JP2002248965A - Traveling control system for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling control system for a vehicle, by which a driven can perform an appropriate traveling control in response to a cut-in onto driver' s lane or lane change by a vehicle traveling on the lane adjacent to the lane on which driver's own vehicle is traveling. SOLUTION: While the traveling control system controls the traveling of driver's own vehicle so that the vehicle-to-vehicle distance between driver's own vehicle and other preceding vehicle traveling on the same lane is properly maintained, other vehicle traveling on the lane adjacent to driver's lane may intrude into driver's own lane in avoiding another vehicle or object on the same lane, or cuts in onto driver's own lane in trying to change the lane. The traveling control system estimate the possibility and location of the above behaviors to occur, and, according to a result of the estimation, controls the driver's own vehicle speed and the vehicle-to-vehicle distance to the preceding vehicle. Thus the driver's own vehicle can respond quickly and appropriately to the sudden cut-in onto driver's own lane or lane change by the other vehicle traveling on the adjacent lane, preventing an uneasy feeling from occurring in the driver or other occupants.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling in front of a vehicle when traveling on a road, particularly a road having two or more lanes on one side, and a lane in which the vehicle is traveling (own lane). The present invention relates to a travel control device for a vehicle, which appropriately controls the speed of its own vehicle according to the behavior of other vehicles traveling in a lane adjacent to the vehicle (eg, sudden stop or interruption).

[0002]

2. Description of the Related Art For example, Japanese Patent Application Laid-Open No. 7-3347
No. 90 discloses this.

[0003] This device is used on roads, especially at junctions.
Predicts the presence of a merging vehicle based on the behavior of the vehicle preceding the own vehicle, and if the vehicle preceding the own vehicle decelerates, predicts the entry of the merging vehicle and increases the inter-vehicle distance with the preceding vehicle On the other hand, when the preceding vehicle accelerates, it is determined that the merging vehicle enters between the preceding vehicle and the own vehicle, and the vehicle decelerates. Further, when the preceding vehicle cannot be detected, it is determined that the preceding vehicle has changed lanes while avoiding the entry of the merging vehicle, and the vehicle is decelerated.

[0004]

In such a device, the traveling control is performed based on only the behavior of the preceding vehicle in the lane in which the own vehicle travels (own lane). Therefore, when the behavior of the preceding vehicle does not change, Responses to sudden interruptions or lane changes of vehicles traveling in the adjacent lane to the own lane will be delayed,
The resulting change in the acceleration / deceleration of the vehicle may give a driver or a passenger a sense of incongruity.

The present invention focuses on the above problems, predicts the entry or interruption of a vehicle traveling on an adjacent lane into the own lane, and based on the prediction result, the speed of the own vehicle and the inter-vehicle distance to the preceding vehicle. It is an object of the present invention to provide a vehicle travel control device that does not cause a sense of discomfort to a driver or a passenger by controlling the vehicle.

[0006]

According to the first aspect of the present invention, there is provided a vehicle control system for controlling the speed of a vehicle and the speed of the other vehicle by following another vehicle traveling ahead of the vehicle. A vehicle travel control device that controls the distance between vehicles, a first vehicle detection unit that detects the presence and speed of a first other vehicle traveling ahead of the vehicle in its own lane in which the vehicle travels, Second vehicle detection means for detecting the presence and speed of a second other vehicle or an object other than the vehicle existing in front of the own vehicle in the lane adjacent to the own lane; and A third detecting means for detecting the presence and speed of a third other vehicle traveling behind the second other vehicle detected by the vehicle detecting means, and the first, second and third vehicle detecting means. Based on the detection result, the third other vehicle's own vehicle Interrupting vehicle estimating means for estimating the presence or absence of an interrupt to the vehicle and an interrupting position, and controlling the speed of the own vehicle and the inter-vehicle distance with the first other vehicle based on the estimation result by the interrupting vehicle estimating means. It is characterized by the following.

According to a second aspect of the present invention, in the first aspect, the interrupting vehicle estimating means keeps the remaining vehicle in the adjacent lane when the second other vehicle or an object other than the vehicle is stopped. The avoidance action such that the third other vehicle enters the own lane with respect to the second other vehicle or an object other than the vehicle based on the determined lane allowance width and the vehicle width of the third other vehicle. First avoidance vehicle behavior prediction means for predicting whether or not to take the vehicle, and the third other vehicle interrupts either ahead of or behind the own vehicle based on the position and speed of the own vehicle and the third other vehicle. And a second avoiding vehicle behavior predicting means for predicting the situation.

According to a third aspect of the present invention, in the first or second aspect, acceleration / deceleration control of the own vehicle is performed according to the behavior of the first other vehicle and the third other vehicle. It is assumed that.

According to a fourth aspect of the present invention, in any one of the first to third aspects of the invention, the third other vehicle is located in front of the own vehicle, and the third other vehicle is the third vehicle. If it is predicted that the vehicle is closer to the own vehicle than one other vehicle, it is determined that the third other vehicle enters the own vehicle ahead of the own lane, and the third other vehicle enters the own lane. In such a case, an appropriate deceleration operation of the vehicle is performed according to

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the third other vehicle is located in front of the own vehicle and the first other vehicle is the first vehicle. If it is predicted that the third other vehicle is present at a position closer to the own vehicle than the third other vehicle, it is determined that the third other vehicle enters the front of the first other vehicle in the own lane, and The present invention is characterized in that an appropriate deceleration operation of the own vehicle is performed according to the deceleration of the first other vehicle with respect to entry into the own lane.

According to a sixth aspect of the present invention, in the fifth aspect, the inter-vehicle distance to the first other vehicle is set to a larger value as the speed of the own vehicle is increased by the deceleration operation of the own vehicle. Is set.

According to a seventh aspect of the present invention, in the first aspect, the first to third vehicle detecting means detect a relative speed and a relative position of another vehicle with respect to the own vehicle. It is.

[0013]

According to the first aspect of the present invention, when the traveling control of the own vehicle is performed so as to appropriately maintain the inter-vehicle distance between the own vehicle and another vehicle traveling ahead of the own vehicle on the own lane, Another vehicle traveling on the lane adjacent to the own lane enters the own lane to avoid another vehicle or object existing on the adjacent lane, or breaks into the own lane by changing lanes. The possibility and the position of such behavior are predicted, and the speed of the own vehicle and the inter-vehicle distance between the vehicle running ahead of the own vehicle are controlled according to the result. As a result, it becomes possible to respond promptly and appropriately to sudden interruption or lane change of the vehicle traveling in the adjacent lane, which may cause discomfort to the driver and passengers. Can be prevented.

According to the second aspect of the present invention, when an obstacle such as a stopped vehicle exists in another lane adjacent to the own lane, another vehicle traveling in the other lane moves to the own lane to avoid the obstacle. It is possible to accurately predict whether or not to enter, and at that time, whether to enter in front of or behind the own vehicle.

According to the third aspect of the invention, when a vehicle traveling in another lane adjacent to the own lane enters the own lane for some reason, the vehicle traveling ahead of the own vehicle on the own lane and the vehicle traveling in the own lane. Acceleration / deceleration of the own vehicle is controlled according to the vehicle entering. Therefore, it is possible to respond more appropriately when another vehicle enters the own lane and interrupts it for the purpose of avoiding obstacles, overtaking, etc., and preventing the occurrence of discomfort etc. to the driver and passengers It becomes possible.

According to the fourth aspect of the present invention, an approach position when the other vehicle enters the own lane for some reason is predicted from the positional relationship of the vehicles traveling in the other lane adjacent to the own lane. Thus, an appropriate deceleration operation is performed according to the prediction. As a result, it is possible to respond more appropriately when another vehicle enters the lane and interrupts it for the purpose of avoiding obstacles, overtaking, etc., and to prevent occurrence of discomfort to the driver and passengers Becomes possible.

According to the fifth aspect of the present invention, an approach position when the other vehicle enters the own lane for some reason is predicted from the positional relationship of the vehicles running on the other lane adjacent to the own lane. Thus, an appropriate deceleration operation is performed according to the prediction. As a result, it is possible to respond more appropriately when another vehicle enters the lane and interrupts it for the purpose of avoiding obstacles, overtaking, etc., and to prevent occurrence of discomfort to the driver and passengers Becomes possible.

According to the sixth aspect of the present invention, based on the positional relationship of vehicles traveling in another lane adjacent to the own lane, an approach position when the other vehicle enters the own lane for some reason is predicted. Based on the speed, an appropriate inter-vehicle distance setting operation is performed for the own vehicle with respect to a vehicle traveling ahead of the own vehicle in accordance with the approach of a vehicle in another lane to the own lane. As a result, it is possible to respond more appropriately when another vehicle enters the lane and interrupts it for the purpose of avoiding obstacles, overtaking, etc., and to prevent occurrence of discomfort to the driver and passengers Becomes possible.

According to the seventh aspect, the first to third vehicle detecting means detect the relative speed and the relative position of the other vehicle with respect to the own vehicle, so that the vehicle state can be detected more appropriately.

[0020]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a block diagram schematically showing a configuration of a vehicle travel control device according to the present invention. The traveling control device 10 for a vehicle includes a road stationary object detection unit 11 that detects the presence of a stationary object such as a parked vehicle on a road on which the vehicle is traveling.
On-road stationary object avoiding vehicle detection unit 12 that detects the presence of a vehicle trying to avoid an on-road stationary object, lateral behavior of the vehicle that avoids an on-road stationary object (entering the lane in which the own vehicle is traveling)
And a longitudinal avoidance behavior predicting unit 14 for predicting a longitudinal behavior (interruption of the own vehicle) of avoiding a stationary object on the road.

The apparatus 10 includes a front radar 15 for exploring and detecting the presence of a vehicle or the like in front of the vehicle, a front CCD camera 16 for photographing the situation in front of the vehicle, and a vehicle or the like on the side of the vehicle. Lateral radar 17 for exploration and detection, lateral CCD camera 18 for photographing the situation on the side of the vehicle, rear radar 19 for exploring and detecting the presence of vehicles behind the vehicle, and situation behind the vehicle From the rear CCD camera 20 that captures the image of the subject, the front, side, and rear situations detected by the vehicle are input.

The acceleration (deceleration) of the own vehicle is input from an acceleration sensor 21 for detecting the acceleration (deceleration) of the own vehicle, and the speed of the own vehicle is input from a vehicle speed sensor 22 for detecting the speed of the own vehicle.

Based on the information input from the above, the present device 10 predicts the existence of a stationary object on the road and the behavior of another vehicle trying to avoid it, and uses the result as the throttle actuator 23 and / or the brake actuator. 24 to output a control signal to accelerate / decelerate the vehicle,
A warning signal is output to the warning display unit 25 and / or the warning display unit 26, and a warning is given to the driver by the warning sound and / or the warning display.

FIG. 2 is a flow chart showing a processing procedure of travel control in the vehicle travel control device according to the present invention. Hereinafter, the procedure will be described.

First, in step 101, the traveling lane (own lane) of the own vehicle is detected based on information from the front radar 15 and the front CCD camera 16 (see FIG. 1). In step 102, the lane adjacent to the own lane is detected. It is determined whether or not there is. here,
If there is an adjacent lane, proceed to step 103,
If there is no other lane, the process proceeds to step 124.

At step 103, it is detected whether or not there is a stationary object such as a parked vehicle on a lane (other lane) adjacent to the own lane ahead of the own vehicle. At step 104, a stationary object exists on another lane. It is determined whether or not. At this time, if there is a stop on the other lane, the process proceeds to step 105, and if there is no stop, the process proceeds to step. Step 103
And step 104 correspond to the second vehicle detecting means.

In step 105, based on the information obtained by the front radar 15 and the front CCD camera 16, the lane margin width (other lane width) is calculated based on the width of the other lane and the width of the stationary object determined to exist in the previous step 104. (The value obtained by subtracting the width of the stop from the width of the lane).

In step 106, it is predicted that the radars 15, 17, 19 and the CCD cameras 16, 18, 20 will behave in such a manner as to avoid a vehicle traveling on another lane, that is, a stationary object determined in the previous step 104. The presence / absence of a vehicle (a candidate vehicle for avoiding a stationary object on the road) is detected, and in the following step 107, the presence / absence of the vehicle is determined. At this time, if the vehicle exists, the process proceeds to step 108, and if not, the process proceeds to step 124.

In step 108, the acceleration and the vehicle speed of the own vehicle are detected by the acceleration sensor 21 and the vehicle speed sensor 22 (see FIG. 1). In the subsequent step 109, the obtained acceleration and speed of the own vehicle, and the radar 15, 17, 19
And information obtained by CCD cameras 16, 18, and 20,
A relative position, a relative speed, and a relative acceleration of a vehicle traveling on another lane, that is, a candidate for a vehicle that avoids a stationary object on the road, with respect to the own vehicle are calculated. Steps 108 and 109
Corresponds to the third vehicle detection means.

In the next step 110, it is determined whether or not a preceding vehicle, that is, a vehicle traveling ahead of the own vehicle exists on the own lane. Here, if the preceding vehicle exists, the process proceeds to step 114 via step 111 and step 112; otherwise, the process proceeds to step 1 via step 113.
Proceed to 14.

In step 111, the relative position, relative speed and relative acceleration of the preceding vehicle with respect to the own vehicle are calculated.
Then, in step 112, based on the information obtained in each of the above steps, narrowing down on-road stationary object avoidance vehicle candidates is performed. Steps 110 and 111 correspond to first vehicle detection means.

Here, a specific procedure for narrowing down the vehicle candidates for avoiding a stationary object on the road in step 112 will be described with reference to FIG.
This will be described with reference to FIG.

First, the detection range of vehicles for narrowing down vehicles on the road to avoid stationary objects is divided into three areas, that is, the front of the own vehicle, the side of the own vehicle, and the rear of the own vehicle based on the own vehicle. Vehicles are selected one by one from the detection range.

Here, the above-mentioned detection ranges are from the front of the vehicle 201 to the rear of the preceding vehicle 202 in front of the vehicle 201, from the front to the rear of the vehicle 202 on the sides, and from the rear of the vehicle to the rear radar on the sides. 19 and the range that can be detected by the rear CCD camera 20 (see FIG. 1). In each of these ranges, the vehicle that is closest to the host vehicle among the vehicles that are likely to overtake the host vehicle before approaching a stationary object (parked vehicle in the figure) based on the current relative speed with the host vehicle. The vehicle is selected as a candidate for a vehicle to avoid a stationary object on the road. In FIG. 3, a vehicle denoted by reference numeral 203 is located forward, a vehicle denoted by reference numeral 204 is located laterally, and a vehicle denoted by reference numeral 2 is located behind.
Vehicles indicated by 05 are each selected as a road stop object avoidance vehicle candidate.

On the other hand, in step 113, narrowing down on-road stop-avoidance vehicle candidates when there is no preceding vehicle on the own lane is performed. Next, the specific procedure will be described with reference to FIG.

In this case as well, the detection range of vehicles for narrowing down vehicles on the road to avoid stationary objects is divided into three areas, that is, the front of the own vehicle, the side of the own vehicle, and the rear of the own vehicle based on the own vehicle. Then, one vehicle is selected from each detection range.

Here, the detection ranges are as follows: the front of the vehicle 301 from the front of the vehicle to the rear of a stationary object (parking vehicle), the side from the front to the rear of the vehicle, and the rear is the rear of the vehicle. To rear radar 19 and rear CCD camera 20
(See Fig. 1). In each of these ranges, the vehicle that is closest to the host vehicle among the vehicles that may overtake the host vehicle before approaching a stationary object (parked vehicle) based on the current relative speed to the host vehicle. It is selected as a road stop object avoidance vehicle candidate. In FIG. 4, the symbol 3
The vehicle denoted by reference numeral 02, the vehicle denoted by reference numeral 303 on the side, and the vehicle denoted by reference numeral 304 on the rear side are respectively selected as road-stop-avoidance vehicle candidates.

In the next step 114, the radars 15, 17, and 19 and the CCD cameras 16, 18, and 2 are used for the on-road obstacle avoiding vehicle candidates narrowed down in the previous step 112 or 113.
The type of the vehicle is determined based on the information obtained by 0. Specifically, the determination is made by obtaining the vehicle width.

In step 115, the road stop object avoidance vehicle candidate performs the avoidance action for the road stop object on the basis of the lane allowance width obtained in the previous step 105 and the vehicle width of the road stop object avoidance vehicle candidate obtained in step 114. Judge whether to take. Here, if it is determined that the road stop object avoidance vehicle candidate takes the avoidance action, the process proceeds to step 116, and if it is determined that the avoidance action is not taken, the process proceeds to step 124.

FIG. 5A is a map showing, for each vehicle type, the lane margin width, the lateral movement amount of the on-road stationary object avoidance vehicle candidate, and the predicted avoidance action corresponding thereto. In this map, it is set that the road stop object avoidance vehicle candidate takes each of the avoidance actions of parallel running, interruption, and lane change according to the lane margin width. FIG. 5 (b) schematically shows each avoidance action. In step 115, based on this map, it is determined whether or not there is an avoidance action of the road stop object avoidance vehicle candidate. Step 115 corresponds to first avoiding vehicle behavior prediction means.

In step 116, on the basis of the results obtained in the above-described steps, a road stop object avoidance target which is to be subjected to traveling control (inter-vehicle control) of the vehicle is selected from the road stop object avoidance vehicle candidates. A vehicle, that is, a vehicle that is predicted to take an evasive action against a stationary object on the road, and thereby determines a vehicle that needs to perform traveling control such as a braking operation on the own vehicle.

In step 117, the relative positions of the own vehicle, the preceding vehicle in the own lane, and the on-road stationary object avoiding vehicle determined in step 116 above are determined. Based on the result, in the subsequent steps, the behavior (avoidance behavior) of the vehicle that stops on the road is determined, and the traveling control of the own vehicle is performed according to the behavior.

First, in step 118, it is determined whether or not the on-road obstacle avoiding vehicle is located in front of the own vehicle and closer than the preceding vehicle on the own lane. That is, as shown in FIG. 6, the preceding vehicle 402 runs on the own lane in front of the own vehicle 401, and the on-road stop avoiding vehicle 403 runs on the adjacent lane.
And the vehicle 403 that avoids a stop on the road has its own vehicle more than the preceding vehicle 402
This is the case near 401. Here, if it is determined that the vehicle that stops on the road and avoids the vehicle ahead of the own vehicle and closer to the preceding vehicle, it is determined that the vehicle that avoids the road stop will intervene between the own vehicle and the preceding vehicle. To step 119, then to step 120, otherwise to step 121
Proceed to.

Here, the conditions for judging the positional relationship between the own vehicle 401, the preceding vehicle 402, and the vehicle 403 for avoiding a stationary object on the road are shown in FIG.
As shown in the figure, the rear part of the preceding vehicle 402 and the vehicle 4
03 It is assumed that the distance from the front part is equal to or more than a predetermined value L ₁ m, and the distance between the rear part of the vehicle 403 on the road and the front part of the own vehicle 401 is equal to or more than a predetermined value L ₂ m. Here, the respective values of L ₁ and L ₂ are variable depending on the speed of the own vehicle and the relative speed of the preceding vehicle or the vehicle that avoids a stationary object on the road, but may be set in advance in a program in the form of a table. .

In step 119, a deceleration necessary for securing an appropriate inter-vehicle distance for the vehicle on the road to avoid a stationary object ahead of the own vehicle is obtained. In step 120, deceleration is performed based on the obtained deceleration. Perform control.

In step 121, it is determined whether or not the vehicle that stops on the road is located ahead of the own vehicle and whether the preceding vehicle on the own lane is closer to the own vehicle. That is, as shown in FIG. 7, the front vehicle 502
However, a vehicle 503 avoiding a stationary object on the road travels in the adjacent lane, and the preceding vehicle 502
Is closer to the vehicle 501. Here, when it is determined that the preceding vehicle is closer to the own vehicle than the vehicle that stops on the road, it is determined that the vehicle that stops on the road stops ahead of the preceding vehicle. Next, proceed to step 123, otherwise, proceed to step 124.
Proceed to.

Here, the conditions for judging the positional relationship between the vehicle 501, the preceding vehicle 502, and the vehicle 503 avoiding a stationary object on the road are as follows.
As shown in the figure, the front of the preceding vehicle 502 and the vehicle 5
03 It is assumed that the distance from the rear part is equal to or more than a predetermined value L ₃ m. Here, the value of L _3, the speed of the own vehicle and, although it is varied by the relative speed of the preceding vehicle or road stationary object avoidance vehicle, may be set on the program in the form of a table in advance. Steps 112 to 118 and step 121 correspond to an interrupted vehicle estimation unit. Steps 118 and 121 correspond to second avoiding vehicle behavior prediction means.

In step 122, the deceleration required to secure an appropriate inter-vehicle distance for the vehicle ahead of the preceding stationary vehicle to enter the vehicle on the road is calculated. In step 123, deceleration is performed based on the obtained deceleration. Perform control.

The inter-vehicle distance to be obtained in steps 120 and 123 is defined by the following equation.

SHW = α × BHW Here, SHW: appropriate inter-vehicle distance, BHW: inter-vehicle distance during normal inter-vehicle distance control, α: correction coefficient. Further, the correction coefficient α has a characteristic as shown in FIG. 8 with respect to the speed of the own vehicle. In this case, also in this case, the inter-vehicle distance BHW
And the correction coefficient α are incorporated in the program in advance as a table.

Finally, at step 124, the normal control of the following distance is performed.

Further, the present apparatus can not only control the running of the vehicle but also provide information to the driver. For example, during execution of the program in FIG. 2, if it is determined in step 104 that there is a road stop, a warning sound is generated by the alarm 25 (see FIG. 1), and at the same time, for example, “ A display saying "there is a parked vehicle ahead" may be displayed.

Similarly, after deciding a vehicle to avoid a stationary object on the road in step 116, a warning sound is generated by the alarm 25, and at the same time, for example, "the vehicle may enter from the left lane. Deceleration "may be displayed.

In the above example, the case where the adjacent lane is in the same direction as the own lane has been described. However, in the present device, the adjacent lane is the opposite lane, and the vehicle that avoids a road stop is directed to the own vehicle. Needless to say, it is also effective when the vehicle is an oncoming vehicle.

Further, in the above-described example, the processing procedure using the relative position and the relative speed with respect to the own vehicle is shown for the candidate vehicle for avoiding a stationary object on the road and the preceding vehicle, but the present invention is not limited to this. Based on signals from facilities (infrastructure) such as ITS and navigation systems,
The processing may be performed by detecting each absolute position and absolute speed.

[Brief description of the drawings]

FIG. 1 is a block diagram schematically showing a configuration of a vehicle travel control device according to the present invention.

FIG. 2 shows a vehicle travel control device according to the present invention.
It is a flowchart which shows the processing procedure of a traveling control.

FIG. 3 is a diagram illustrating conditions for narrowing down on-road stationary object avoidable vehicle candidates when a preceding vehicle exists in the own lane.

FIG. 4 is a diagram showing conditions for narrowing down on-road stop object candidate vehicles when a preceding vehicle does not exist in the own lane.

FIG. 5 is a map showing, for each vehicle type, a lane allowance, a lateral movement amount of a vehicle that avoids a stationary object on a road, and a predicted avoidance action corresponding thereto.

FIG. 6 is a diagram illustrating a case where a vehicle that stops on a road stops and enters between the host vehicle and a preceding vehicle;

FIG. 7 is a diagram illustrating a case where a vehicle that stops on a road stops and enters a front of a preceding vehicle;

FIG. 8 is a graph showing characteristics of a correction coefficient α used for obtaining an appropriate inter-vehicle distance.

[Explanation of symbols]

10 Vehicle running control device 11 Road stop object detection unit 12 Road stop object avoidance vehicle detection unit 13 Lateral avoidance behavior prediction unit 14 Vertical avoidance behavior prediction unit 15 Forward radar 16 Front CCD camera 17 Lateral radar 18 side CCD camera 19 Rear radar 20 Rear CCD camera 21 Acceleration sensor 22 Vehicle speed sensor 23 Throttle actuator 24 Brake actuator 25 Alarm 26 Alarm display 201, 301, 401, 501 Own vehicle 202, 402, 502 Lead vehicle 203, 204, 205, 302, 303, 304 Candidates for avoiding stationary objects on the road 403, 503 Candidates for avoiding stationary objects on the road

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (Reference) B60R 21/00 621 B60R 21/00 621C 622 622F 622A 624 624G 624C 624B 624F 626 626D 626E 627 T 628 B 628 628 B 7/12 C F02D 29/02 301 F02D 29/02 301D G08G 1/16 G08G 1/16 EF term (reference) 3D041 AA31 AA41 AA66 AB01 AC15 AC26 AD46 AD51 AE04 AE41 AF00 AF01 AF09 3D044 AA03 AA04 AA25 AC01 AC AC59 AD04 AD21 AE04 AE14 AE15 AE27 3D046 BB18 GG02 HH20 HH22 HH26 MM34 3G093 AA05 BA15 BA23 CB10 DB05 DB16 EA09 EB04 EC01 FA00 FA02 FA07 FB01 FB02 5H180 AA01 CC04 CC14 LL01 LL04 LL07 LL07 LL04 LL07 LL07

Claims (7)

[Claims] 1. A traveling control device for a vehicle for controlling a speed of a vehicle and an inter-vehicle distance between the vehicle and another vehicle following a vehicle traveling in front of the vehicle. First vehicle detection means for detecting the presence and speed of a first other vehicle traveling ahead of the own vehicle in the own lane; and a second other vehicle existing ahead of the own vehicle in a lane adjacent to the own lane or Second vehicle detecting means for detecting the presence and speed of an object other than the vehicle, and a third vehicle traveling behind a second other vehicle detected by the second vehicle detecting means in a lane adjacent to the own lane. Third detection means for detecting the presence and speed of the other vehicle, based on the detection results by the first, second and third vehicle detection means, the presence or absence of interruption to the own lane of the third other vehicle and Interrupt to estimate interrupt location Comprising a tanks estimating means, based on said estimation result of the interrupt vehicle estimating means, and controlling the distance to the speed and the first other vehicle of the own vehicle, vehicle running control apparatus. 2. The interrupting vehicle estimating means, when the second other vehicle or an object other than the vehicle is stopped,
From the lane margin left in the adjacent lane and the vehicle width of the third other vehicle, the third other vehicle is in the own lane with respect to the second other vehicle or an object other than the vehicle. First avoiding vehicle behavior predicting means for predicting whether or not to take an avoidance action such as approaching; and, based on the position and speed of the own vehicle and the third other vehicle, the third other vehicle is located ahead of the own vehicle. The vehicle travel control device according to claim 1, further comprising a second avoidance vehicle behavior prediction unit that predicts which one of the rear and the rear is to be interrupted. 3. The vehicle travel control device according to claim 1, wherein acceleration / deceleration control of the own vehicle is performed in accordance with the behavior of the first other vehicle and the third other vehicle. 4. When it is predicted that the third other vehicle is located in front of the own vehicle and the third other vehicle is located closer to the own vehicle than the first other vehicle, It is determined that the third other vehicle enters the own vehicle ahead of the own lane,
The travel control device for a vehicle according to any one of claims 1 to 3, wherein an appropriate deceleration operation of the own vehicle is performed according to the third other vehicle entering the own lane. 5. When it is predicted that the third other vehicle is located in front of the own vehicle and the first other vehicle is located closer to the own vehicle than the third other vehicle, It is determined that the third other vehicle enters the front of the first other vehicle in the own lane, and the own vehicle is driven according to the deceleration of the first other vehicle with respect to the entry of the third other vehicle into the own lane. The travel control device for a vehicle according to any one of claims 1 to 4, wherein an appropriate deceleration operation is performed. 6. The vehicle according to claim 5, wherein the inter-vehicle distance from the first other vehicle is set to a larger value as the speed of the own vehicle increases, by the deceleration operation of the own vehicle. Travel control device for vehicles. 7. The travel control device for a vehicle according to claim 1, wherein the first to third vehicle detection means detects a relative speed and a relative position of another vehicle with respect to the own vehicle.