Patent Description:
There has been a known driving supporting apparatus configured to perform the acceleration limiting control when the driver erroneously operates the acceleration operation element.

For example, <CIT> discloses a vehicle acceleration suppression device and method, and <CIT> discloses delay decision making for autonomous driving vehicles in response to obstacles based on confidence level and distance. Besides, a driving supporting apparatus (hereinafter, referred to as a "conventional apparatus"), disclosed in <CIT>, sets a threshold pattern based on a distance between a vehicle and a rear object that is present behind the vehicle, a road gradient, or the like, when the vehicle starts running. The conventional apparatus determines whether or not the acceleration operation element is erroneously operated, using the threshold pattern, and performs the acceleration limiting control when it is determined that the acceleration operation element is erroneously operated.

When the rear object and the road gradient are present, the conventional apparatus can decrease a possibility that it mistakenly determines that the acceleration operation element is erroneously operated when the acceleration operation element is not actually erroneously operated (i. e, it can reduce a possibility of making a mistaken determination). Therefore, the conventional apparatus can decrease a possibility that it performs the unnecessary acceleration limiting control. However, when the rear object and/or the road gradient are/is not present, the conventional apparatus cannot decrease the possibility of making the mistaken determination, and therefore, it also cannot reduce the possibility that it performs the unnecessary acceleration limiting control.

In view of the above, the present inventor has been studying a driving supporting apparatus (hereinafter, referred to as a "developing apparatus") that may be able to reduce the possibility that it performs the unnecessary acceleration limiting control, when the rear object and/or the road gradient are/is not present. The developing apparatus is configured to perform the acceleration limiting control when (it is determined that) the driver erroneously operates the acceleration element in a case where a distance between the vehicle and a front target object that is present in front of the vehicle is equal to or shorter than a predetermined distance threshold.

In general, a driver varies the minimum/shortest distance (i.e., minimum allowable distance) between the vehicle and the front target object depending on a type of the front target object. The driver sets the minimum allowable distance of when the front target object is a vehicle to be a distance shorter than the minimum allowable distance of when the front target object is a pedestrian.

However, since the developing apparatus does not take into consideration the type of the front target object, the developing apparatus cannot sufficiently reduce the possibility that it performs the unnecessary acceleration limiting control.

The present invention is made to cope with the problems described above. That is, one of objectives of the present invention is to provide a driving supporting apparatus that is able to sufficiently reduce the possibility that it performs the unnecessary acceleration limiting control even when the rear object and/or the road gradient are/is not present.

The driving supporting apparatus (hereinafter, referred to as a "present invention apparatus") according to the present invention comprises:.

According to the present invention apparatus, the acceleration limiting control is performed, when the "distance condition that is to be satisfied when the distance between the vehicle and the front target object is equal to or shorter than the distance threshold" is satisfied, and when the erroneous operation condition is satisfied. Therefore, the possibility that the unnecessary acceleration limiting control is performed can be decreased, even when the rear object and/or the road gradient are/is not present. In addition, according to the present invention apparatus, the distance threshold is set to the value that varies depending on the kind of the front target object. In other words, the distance threshold is set to the value that corresponds to the minimum allowable distance varying depending on the kind of the front target object. Therefore, the possibility that the unnecessary erroneous operation corresponding control is performed can be sufficiently decreased, even when the rear object and/or the road gradient are/is not present.

In some embodiments, the control unit is configured to set, when the kind of the front target object is a vehicle, the distance threshold to a value that is smaller than a value of the distance threshold that is set when the kind of the front target object is a pedestrian.

When the kind of the front target object is a vehicle, the driver of the host vehicle attempts to overtake or pass the front target object, and therefore, the minimum allowable distance tends to be shorter than that of when the kind of the front target object is a pedestrian. According to the above embodiment, since the distance threshold is set to a value that corresponds to the minimum allowable distance varying depending on the kind of the front target object, the possibility that the unnecessary erroneous operation corresponding control is performed can be further decreased.

In some embodiments, the control unit is configured to determine that the erroneous operation condition is satisfied in a period.

When the driver erroneously operates the acceleration operation element, it is likely that the operation amount of the acceleration operation element becomes equal to or greater than the operation amount threshold, and it is also likely that the change rate of the operation amount of the acceleration operation element becomes equal to or greater than the operation amount change rate threshold. According to the above embodiment, a possibility that it is determined that the erroneous operation condition is satisfied when the driver is actually erroneously operating the acceleration operation element can be increased.

In some embodiment, the control unit is configured to perform the acceleration limiting control, when the distance condition and the erroneous operation condition are satisfied, in a case in which a vehicle speed indicative of a speed of the vehicle is equal to or lower than a predetermined speed threshold.

An apparatus may be possible to be configured to perform the acceleration limiting control when a time to collision that is a time necessary/required for the vehicle to collide with the front target object becomes equal to or shorter than a start time threshold. However, when the vehicle speed is relatively low, the time to collision tends to be long, and thus, a possibility that a necessary acceleration limiting control is performed may be reduced. Whereas, according to the above embodiment, whether to perform the acceleration limiting control is determined based on the distance to the front target object when the vehicle speed is relatively low. Therefore, the possibility that the necessary acceleration limiting control is performed can be increased.

In some embodiment, the control unit is configured to vary the distance threshold in such a manner that the distance threshold is greater as a relative speed of the front target object with respect to the vehicle is higher.

The above described time to collision is shorter, as the relative speed is higher. In view of this, in the above embodiment, the distance threshold is made greater, as the relative speed is higher. Therefore, the acceleration limiting control can be started at an earlier timing as the relative speed is higher.

In some embodiment, the control unit is configured to:.

According to the above embodiment, the above described determination can be made from the front target object whose distance is more likely to be equal to or shorter than the distance threshold, and thus, processing load of the present disclosure apparatus can be decreased.

A driving supporting method according to the present invention is a method for performing an acceleration limiting control to limit an acceleration of a vehicle in such a manner that the acceleration of the vehicle does not exceed a predetermined limiting acceleration comprises:.

A program storage device according to the present invention is a device, readable by machine, storing a program for performing an acceleration limiting control to limit an acceleration of a vehicle in such a manner that the acceleration of the vehicle does not exceed a predetermined limiting acceleration.

The program causes a computer (processor) to implement processes of:.

By the driving supporting method according to the present invention, and the program storage device according to the present invention, the distance threshold is set to the value that varies depending on the kind of the front target object. In other words, the distance threshold is set to the value that corresponds to the minimum allowable distance varying depending on the kind of the front target object. Therefore, the possibility that the unnecessary erroneous operation corresponding control is performed can be sufficiently decreased, even when the rear object and/or the road gradient are/is not present.

Notably, in the above description, in order to facilitate understanding of the present invention, the constituent elements or the like corresponding to those of the embodiments which will be described later are accompanied by parenthesized names and/or symbols which are used in the embodiments. However, the constituent elements should not be limited to those in the embodiments defined by the names and/or the symbols. Other objects, other features, and attendant advantages of the present invention will be readily appreciated from the following description of the embodiment which is made with reference to the accompanying drawings.

A driving supporting apparatus (hereinafter, referred to as a "present supporting apparatus") <NUM> according to an embodiment is applied to (or installed in) a vehicle VA (refer to <FIG>). The present supporting apparatus <NUM> comprises a driving supporting ECU (hereinafter, referred to as a "DSECU") <NUM>, a driving ECU <NUM>, and a brake ECU <NUM>. These ECUs are communicably connected with each other so as to be able to mutually exchange data through a CAN (Controller Area Network).

An "ECU" is an abbreviation of an "Electronic Control Unit" that is an electronic control circuit including a microcomputer as a main component. The microcomputer includes a CPU, a ROM, a RAM, and an interface (I/F). The ECU may sometimes be referred to as a "control unit", a "controller", or a "computer". The CPU is configured and/or programmed to realize various functions by executing instructions (routines) stored in a memory (the ROM). Some or all of the ECUs <NUM>, <NUM>, and <NUM> may be integrated into a single ECU.

The present supporting apparatus <NUM> comprises a plurality of wheel speed sensors <NUM>, an acceleration sensor <NUM>, a camera device <NUM>, and a millimeter wave radar device <NUM>.

The wheel speed sensors <NUM> are connected to the DSECU <NUM>, the driving ECU <NUM>, and the brake ECU <NUM> so as to mutually exchange data therebetween. The wheel speed sensors <NUM> are provided to respective wheels of the vehicle VA. Each of the wheel speed sensors <NUM> generates one pulse signal when the corresponding wheel rotates by a predetermined angle. The DSECU <NUM>, the driving ECU <NUM>, and the brake ECU <NUM> count the number of the pulse signals from each of the wheel speed sensors <NUM> per unit time, and obtain a wheel rotational speed (or a wheel speed) of each of the wheels based on the counted number. The DSECU <NUM> obtains a vehicle speed Vs indicative of a moving speed of the vehicle VA based on the wheel rotational speeds of the wheels. For instance, the DSECU <NUM> obtains an average of the wheel speeds of four of the wheels as the vehicle speed Vs.

The acceleration sensor <NUM> is connected to the DSECU <NUM> so as to mutually exchange data therebetween. The acceleration sensor <NUM> measures an acceleration G of the vehicle VA in a front-rear direction of the vehicle VA so as to generate a detected signal indicative of the acceleration G. The DSECU <NUM> specifies/obtains the acceleration G based on the detected signal from the acceleration sensor <NUM>.

It should be noted that the acceleration sensor <NUM> may be configured to measure an acceleration in a left-right (vehicle width) direction of the vehicle VA and/or an acceleration in a vertical direction of the vehicle VA, in addition to the acceleration G in the front-rear direction of the vehicle VA.

The camera device <NUM> is arranged at an upper part of a front windshield and inside a cabin of the vehicle VA, and is connected to the DSECU <NUM> so as to mutually exchange data therebetween. The camera device <NUM> is configured to obtain/capture an image of an area in front of (or ahead of) the vehicle VA so as to obtain image data.

The camera device <NUM> includes an image processing ECU 23a. The image processing ECU 23a specifies a kind (type) of a target object, based on the image data. More specifically, the image processing ECU 23a specifies a kind of a target object by comparing an image of the target object included in the image data with image templates of a vehicle, a pedestrian, and a two wheels (or a bike).

It should be noted that a part or a whole of functions that the image processing ECU 23a realizes may be implemented by at least one of the ECUs <NUM>, <NUM>, and <NUM>.

The millimeter wave radar device <NUM> is arranged at a position in the vicinity of a lateral center of a front end of the vehicle VA, and is connected to the DSECU <NUM> so as to mutually exchange data therebetween. The millimeter wave radar device <NUM> radiates/transmits a millimeter wave that propagates in a predetermined area ahead of (in front of) the vehicle VA. The millimeter wave is reflected from (by) a three dimensional object (target object) including a vehicle other than the vehicle VA, a pedestrian, and a two wheels. The millimeter wave radar device <NUM> receives the reflected wave, and obtains radar object information based on the received reflected wave. The radar object information includes a reception result of the reflected wave (power spectrum data of the reflected wave), a distance to the target object, a lateral position of the target object, and a relative speed Vr of the target object with respect to the vehicle VA.

The image processing ECU 23a recognizes an object (hereinafter, referred to as a "front target object") located/present in front of the vehicle VA based on the image data and "the reception result of the reflected wave included in the radar object information sent from the millimeter wave radar device <NUM>", and obtains a distance to the object and a lateral position of the object. Thereafter, the image processing ECU 23a transmits target object information which includes a distance D to the target object, a lateral position of the target object, a relative speed Vr of the target object, and a kind of the target object to the DSECU <NUM>. The relative speed Vr has a positive value when the target object is approaching (coming closer to) the vehicle VA.

Furthermore, the present supporting apparatus <NUM> comprises an acceleration pedal operation amount sensor <NUM>, a driving source actuator <NUM>, a brake pedal operation amount sensor <NUM>, and a brake actuator <NUM>.

The driving ECU <NUM> is connected with the acceleration pedal operation amount sensor <NUM> and the driving source actuator <NUM> so as to mutually exchange data therebetween.

The acceleration pedal operation amount sensor <NUM> detects an operation amount (i.e., an acceleration pedal operation amount AP) of an acceleration pedal 32a of the vehicle VA, and generates a detected signal indicative of the acceleration pedal operation amount AP. The acceleration pedal 32a is an acceleration operation element (i.e., accelerator) that is operated by the driver in order to increase a driving force which a driving source (e.g., a motor and an internal combustion engine) 34a of the vehicle VA generates. When the driver does not operate the acceleration pedal 32a (i.e., when the driver does not depress the acceleration pedal 32a), the acceleration pedal operation amount AP is "<NUM>". The acceleration pedal operation amount AP becomes greater, as an amount by which the driver depresses the acceleration pedal 32a becomes greater.

The driving ECU <NUM> obtains the acceleration pedal operation amount AP based on the detected signal from the acceleration pedal operation amount sensor <NUM>, and notifies the DSECU <NUM> of the acceleration pedal operation amount AP.

The driving source actuator <NUM> is connected to the driving source (e.g., the motor and the internal combustion engine) 34a. The driving ECU <NUM> varies a driving state of the driving source 34a by controlling the driving source actuator <NUM>. Thus, the driving ECU <NUM> is able to adjust a driving force applied to the vehicle VA. The driving ECU <NUM> controls the driving source actuator <NUM> in such a manner that the driving force applied to the vehicle VA becomes greater as the acceleration pedal operation amount AP becomes greater. In addition, when the driving ECU <NUM> receives an acceleration-deceleration instruction including a target acceleration Gtgt transmitted from DSECU <NUM>, the driving ECU <NUM> controls the driving source actuator <NUM> in such a manner that the acceleration G of the vehicle VA coincides with (becomes equal to) the target acceleration Gtgt.

The brake ECU <NUM> is connected with the brake pedal operation amount sensor <NUM> and the brake actuator <NUM> so as to mutually exchange data therebetween.

The brake pedal operation amount sensor <NUM> detects an operation amount (i.e., a brake pedal operation amount BP) of a brake pedal 42a of the vehicle VA, and generates a detected signal indicative of the brake pedal operation amount BP. The brake ECU <NUM> obtains the brake pedal operation amount BP based on the detected signal from the brake pedal operation amount sensor <NUM>.

The brake actuator <NUM> is connected with a well-known hydraulic brake device 44a. The brake ECU <NUM> varies a frictional brake force generated by the brake device 44a by controlling the brake actuator <NUM>. Thus, the brake ECU <NUM> is able to adjust/control a brake force applied to the vehicle VA. The brake ECU <NUM> controls the brake actuator <NUM> in such a manner that the brake force applied to the vehicle VA becomes greater as the brake pedal operation amount BP becomes greater. In addition, when the brake ECU <NUM> receives the above-described acceleration-deceleration instruction transmitted from DSECU <NUM>, the brake ECU <NUM> controls the brake actuator <NUM> in such a manner that the acceleration G of the vehicle VA coincides with the target acceleration Gtgt.

Furthermore, the present supporting apparatus <NUM> comprises a display <NUM>. The DSECU <NUM> is connected with the display <NUM> so as to mutually exchange data therebetween. The display <NUM> receives a display signal transmitted from the DSECU <NUM>, and display displayed information indicated by the display signal. The display <NUM> may be a head up display (hereinafter, referred to as a "HUD") arranged in a part of an area (display area) of the front windshield of the vehicle VA, or may be a multi information display.

The present assistance apparatus <NUM> is configured to determine that an erroneous operation condition is satisfied in a period from a time point at which a predetermined erroneous operation start condition becomes satisfied to a time point at which a predetermined return condition becomes satisfied. The erroneous operation condition is a condition that is to be satisfied when (it can be determined that) the driver is erroneously operating the acceleration pedal 32a.

The present supporting apparatus <NUM> specifies (obtains), based on the target object information from the camera device <NUM>, the distance D to the target object, the lateral position of the target object, the relative speed Vr of the target object, and the kind of the target object. The present supporting apparatus <NUM> performs an erroneous operation corresponding control, when a distance condition and the erroneous operation condition are satisfied, the distance condition being a condition that is to be satisfied when the distance D to the target object is equal to or shorter than a distance threshold Dth. It should be noted that, when there are a plurality of front target objects, the present supporting apparatus <NUM> performs the erroneous operation corresponding control when a distance D to any one of the front target objects is equal to or shorter than the distance threshold Dth and the erroneous operation condition is satisfied.

The present supporting apparatus <NUM> performs, as the erroneous operation corresponding control, an acceleration limiting control to control the vehicle VA in such a manner that the acceleration G of the vehicle VA does not exceed a predetermined limiting acceleration Glmt in a period from a start time point of the erroneous operation corresponding control to a time point at which a predetermined time T1 elapses from the start time point of the erroneous operation corresponding control.

After the predetermined time T1 elapses from the start time point of the erroneous operation corresponding control, the present supporting apparatus <NUM> performs, as the erroneous operation corresponding control, a mild deceleration control to decelerate the vehicle VA at a predetermined negative acceleration Gsb.

The present supporting apparatus <NUM> is characterized in that it varies the distance threshold Dth depending on a kind of the front target object. The distance threshold Dth has been set based on the "minimum/shortest distance (i.e., the minimum allowable distance) between the vehicle VA and the front target object" that a typical driver varies depending on a type of the front target object. Since the present supporting apparatus <NUM> varies the distance threshold Dth depending on a kind of the front target object, the present supporting apparatus <NUM> can reduce the possibility that the present supporting apparatus <NUM> undesirably performs the erroneous operation corresponding control when the driver is deliberately operating the acceleration pedal 32a.

As shown in <FIG>, when a kind of the front target object is a vehicle (VB), the present supporting apparatus <NUM> obtains a distance threshold Dvth by applying the relative speed Vr of the front target object to a vehicle distance threshold map MapDvth(Vr), and sets the distance threshold Dth to the thus obtained distance threshold Dvth (i.e., Dth←Dvth).

The vehicle distance threshold map MapDvth(Vr) defines a relationship between the relative speed Vr of the front target object and the distance threshold Dvth. More specifically, according to the vehicle distance threshold map MapDvth(Vr), the distance threshold Dvth is longer as the relative speed Vr of the front target object is higher.

As shown in <FIG>, when a kind of the front target object is a pedestrian (PD), the present supporting apparatus <NUM> obtains a distance threshold Dpth by applying the relative speed Vr of the front target object to a vehicle distance threshold map MapDpth(Vr), and sets the distance threshold Dth to the thus obtained distance threshold Dpth (i.e., Dth←Dpth).

According to the vehicle distance threshold map MapDpth(Vr), the distance threshold Dpth is longer as the relative speed Vr of the front target object is higher.

As shown in <FIG>, the distance threshold Dvth has been set at a value smaller than the distance threshold Dpth. This is because the minimum allowable distance between the vehicle VA and the front target object of when the kind of the front target object is a vehicle tends to be shorter than the minimum allowable distance between the vehicle VA and the front target object of when the kind of the front target object is a pedestrian, according to a typical driver. The minimum allowable distance between the vehicle VA and the front target object of when the kind of the front target object is a vehicle tends to be relatively short, because it is necessary for the typical driver to cause the vehicle VA to come closer to a vehicle in front of the vehicle VA, when he/she intends to overtake or pass the vehicle in front of the vehicle VA.

In this manner, since the distance threshold Dth is set to a value that corresponds to the minimum allowable distance varying depending on a kind of the front target object, the possibility that the unnecessary erroneous operation corresponding control is performed can be decreased.

Example of operations of the present supporting apparatus <NUM> will next be described with reference to <FIG>.

At a time point t1, the present supporting apparatus <NUM> determines that the erroneous operation start condition becomes satisfied. However, the present supporting apparatus <NUM> does not start performing the erroneous operation corresponding control at the time point t1, because a distance D1 to the front target object is longer than the distance threshold Dth at the time point t1.

The erroneous operation start condition becomes satisfied, when all of first to third conditions described below are satisfied.

First condition: the first condition is satisfied when the vehicle speed Vs is equal to or lower than a speed threshold Vsth.

Second condition: the second condition is satisfied when the acceleration pedal operation amount AP is equal to or greater than an operation amount threshold APth.

Third condition: the third condition is satisfied when an acceleration pedal operation amount change rate Vap is equal to or greater than an operation amount change rate threshold Vapth.

The return condition becomes satisfied, when a fourth condition described below is satisfied.

Fourth condition: the fourth condition is satisfied when the acceleration pedal operation amount AP is smaller than a return operation amount threshold APcth.

The return operation amount threshold APcth has been set at a value smaller than the operation amount threshold APth. For example, the return operation amount threshold APcth is set at "<NUM>". In this case, the CPU determines that the return condition becomes satisfied when the driver takes his/her foot off the acceleration pedal 32a.

At a time point t2, a distance D2 becomes equal to or shorter than the distance threshold Dth. It is assumed that the return condition does not become satisfied in a period from the time point t1 to the time point t2. Thus, the present supporting apparatus <NUM> determines that the erroneous operation condition has been satisfied. At the time point t2, the present supporting apparatus <NUM> starts (performing) the erroneous operation corresponding control, because the distance condition is satisfied (the distance D2 is equal to or shorter than the distance threshold Dth) and the erroneous operation condition is satisfied. More specifically, the present supporting apparatus <NUM> performs the acceleration limiting control as the erroneous operation corresponding control, and performs a first alert (first warning) to cause the display <NUM> to display a message stating that the acceleration pedal 32a is depressed/operated.

At a time point t3, the predetermined time T1 elapses since the time point t2 at which the erroneous operation corresponding control is started. At the time point t3, the present supporting apparatus <NUM> starts (performing) the mild deceleration control as the erroneous operation corresponding control, and performs a second alert (second warning) to cause the display <NUM> to display a message urging the driver to depress/operate the brake pedal <NUM> (i.e., a message stating "Depress brake pedal") in addition to the above-described message.

At a time point t4, the present supporting apparatus <NUM> determines that the return condition becomes satisfied, and therefore, determines that the driver is no longer erroneously operating the acceleration pedal 32a (the driver is not performing the erroneous operation). At the time point t4, the present supporting apparatus <NUM> ends the erroneous operation corresponding control.

In the example shown in <FIG>, the erroneous operation start condition becomes satisfied at the time point t1 that is before the time point t2 at which the distance condition becomes satisfied. Whereas, if the erroneous operation start condition becomes satisfied at or after the time point t2 at which the distance condition becomes satisfied, the present supporting apparatus <NUM> starts (performing) the erroneous operation corresponding control at the time point at which the erroneous operation start condition becomes satisfied.

The CPU of the DSECU <NUM> (hereinafter, the "CPU" means the CPU of the DSECU <NUM> unless otherwise specified) is configured or programmed to execute a routine (i.e., an erroneous operation determining routine) shown by a flowchart in <FIG> every time a predetermined time elapses.

When an appropriate time point comes, the CPU starts processing from step <NUM> in <FIG>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not a value of an erroneous operation flag Xeo is "<NUM>".

The value of the erroneous operation flag Xeo is set to "<NUM>" when the erroneous operation start condition becomes satisfied, and is set to "<NUM>" when the return condition becomes satisfied. In other words, the value of the erroneous operation flag Xeo is set to "<NUM>" when the erroneous operation condition is satisfied. It should be noted that the CPU sets the value of the erroneous operation flag Xeo to "<NUM>" in an unillustrated initialization routine executed by the CPU when a position of an unillustrated ignition key switch of the vehicle VA is changed to an on position from an off position.

When the value of the erroneous operation flag Xeo is "<NUM>", the CPU makes a "Yes" determination at step <NUM>, and proceeds step <NUM>. At step <NUM>, the CPU determines whether or not the vehicle speed Vs is equal to or lower than the speed threshold Vsth.

When the vehicle speed Vs is higher than the speed threshold Vsth, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

Whereas, when the vehicle speed Vs is equal to or lower than the speed threshold Vsth, the CPU makes a "Yes" determination at step <NUM>, and proceeds step <NUM>. At step <NUM>, the CPU determines whether or not the acceleration pedal operation amount AP is equal to or greater than the predetermined operation amount threshold APth.

When the acceleration pedal operation amount AP is smaller than the predetermined operation amount threshold APth, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

Whereas, when the acceleration pedal operation amount AP is equal to or greater than the operation amount threshold APth, the CPU makes a "Yes" determination at step <NUM>, and proceeds step <NUM>. At step <NUM>, the CPU determines whether or not the acceleration pedal operation amount change rate Vap is equal to or greater than the predetermined operation amount change rate threshold Vapth.

The CPU obtains a subtraction value dAP by subtracting the acceleration pedal operation amount AP of when the CPU previously executed the present routine from the acceleration pedal operation amount AP of when the CPU currently executes the present routine. Thereafter, the CPU obtains the acceleration pedal operation amount change rate Vap by dividing the subtraction value dAP by a time dt that is an execution interval of the present routine.

When the acceleration pedal operation amount change rate Vap is smaller than the operation amount change rate threshold Vapth, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

Whereas, when the acceleration pedal operation amount change rate Vap is equal to or greater than the operation amount change rate threshold Vapth, the CPU makes a "Yes" determination at step <NUM>, and proceeds step <NUM>. At step <NUM>, the CPU sets the value of the erroneous operation flag Xeo to "<NUM>", and proceeds to step <NUM> to terminate the present routine tentatively.

If the value of the erroneous operation flag Xeo is "<NUM>" when the CPU proceeds to step <NUM>, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

The CPU is configured or programmed to execute a routine (i.e., a return determining routine) shown by a flowchart in <FIG> every time a predetermined time elapses.

When an appropriate time point comes, the CPU starts processing from step <NUM> in <FIG>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not the value of the erroneous operation flag Xeo is "<NUM>".

The value of the erroneous operation flag Xeo is "<NUM>", the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

When the value of the erroneous operation flag Xeo is "<NUM>", the CPU makes a "Yes" determination at step <NUM>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not the acceleration pedal operation amount AP is smaller than the predetermined return operation amount threshold APcth.

When the acceleration pedal operation amount AP is equal to or greater than the return operation amount threshold APcth, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

Whereas, when the acceleration pedal operation amount AP is smaller than the return operation amount threshold APcth, the CPU determines that the return condition becomes satisfied, and the erroneous operation condition is no longer satisfied. In this case, the CPU makes a "Yes" determination at step <NUM>, and sequentially executes the processes of step <NUM> to step <NUM>.

Step <NUM>: the CPU sets the value of the erroneous operation flag Xeo to "<NUM>".

Step <NUM>: the CPU sets a value of an execution flag Xexe to "<NUM>".

The value of the execution flag Xexe is set to "<NUM>" when the erroneous operation corresponding control is performed. It should be noted that the CPU sets the value of the execution flag Xexe to "<NUM>" in the above-described initialization routine.

Step <NUM>: the CPU sets a value of an execution time timer Texe to "<NUM>".

The execution time timer Texe is a timer for measuring an elapsed time from the start time point of the erroneous operation corresponding control.

Thereafter, the CPU proceeds to step <NUM> to terminate the present routine tentatively.

The CPU is configured or programmed to execute a routine (i.e., an execution determining routine) shown by a flowchart in <FIG> every time a predetermined time elapses.

When an appropriate time point comes, the CPU starts processing from step <NUM> in <FIG>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not the value of the execution flag Xexe is "<NUM>".

When the value of the execution flag Xexe is "<NUM>", the CPU makes a "Yes" determination at step <NUM>, and sequentially executes the processes of step <NUM> and step <NUM>.

Step <NUM>: the CPU obtains the target object information from the camera device <NUM>.

Step <NUM>: the CPU determines whether or not the vehicle speed Vs is higher than a predetermined speed threshold Vsth'. It is preferable that the speed threshold Vsth' be set at a value higher than the speed threshold Vsth. However, the speed threshold Vsth' may be set at a value equal to or lower than the speed threshold Vsth. If the speed threshold Vsth' has been set at the value equal to or lower than the speed threshold Vsth, the CPU cannot start (performing) the erroneous operation corresponding control when the erroneous operation start condition becomes satisfied before the distance condition becomes satisfied.

When the vehicle speed Vs is equal to or lower than the speed threshold Vsth', the CPU determines that the vehicle speed Vs is relatively low. In this case, the CPU makes a "Yes" determination at step <NUM>, and sequentially executes the processes of step <NUM> and step <NUM>.

Step <NUM>: the CPU selects the front target object having the shortest distance D from among the front target objects. Hereinafter, the selected front target object is referred to as a "selected target object".

Step <NUM>: the CPU determines whether or not a kind of the selected target object is a vehicle.

When the kind of the selected target object is a vehicle, the CPU makes a "Yes" determination at step <NUM>, and sequentially executes the processes of step <NUM> and step <NUM>.

Step <NUM>: the CPU obtains the distance threshold Dvth by applying the relative speed Vr of the selected target object to the vehicle distance threshold map MapDvth(Vr), and sets the distance threshold Dth to the distance threshold Dvth (i.e., Dth←Dvth).

Step <NUM>: the CPU determines whether or not the distance D of the selected target object is equal to or shorter than the distance threshold Dth.

When the distance D of the selected target object is equal to or shorter than the distance threshold Dth, the CPU makes a "Yes" determination at step <NUM>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not the value of the erroneous operation flag Xeo is "<NUM>".

When the value of the erroneous operation flag Xeo is "<NUM>", the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

Whereas, when the value of the erroneous operation flag Xeo is "<NUM>", the CPU makes a "Yes" determination at step <NUM>, and sequentially executes the processes of step <NUM> and step <NUM>.

Step <NUM>: the CPU sets the value of the execution flag Xexe to "<NUM>".

Step <NUM>: the CPU sets the value of the execution time timer Texe to "<NUM>".

If the kind of the selected target object is not a vehicle when the CPU proceeds to step <NUM>, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not the kind of the selected target object is a pedestrian.

When the kind of the selected target object is a pedestrian, the CPU makes a "Yes" determination at step <NUM>, executes the process of step <NUM>, and proceeds to step <NUM>.

Step <NUM>: the CPU obtains the distance threshold Dpth by applying the relative speed Vr of the selected target object to the pedestrian distance threshold map MapDpth(Vr), and sets the distance threshold Dth to the distance threshold Dpth (i.e., Dth←Dpth).

If the kind of the selected target object is not a pedestrian when the CPU proceeds to step <NUM>, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not the kind of the selected target object is a two wheels.

When the kind of the selected target object is a two wheels, the CPU makes a "Yes" determination at step <NUM>, executes the process of step <NUM>, and proceeds to step <NUM>.

Step <NUM>: the CPU obtains the distance threshold Dtth by applying the relative speed Vr of the selected target object to the two wheels distance threshold map MapDtth(Vr), and sets the distance threshold Dth to the distance threshold Dtth (i.e., Dth←Dtth).

If the kind of the selected target object is not a two wheel (for example, the kind of the selected target object is a wall, a guard rail, or the like) when the CPU proceeds to step <NUM>, the CPU makes a "No" determination at step <NUM>, executes the process of step <NUM>, and proceeds to step <NUM>.

Step <NUM>: the CPU obtains the distance threshold Doth by applying the relative speed Vr of the selected target object to the other object distance threshold map MapDoth(Vr), and sets the distance threshold Dth to the distance threshold Doth (i.e., Dth←Doth).

It should be noted that, as understood from the two wheels distance threshold map MapDtth(Vr) and the other object distance threshold map MapDoth(Vr) shown in <FIG>, each of the distance threshold maps has been set as follows for an certain arbitrary relative speed Vr of the selected target object, as just one example.

The distance threshold Dpth is the longest.

The distance threshold Dvth is the shortest.

The distance threshold Dtth is longer than the distance threshold Doth.

Each of the distance thresholds Dpth, Dtth, Doth, and Dvth is longer, as the relative speed Vr is higher.

If the distance D of the selected target object is longer than the distance threshold Dth when the CPU proceeds to step <NUM>, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM>. At step <NUM>, the CPU determines whether or not there is a front target object whose distance D is the second shortest (longer than and next to the distance D of the selected target object).

If there is the front target object whose distance D is the second shortest, the CPU makes a "Yes" determination at step <NUM>, and proceeds to step <NUM>. At step <NUM>, the CPU employs the front target object whose distance D is the second shortest as a new selected target object, and repeats the process of step <NUM> and the processes of steps following the step <NUM>.

In contrast, if the front target object whose distance D is the second shortest is not present, the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

In this manner, the CPU sequentially employs, as the selected target object, one of the front target objects in ascending order with respect to the distance D, and determines whether or not the distance D of the selected target object is equal to or shorter than the distance threshold Dth. This enables the CPU to make the above-described determinations regarding the front target objects in the order corresponding to the front target object whose distance D is more likely to be equal to or shorter than the distance threshold Dth. Therefore, processing load of the CPU can be decreased.

Whereas, if the vehicle speed Vs is higher than the speed threshold Vsth' when the CPU proceeds to step <NUM>, the CPU determines that the vehicle speed Vs is relatively high. In this case, the CPU makes a "No" determination at step <NUM>, and the CPU proceeds to step <NUM> to terminate the present routine tentatively.

An apparatus may be configured to start (performing) the erroneous operation corresponding control, when the time to collision (required time to collision) TTC is equal to or shorter than a predetermined start time threshold and when the value of the erroneous operation flag Xeo is "<NUM>". The TTC is a time necessary/required for the vehicle VA to collide with the front target object, and is obtained by dividing the distance D by the relative speed Vr.

When the vehicle speed Vs is relatively low, the TTC tends to be long, and thus, does not tend to be shorter than the start time threshold Tsth. This may reduce a possibility that a necessary acceleration limiting control is performed. When the vehicle speed Vs is relatively high, it is preferable that a control to decelerate the vehicle VA be performed instead of the acceleration limiting control. Accordingly, only when the vehicle speed Vs is relatively low, the CPU is configured to make a "Yes" determination at step <NUM>, and proceed to step <NUM> so as to determine whether to perform the acceleration limiting control based on the distance D. Thus, the CPU can increase the possibility that the necessary acceleration limiting control is performed when the vehicle speed Vs is relatively low.

The CPU is configured or programmed to execute a routine (i.e., an erroneous operation corresponding control routine) shown by a flowchart in <FIG> every time a predetermined time elapses.

The value of the execution flag Xexe is "<NUM>", the CPU makes a "No" determination at step <NUM>, and proceeds to step <NUM> to terminate the present routine tentatively.

Step <NUM>: the CPU increments the value of the execution time timer Texe by "<NUM>".

Step <NUM>: the CPU determines whether or not the value of the execution time timer Texe is equal to or smaller than a threshold Tth. The threshold Tth has been set to a value that the execution time timer Texe reaches, when the predetermined time T1 elapses from the start time point of the erroneous operation corresponding control.

When the value of the execution time timer Texe is equal to or smaller than the threshold Tth, the CPU makes a "Yes" determination at step <NUM>, and sequentially executes the processes of step <NUM> to step <NUM>.

Step <NUM>: the CPU performs the acceleration limiting control.

More specifically, the CPU obtains the acceleration pedal operation amount AP from the driving ECU <NUM>, and obtains an acceleration pedal corresponding acceleration Gap that corresponds to the acceleration pedal operation amount AP. The acceleration pedal corresponding acceleration Gap becomes larger, as the acceleration pedal operation amount AP becomes greater.

When the acceleration pedal corresponding acceleration Gap is greater than the predetermined limiting acceleration Glmt, the CPU sets the target acceleration Gtgt to the limiting acceleration Glmt. When the acceleration pedal corresponding acceleration Gap is equal to or smaller than the limiting acceleration Glmt, the CPU sets the target acceleration Gtgt to the acceleration pedal corresponding acceleration Gap.

Step <NUM>: the CPU transmits the acceleration-deceleration instruction including the target acceleration Gtgt to the driving ECU <NUM> and the brake ECU <NUM>.

Step <NUM>: the CPU performs the first alert (first warning).

Whereas, when the value of the execution time timer Texe is greater than the threshold Tth, the CPU makes a "No" determination at step <NUM>, and sequentially executes the processes of step <NUM> to step <NUM>.

Step <NUM>: the CPU performs the mild deceleration control.

More specifically, the CPU sets the target acceleration Gtgt to the predetermined negative acceleration Gsb.

Step <NUM>: the CPU performs the second alert (second warning).

As understood from the above, the present supporting apparatus <NUM> employs the distance threshold Dth that varies depending on the kind of the front target object, and thus, can reduce the possibility that the unnecessary erroneous operation corresponding control is performed.

The present invention should not be limited to the above-described embodiment, and may employ various modifications within the scope of the claims.

In the above-described embodiment, the CPU is configured to determine that the erroneous operation start condition becomes satisfied, when all of the above-described first to third conditions are satisfied (refer to <FIG>). In the present modification, however, the CPU is configured to determine that the erroneous operation start condition becomes satisfied, when the first condition is satisfied and when one of the second condition and the third condition is satisfied.

It should be noted that the CPU may be configured to determine that the erroneous operation start condition becomes satisfied, when at least one of the second condition and the third condition is satisfied, even if the first condition is not satisfied.

The CPU may be configured to determine that the return condition becomes satisfied, when at least one of the above-described fourth condition, the following fifth condition, and the following sixth condition is satisfied.

Fifth condition: the fifth condition is satisfied when the driver continues operating the brake pedal 42a for a predetermined time.

Sixth condition: the sixth condition is satisfied when the driver operates an unillustrated cancel button.

The CPU may be configured to determine whether or not the erroneous operation start condition becomes satisfied, only when the distance condition is satisfied. More specifically, the CPU does not execute the erroneous operation determining routine shown in <FIG> every time the predetermined time elapses. Instead, the CPU executes a sub routine that is the same as the erroneous operation determining routine shown in <FIG>, when and after the distance D is equal to or shorter than the distance threshold Dth (i.e., when and after the CPU makes a "Yes" determination at step <NUM>). In this case, when the CPU makes a "No" determination at step <NUM> (i.e. when there is no front target object whose distance D is equal to or shorter than the distance threshold Dth), the CPU sets the value of the erroneous operation flag Xeo to "<NUM>".

In the above-described embodiment, the CPU is configured to perform, as the erroneous operation corresponding control, the acceleration limiting control and the mild deceleration control. However, the CPU may be configured to perform at least the acceleration limiting control as the erroneous operation corresponding control, and needs not necessarily perform the mild deceleration control as the erroneous operation corresponding control.

The camera device <NUM> may be a stereo camera device, or may be a monocular camera device. The millimeter wave radar device <NUM> may be replaced with a remote sensing device that is capable of detecting an object by radiating a radio wave other than the millimeter wave and receiving its reflected wave. In addition, the present supporting apparatus <NUM> does not necessarily comprise the millimeter wave radar device <NUM>, as long as the present supporting apparatus <NUM> can accurately specify (obtain) a position of an object with respect to the vehicle VA based on camera object information obtained from the image data. When the present supporting apparatus <NUM> does not comprise the millimeter wave radar device <NUM>, the image processing ECU 23a obtains the relative speed Vr of the front target object based on a history of the position of the front target object with respect to the vehicle VA.

The present supporting apparatus <NUM> may be applied to a vehicle including a vehicle with an internal combustion engine, a hybrid electric vehicle (HEV), a plug-in hybrid electric vehicle (PHEV), a fuel cell electric vehicle (FCEV), and a battery electric vehicle (BEV).

Claim 1:
A driving supporting apparatus comprising:
an acceleration operation element (32a) operable by a driver of a vehicle to increase a driving force which a driving source (34a) of said vehicle generates; and
a control unit (<NUM>, <NUM>, <NUM>) capable of performing an acceleration limiting control (step <NUM>) to control said vehicle in such a manner that an acceleration of said vehicle does not exceed a predetermined limiting acceleration (Glmt),
wherein, said control unit is configured to:
set a distance threshold to a value varying depending on a kind of a front target object that is present in front of said vehicle (step <NUM>, step <NUM>, step <NUM>, step <NUM>, step <NUM>); and
perform said acceleration limiting control (step <NUM>, step <NUM> to step <NUM>) when a distance condition and an erroneous operation condition are satisfied (step <NUM>: Yes, step <NUM>: Yes, step <NUM>: Yes, step <NUM>: Yes, step <NUM>: Yes, step <NUM>: Yes), said distance condition being a condition that is to be satisfied when a distance between said vehicle and said front target object is equal to or shorter than said distance threshold, and said erroneous operation condition being a condition that is to be satisfied when said driver is erroneously operating said acceleration operation element.