| CPC B60W 30/18109 (2013.01) [B60W 30/095 (2013.01); B60W 30/18154 (2013.01); B60W 40/105 (2013.01); B60W 2552/53 (2020.02); B60W 2554/80 (2020.02); B60W 2555/60 (2020.02); B60W 2720/106 (2013.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01)] | 14 Claims |
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1. A deceleration assistance device for executing deceleration control of automatically decelerating a traveling vehicle based on a deceleration object in front of the vehicle, the deceleration assistance device comprising:
a target information acquisition unit configured to acquire target information relating to a target in front of the vehicle;
a position estimation unit configured to estimate an estimated position of the deceleration object based on target information relating to a target other than the deceleration object and being acquired by the target information acquisition unit before the target information acquisition unit acquires target information relating to the deceleration object as the target;
a position recognition unit configured to recognize, when the target information acquisition unit acquires a position of the deceleration object as the target information, the acquired position as a recognized position of the deceleration object; and
a control unit configured to execute, based on the estimated position, first deceleration control of decelerating the vehicle at one of a constant first deceleration or a variable first deceleration, and to execute, based on the recognized position, second deceleration control of decelerating the vehicle at one of a constant second deceleration or a variable second deceleration,
wherein the control unit is configured to execute gradual change processing of gradually changing a deceleration of the vehicle from a first deceleration comprising one of a constant first deceleration or a variable first deceleration toward a second deceleration comprising one of a constant second deceleration or a variable second deceleration when the deceleration control is caused to transition from the first deceleration control to the second deceleration control, and when a difference exists between the first deceleration and the second deceleration,
wherein the deceleration object is a stop line of an intersection equipped with a signal, which is positioned in front of the vehicle,
wherein the target information acquisition unit is configured to recognize a lighting state of the signal, and
wherein, in a case in which the deceleration control is caused to transition from the first deceleration control to the second deceleration control, and the target information acquisition unit recognizes that the lighting state of the signal is yellow, the control unit is configured to:
set a change rate of the deceleration per unit time during the execution of the gradual change processing to a smaller change rate than the change rate at a time when the target information acquisition unit recognizes the lighting state of the signal as one of green or an arrow which indicates that passage is permitted, when an absolute value of the second deceleration is larger than an absolute value of the first deceleration; and
set the change rate of the deceleration per unit time during the execution of the gradual change processing to a larger change rate than the change rate at the time when the target information acquisition unit recognizes the lighting state of the signal as one of the green or the arrow which indicates that the passage is permitted, when the absolute value of the second deceleration is smaller than the absolute value of the first deceleration.
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