Drive assist apparatus, and drive assist method
Provided is a drive assist apparatus such that, in a vehicle in which a plurality of types of drive assist is implemented, the appropriateness of each drive assist can be maintained. A drive assist unit is provided with: a collision avoidance assist unit that implements individual drive assists; a vehicle-to-vehicle distance assist unit; and a cruise travel assist unit. An assist arbitration unit arbitrates between at least two or more drive assists when the at least two or more drive assists are implemented by the drive assist unit within a prescribed time on the basis of a plurality of types of assist elements.
1. A driving assistance apparatus that assists in driving a vehicle, comprising:
a driving assisting section that performs different types of driving assistance by a plurality of assistance elements; and
an assistance arbitration section, which performs arbitration between at least two or more types of driving assistance when the at least two or more types of driving assistance are performed based on the assistance elements by the driving assisting section within a specified period of time that has been specified, wherein
when a request for activating driving assistance based on a second assistance element, which is one of the assistance elements, is detected during performance of driving assistance based on a first assistance element, which is one of the assistance elements, or when a request for activating driving assistance based on the second assistance element is detected after termination of performance of driving assistance based on the first assistance element and before the lapse of the specified period of time, the assistance arbitration section performs, as the arbitration, one of a delay process for delaying the time at which driving assistance is activated based on the second assistance element and a suppression process for suppressing activation of driving assistance based on the second assistance element such that within the specified period of time, simultaneous performance of the driving assistance based on the first assistance element and the driving assistance based on the second assistance element are suppressed, and repeated performance of the first and second assistance elements are suppressed.
2. The driving assistance apparatus according to claim 1 , wherein at least two types of driving assistance based on the assistance elements are different types of driving assistance in conflicting assistance modes.
3. The driving assistance apparatus according to claim 2 , wherein the different types of driving assistance in conflicting assistance modes include acceleration assistance, which assists in acceleration of a vehicle that is an assistance target, and deceleration assistance, which assists in deceleration of the vehicle, which is an assistance target.
4. The driving assistance apparatus according to claim 3 , wherein the assistance elements include at least two of
a vehicle-to-vehicle distance assisting section, which assists in controlling a distance between the assistance target vehicle and a preceding vehicle that travels ahead of the assistance target vehicle in the advancing direction,
a constant speed travel assisting section, which assists the assistance target vehicle in traveling at a constant speed,
a collision avoidance assisting section, which assists in avoidance of collision between the assistance target vehicle and a physical object present in the vicinity of the vehicle, and
an autonomous travel assisting section, which assists the assistance target vehicle in traveling autonomously.
5. The driving assistance apparatus according to claim 4 , wherein
the physical object is a movable body,
based on a relationship between a first time taken by the assistance target vehicle to reach a meeting point where the vehicle meets the movable body and a second time taken by the movable body to reach the meeting point, the collision avoidance assisting section assists in avoidance of collision between the vehicle and the movable body, and
the assistance arbitration section arbitrates, as targets of the arbitration, deceleration assistance performed by the collision avoidance assisting section to assist in avoidance of collision between the assistance target vehicle and the physical object and acceleration assistance performed, as acceleration control, on the assistance target vehicle by at least one of the vehicle-to-vehicle distance assisting section, the constant speed travel assisting section, and the autonomous travel assisting section.
6. The driving assistance apparatus according to claim 5 , wherein
the collision avoidance assisting section performs a process for assisting in avoidance of collision between the assistance target vehicle and the movable body on the condition that each of the first time and the second time is less than or equal to a specified threshold value, and
the assistance arbitration section performs a process for suppressing activation of the acceleration assistance by at least one of the vehicle-to-vehicle distance assisting section, the constant speed travel assisting section, and the autonomous travel assisting section in a period of time during which the first time and the second time are less than or equal to the threshold value.
7. The driving assistance apparatus according to claim 5 , wherein
the collision avoidance assisting section has a map in which an assistance region of performing driving assistance and non-assistance region of performing no driving assistance are specified with respect to a relative relationship between the first time and the second time, and
the collision avoidance assisting section performs the collision avoiding assistance by referring to the map.
8. The driving assistance apparatus according to claim 1 , wherein
at least two types of driving assistance based on the assistance elements include deceleration assistance, which prompts deceleration of the assistance target vehicle,
the driving assisting section calculates a control amount in accordance with required deceleration for each assistance element, and
when detecting requests for activating two or more types of deceleration assistance within the specified period of time, the assistance arbitration section permits, as the arbitration, activation of only deceleration assistance having a maximum control amount of the thus calculated control amounts.
9. A driving assistance method for assisting in driving a vehicle, comprising:
performing different types of driving assistance by a plurality of assistance elements; and
executing arbitration between at least two types of driving assistance when the at least these two types of driving assistance based on an assistance element are performed via performing different types of driving assistance within a specified period of time that has been specified, wherein
in executing arbitration, when a request for activating driving assistance based on a second assistance element, which is one of the assistance elements, is detected during performance of driving assistance based on a first assistance element, which is one of the assistance elements, or when a request for activating driving assistance based on the second assistance element is detected after termination of performance of driving assistance based on the first assistance element and before the lapse of the specified period of time, one of delaying the time at which activation of driving assistance based on the second assistance element and suppressing activation of driving assistance based on the second assistance element is performed such that within the specified period of time, simultaneous performance of the driving assistance based on the first assistance element and the driving assistance based on the second assistance element are suppressed, and repeated performance of the first and second assistance elements are suppressed.
10. The driving assistance method according to claim 9 , wherein
different types of driving assistance in conflicting assistance modes are selected as at least two types of driving assistance based on the assistance elements.
11. The driving assistance method according to claim 10 , wherein
as the different types of driving assistance in conflicting assistance modes, there are selected acceleration assistance, which assists in acceleration of the assistance target vehicle, and deceleration assistance, which decelerates the assistance target vehicle.
12. The driving assistance method according to claim 11 , wherein
as driving assistance by the assistance elements, at least two types of assistance are selected from
vehicle-to-vehicle distance assistance, which assists in controlling a distance between the assistance target vehicle and a preceding vehicle, which travels ahead of the assistance target vehicle in the advancing direction,
constant speed traveling assistance, which assists the assistance target vehicle in traveling at a constant speed,
collision avoiding assistance, which assists in avoidance of collision between the assistance target vehicle and a physical object present in the vicinity of the vehicle, and
autonomous travel assistance, which assists the assistance target vehicle in traveling autonomously.
13. The driving assistance method according to claim 12 , wherein
a movable body is selected as the physical object,
as the collision avoiding assistance, based on a relationship between a first time taken by the assistance target vehicle to reach a meeting point where the movable body meets the vehicle and a second time taken by the movable body to reach the meeting point, assistance that assists in avoidance of collision between the vehicle and the movable body is performed, and
in executing arbitration, arbitration is performed between deceleration assistance for avoiding collision between the assistance target vehicle and a physical object by the collision avoiding assistance and acceleration assistance for accelerating a vehicle that is performed as at least one of the vehicle-to-vehicle distance assistance, the constant speed traveling assistance, and the autonomous travel assistance.