repeating the correction process for the limited vehicle speed change point, the deviation between the actual limited vehicle speed switching position and the limited vehicle speed switching position in the navigation map data will be within the limited vehicle speed display recognizable range RS0. It is possible to notify the driver without a sense of incongruity of a change in the limited vehicle speed.

And by setting it as the above structures, even if it does not read a restriction | limiting vehicle speed information from the imaged imaged with the camera 17, it showed in map data cheaply using navigation. By updating the speed limit information, it is possible to correct the map data in accordance with the driver's feeling.
Here, in the above step S501, it is determined whether or not the vehicle position when the current long press operation is performed is out of the limited vehicle speed display recognition range. Instead, an intermediate point between the average value of the vehicle position history at the time of the long press operation detected for the same limited vehicle speed switching position SP and the vehicle position at the time of the current long press operation is obtained, The determination may be made based on whether or not the obtained intermediate point is outside the limit vehicle speed display recognition range.

Thus, the correction accuracy can be improved by making a determination in consideration of the past history.
As shown in FIG. 11, the controller 13 may include an image processing unit 13D. The image processing unit 13D performs image processing of the speed display sign captured by the camera 17, and reads the limited vehicle speed information from the captured image. When the vehicle speed limit information can be read from the image captured by the processing of the image processing unit 13D and the position of the speed display sign can be specified, it is indicated in the map data by the processing information of the image processing unit 13D. Update speed limit switching position information. Then, when the sign position and the speed limit information cannot be recognized by the processing of the image processing unit 13D, the speed limit vehicle speed information may be updated with the operation position information as described above.

Using the recognition of the camera image can improve the correction accuracy more than using only the map data of the navigation system. Further, even when a camera image is used, it is not always necessary to set the resolution of the camera image to a high resolution.
Here, the set / coast SW8 and the resume / accelerate SW9 constitute a target vehicle speed changing operator. Step S501 constitutes an operation detection unit.

(Effect of this embodiment)
(1) The limited vehicle speed information acquisition unit 13Ca acquires road limited vehicle speed information based on the map data information. The target vehicle speed calculation unit 13A obtains the target vehicle speed based on the operation information of the target vehicle speed change operator operated by the driver for changing the vehicle speed and the limit vehicle speed information acquired by the limit vehicle speed information acquisition unit 13Ca. The braking / driving control unit 13B controls the braking / driving force of the vehicle so that the target vehicle speed calculated by the target vehicle speed calculating unit 13A is obtained. When the operation of the target vehicle speed changing operator is detected, the vehicle speed limit information updating unit 13Cb updates the information on the limited vehicle speed switching position SP in the map data. Specifically, the vehicle speed limit information updating unit 13Cb is configured to execute the above operation when the host vehicle is located within a limit vehicle speed change estimation range RS1 set in advance with reference to the limit vehicle speed switching position SP in the map data. When the operation of the target vehicle speed changing operator is detected, the above update is performed.

The speed limit information shown in the map data is updated based on the map data included in the navigation or the like and the operation information of the driver. As a result, the limited vehicle speed switching position SP on the map data is set to a position suitable for the driver without necessarily capturing the limited vehicle speed sign with the camera 17 and reading the limited vehicle speed information from the captured image. It can be corrected.
The information on the speed limit switching position indicated in the map data can be matched with the position on the road, and the driver can be prevented from feeling uncomfortable about the speed limit switching.
In addition, by limiting the update of the restricted vehicle speed information on the road by the driver's operation within the restricted vehicle speed change estimation range RS1, the restricted vehicle speed sign to be corrected can be clarified, and the correction accuracy can be increased.

(2) The operation detection unit is outside the limit vehicle speed display recognizable range RS0 that is within the limit vehicle speed change estimation range RS1 and is narrower than the limit vehicle speed change estimation range RS1 set in advance with reference to the limit vehicle speed switching position. It is detected whether or not the target vehicle speed changing operator has been operated when the host vehicle is positioned at The vehicle speed limit information update unit 13Cb determines that the operation detection unit has detected that the operation has been performed when the host vehicle is positioned outside the limit vehicle speed display recognizable range RS0. The information of the switching position SP is updated to the position side of the own vehicle when the above operation is performed.
The update of the restricted vehicle speed information of the road by the driver's operation is limited to the case where the driver operates the operation member outside the predetermined road range where the restricted vehicle speed display can be recognized even within the estimated restricted vehicle speed position range. As a result, the correction accuracy can be further improved by correcting the distance to the side where the operation is performed.

(3) The vehicle speed limit information updating unit 13Cb has the current vehicle position information that is the current vehicle position when the operation of the target vehicle speed change operator is detected in the past with respect to the same limited vehicle speed switching position SP, and this time The target vehicle speed change operation is performed on the intermediate point between the average position of the previous vehicle position information and the current vehicle position information using the current vehicle position information when the operation of the target vehicle speed change operator is detected. The above update process is performed as the vehicle position when the child operation is performed.
By taking into account the position history of past operations, it is possible to reduce the fluctuation of the current operation position, thereby improving the correction accuracy.

(4) The vehicle includes a camera 17 that can photograph the sign. The vehicle speed limit information update unit 13Cb detects the speed display sign based on the image captured by the camera 17 and recognizes the limited vehicle speed information displayed on the sign, and the position of the detected speed display sign The information on the limited vehicle speed switching position SP is updated based on the operation of the target vehicle speed changing operator when the information on the limited vehicle speed switching position SP is updated and the position of the speed display sign cannot be specified based on the camera 17 image. Update.
When the sign information and position of the speed display sign can be specified from the captured image of the camera 17, the correction accuracy can be improved by using the information as compared with using only the operation information and the map data information.

13 controller 13A target vehicle speed calculation unit 13B braking / driving control unit 13C vehicle speed limit information processing unit 13Ca limit vehicle speed information acquisition unit 13Cb vehicle speed limit information update unit 13D image processing unit 16 navigation system 16a display unit 17 camera RS0 limit vehicle speed display recognizable range RS1 Limit vehicle speed change estimation range SP Limit vehicle speed switching position 8 set / coast SW (target vehicle speed change operator)
9 Resume / Accelerate SW (Target vehicle speed change control)

Claims (5)

A limited vehicle speed information acquisition unit that acquires road limited vehicle speed information based on the map data information;
And the target vehicle speed change operation member to be operated for the driver to change the current speed of running,
When the vehicle on a preset vehicle speed limit changes in the estimation range based on the changed position of the vehicle speed limit in the map data is increased is located, when detecting an operation to increase the vehicle speed of the target vehicle speed change operation device Or, when the host vehicle is positioned within a limit vehicle speed change estimation range set in advance with reference to a change position where the limit vehicle speed decreases in the map data, an operation for decreasing the vehicle speed of the target vehicle speed change operator is performed. If detected, a vehicle speed limit information update unit that updates information on the change position of the limit vehicle speed in the map data based on the position where the operation of the target vehicle speed change operator is detected ;
A driving support apparatus comprising: When the host vehicle is positioned outside the limit vehicle speed display recognizable range, which is a region narrower than the limit vehicle speed change estimation range set in advance within the limit vehicle speed change estimation range and the change position as a reference, An operation detection unit that detects whether or not the operation of the vehicle speed change operator has been performed,
The vehicle speed restriction information updating unit, when it is determined that the detected that subjected to the operation when the operation detecting unit is vehicle speed limit display recognizable range of the host vehicle is located, the information of the changed position The driving support device according to claim 1, wherein the vehicle is updated to a position side of the own vehicle when the operation is performed. The vehicle speed limit information update unit is configured to detect past vehicle position information that is the vehicle position when the operation of the target vehicle speed change operator is detected in the past with respect to the same change position, and the current target vehicle speed change operator. When the operation of the target vehicle speed change operator is performed, the intermediate position between the average position of the previous vehicle position and the current vehicle position is used using the current vehicle position information when the operation of the vehicle is detected. The driving support apparatus according to claim 1, wherein the update process is performed as a vehicle position. It has a camera that can shoot signs,
The vehicle speed restriction information updating unit, based on the camera image captured when made aware of the speed limit information displayed in the detected and the labeling rate display label, the the position of the detected speed display sign update information change positions, and characterized in that if could not identify the position of the speed display indicator on the basis of the camera image, the updating of the information of the change position on the basis of an operation of the target vehicle speed change operator The driving support device according to any one of claims 1 to 3. The road speed limit information on the road is obtained from the map data information, and the operation information of the target vehicle speed change operator operated by the driver to change the current vehicle speed is obtained. When an operation for increasing the vehicle speed of the target vehicle speed changing operator is detected when the host vehicle is located within a limit vehicle speed change estimation range set in advance with reference to the rising change position , or in the map data If an operation for lowering the vehicle speed of the target vehicle speed change operator is detected when the host vehicle is within a preset limit vehicle speed change estimation range based on the change position where the limit vehicle speed decreases, the map A driving support method, wherein information on a change position of a limited vehicle speed in the data is updated based on a position where the operation of the target vehicle speed change operator is detected .

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