Traveling assistance method and driving control device

Patent metadata

Field	Value
Publication number	US-10787173-B2
Application number	US-201716491033-A
Country	US
Kind code	B2
Filing date	Mar 7, 2017
Priority date	Mar 7, 2017
Publication date	Sep 29, 2020
Grant date	Sep 29, 2020

Abstract

A traveling assistance method of the present invention for a vehicle capable of switching between manual driving by the driver and automated driving includes learning a braking distance of a case of stopping at an intersection during the manual driving by the driver, in which a braking distance of a case of no preceding vehicle in front of the vehicle is preferentially learned.

First claim

The invention claimed is:

1. A traveling assistance method for a driving control device in a vehicle capable of switching between manual driving by a driver and automated driving, the driving control device learning a braking distance of a case of stopping at an intersection during the manual driving by the driver and applying the learning result to traveling properties of the automated driving of the case of stopping at the intersection, wherein
whether there is no preceding vehicle in front of the vehicle is determined, and
when it is determined that there is no preceding vehicle, the braking distance of a case of no preceding vehicle in front of the vehicle is learned.

2. The traveling assistance method according to claim 1 , wherein the preceding vehicle in front of the vehicle is detected, and
when a distance between the vehicle and the preceding vehicle is equal to or greater than a predetermined value, the braking distance is learned.

3. The traveling assistance method according to claim 1 , wherein only the braking distance of the case of no preceding vehicle in front of the vehicle is learned.

4. The traveling assistance method according to claim 1 , wherein the learning is performed using a deceleration starting speed of a case where the vehicle stops at the intersection when there is no preceding vehicle in front of the vehicle and a braking distance of the case where the vehicle stops at the intersection when there is no preceding vehicle in front of the vehicle.

5. The traveling assistance method according to claim 1 or 2 , wherein a relationship of a deceleration starting speed of a case where the vehicle stops at the intersection when there is no preceding vehicle in front of the vehicle and a braking distance of the case where the vehicle stops at the intersection when there is no preceding vehicle in front of the vehicle is learned.

6. The traveling assistance method according to claim 1 , wherein starting of deceleration of the vehicle is detected from at least one of operation of a brake pedal, operation of an accelerator pedal, and a rate of deceleration of the vehicle.

7. The traveling assistance method according to claim 1 , wherein stopping of the vehicle is detected when a speed of the vehicle becomes equal to or lower than a predetermined value.

8. The traveling assistance method according to claim 1 , wherein a distance from starting of deceleration of the vehicle to a stop line of the intersection is the braking distance.

9. The traveling assistance method according to claim 1 , wherein it is determined that there is no preceding vehicle when the preceding vehicle in front of the vehicle is not detected and when a distance between the vehicle and the preceding vehicle is equal to or greater than a predetermined value.

10. The traveling assistance method according to claim 1 , wherein
a braking distance that makes the maximum rate of deceleration equal to or higher than a predetermined value in the case where the vehicle stops at the intersection is not used.

11. The traveling assistance method according to claim 1 , wherein
a braking distance that makes a deceleration starting speed equal to or lower than a predetermined value in the case where the vehicle stops at the intersection is not used.

12. The traveling assistance method according to claim 1 , wherein the learning is performed while associating an environment in which the vehicle is traveling with the braking distance.

13. The traveling assistance method according to claim 12 , wherein
the environment in which the vehicle is traveling is at least one of the number of lanes, road curvature, speed limit, road grade, presence or absence of restriction on temporary stopping or display state of a traffic light of a road where the vehicle is traveling, display state of a direction indicator of the vehicle, and weather, temperature, or illuminance around the vehicle.

14. The traveling assistance method according to claim 1 , wherein when the learning result is applied to traveling properties of the automated driving, whether the vehicle is traveling downhill is determined, and
when the vehicle is traveling downhill, the traveling properties are set such that the braking distance becomes longer than that of a case of traveling uphill.

15. The traveling assistance method according to claim 1 , wherein when the learning result is applied to traveling properties of the automated driving, whether the vehicle turns right or left is determined, and
when the vehicle turns right or left, the traveling properties are set such that the braking distance becomes longer than that of a case of not turning right or left.

16. The traveling assistance method according to claim 1 , wherein when the learning result is applied to traveling properties of the automated driving, whether a traffic light in front of the vehicle is a red light is determined, and
when the traffic light in front of the vehicle is the red light, the traveling properties are set such that the braking distance becomes longer than that of a case where the traffic light is other than the red light.

17. The traveling assistance method according to claim 1 , wherein when the learning result is applied to traveling properties of the automated driving, whether a road where the vehicle is traveling is curved is determined, and
when the road where the vehicle is traveling is curved, the traveling properties are set such that the braking distance becomes longer than that of a case where the road is not curved.

18. The traveling assistance method according to claim 1 , wherein when the learning result is applied to traveling properties of the automated driving, whether the vehicle is traveling at night is determined, and
when the vehicle is traveling at night, the traveling properties are set such that the braking distance becomes longer than that of a case of not at night.

19. The traveling assistance method according to claim 1 , wherein when the learning result is applied to traveling properties of the automated driving, whether weather around the vehicle is bad weather is determined, and
when the weather around the vehicle is bad weather, the traveling properties are set such that the braking distance becomes longer than that of a case of not bad weather.

20. The traveling assistance method according to claim 1 , wherein when the learning result is applied to traveling properties of the automated driving, whether a speed limit of a road where the vehicle is traveling is equal to or greater than a predetermined value is determined, and
when the speed limit of the road where the vehicle is traveling is equal to or greater than the predetermined value, the traveling properties are set such that the braking distance becomes longer than that of a case where the speed limit is smaller than the predetermined value.

21. The traveling assistance method according to claim 1 , wherein a driving style of the driver is determined based on the learning result of the braking distance.

22. The traveling assistance method according to claim 1 , wherein an external server is provided outside of the vehicle, and the braking distance is learned using the external server.

23. The traveling assistance method according to claim 1 , wherein the learning result of the braking distance is applied to a braking distance for the automated driving of the vehicle.

24. A driving control device in a vehicle capable of switching be

Assignees

• Nissan Motor

Inventors

• Hiramatsu Machiko

Classifications

• B60W2554/802

  Longitudinal distance · CPC title

• B60W60/005 Primary

  Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227) · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60W2050/007

  Switching between manual and automatic parameter input, and vice versa · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title