JP2004038861A

JP2004038861A - Traveling control system of vehicle

Info

Publication number: JP2004038861A
Application number: JP2002198648A
Authority: JP
Inventors: Kiichirou Sawamoto; 澤本　基一郎
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2002-07-08
Filing date: 2002-07-08
Publication date: 2004-02-05
Anticipated expiration: 2022-07-08
Also published as: JP3914105B2

Abstract

<P>PROBLEM TO BE SOLVED: To provide a system by which the other vehicle is allowed to cut into smoothly in front of a vehicle which performs following-travelling at the target vehicle-to-vehicle distance at traffic congestion. <P>SOLUTION: By this system, a target vehicle-to-vehicle distance is made increase by a target vehicle-to-vehicle distance correction means M4 when a vehicle performs following-travelling to the preceding vehicle by controlling the vehicle speed with a vehicle speed control means M5 so that the real vehicle-to-vehicle distance detected with a real vehicle-to-vehicle distance detecting means M3 corresponds with the target vehicle-to-vehicle distance set by a target vehicle-to-vehicle distance setting means 22, and further when the real vehicle-to-vehicle distance detected with the real vehicle-to-vehicle distance detecting means M3 and the distance to a merging point detected with a distance-to-a-merging-point detecting means M8 are respectively under the appointed values, the traffic congestion near the merging point is detected by information from a vehicles-merging point detecting means M7 and a traffic congestion detecting means M9, and a cutting-into vehicle detecting means M10 detects a cutting-into vehicle near the proceeding vehicle; thereby the traffic congestion at the merging points can be eased by allowing the cutting-into-vehicle to cut into smoothly. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、実車間距離検知手段で検知した実車間距離が目標車間距離設定手段で設定した目標車間距離に一致するように自車の車速を制御して先行車に対する追従走行を行うための車両の走行制御装置に関する。
【０００２】
【従来の技術】
道路の本線を走行する車両群に支線からの車両をスムーズに合流させるための車両の走行制御装置が、特開平１０−３２０６９１号公報、特開平１１−３２８５８４号公報により公知である。
【０００３】
上記特開平１０−３２０６９１号公報に記載されたものは、支線を走行する自車と本線を走行する他車との間で車車間通信を行って相互の車両位置および車速のデータを交換し、合流時刻に合流位置の手前にある他車（特定車両）を特定するとともに合流位置における自車および特定車両の距離を推定し、特定車両を減速して車間距離を広げることで自車がスムーズに合流できるようにしている。
【０００４】
また上記特開平１１−３２８５８４号公報に記載されたものは、本線を隊列走行する車両群が車車間通信や路車間通信で支線を走行する車両の位置情報等を受信し、本線の車両群のうち合流位置で支線を走行する車両に最も接近する車両の車速を制御して隊列を分断し、そこに形成されたスペースに支線からの車両がスムーズに合流できるようにしている。
【０００５】
また自車に搭載したレーダー装置や撮像装置等の先行車認識手段で自車の直前の走行軌跡上にある先行車を認識し、この先行車との車間距離が目標車間距離に保たれるように自車の車速を制御して追従走行を行うための車両の走行制御装置も公知である。
【０００６】
【発明が解決しようとする課題】
ところで、渋滞時に先行車に対する追従走行を行う場合には目標車間距離を極力短くすることが望ましい。その理由は、目標車間距離を広げて追従走行を行うと他の車両が自車の前方に割込む頻度が高くなり、ドライバーが不快感を感じるからである。また渋滞時に目標車間距離を短くすると、渋滞そのものの区間を短くする効果もある。
【０００７】
渋滞が発生し易い場所としては、交通量の多い高速道路の本線にランプウエイが合流する場所や、工事や事故で通孔可能な車線数が減少した場所等があるが、図５（Ａ）に示すように、このような場所で車両の割込みを妨げるとかえって渋滞を助長してしまうため、図５（Ｂ）に示すように、むしろ車両の割込みを積極的に許容することが望ましい。しかしながら、車両が短い目標車間距離で追従走行を行っている場合には、その車両の前方への割込みが不可能であるために渋滞が助長されてしまう問題がある。
【０００８】
本発明は前述の事情に鑑みてなされたもので、渋滞時に目標車間距離で追従走行を行っている車両の前方への他車の割込みをスムーズに行わせることを目的とする。
【０００９】
【課題を解決するための手段】
上記目的を達成するために、請求項１に記載された発明によれば、先行車との目標車間距離を設定する目標車間距離設定手段と、先行車との実車間距離を検知する実車間距離検知手段と、実車間距離検知手段で検知した実車間距離が目標車間距離設定手段で設定した目標車間距離に一致するように自車の車速を制御する車速制御手段とを備えた車両の走行制御装置において、自車前方における車両の合流部を検知可能な車両合流部検知手段と、自車から車両の合流部までの距離を検知可能な合流部距離検知手段と、自車走行路における渋滞を検知可能な渋滞検知手段と、先行車近傍の割込み車両を検知可能な割込み車両検知手段と、実車間距離検知手段で検知した実車間距離および合流部距離検知手段で検知した合流部までの距離がそれぞれ所定値以下であり、車両合流部検知手段および渋滞検知手段からの情報により合流部近傍における渋滞が検知され、かつ割込み車両検知手段が先行車近傍の割込み車両を検知したときに、前記目標車間距離を増加させる目標車間距離補正手段とを備えたことを特徴とする車両の走行制御装置が提案される。
【００１０】
上記構成によれば、先行車との実車間距離が所定値以下であり、他車が合流する合流部までの距離が所定値以下であり、合流部近傍において渋滞が発生しており、かつ先行車近傍で合流部に割込もうとしている割込み車両が検知されたときに、先行車に対する追従走行の目標車間距離を増加させるので、自車と先行車との車間距離を自動的に増加させて割込み車両をスムーズに割込ませることができ、合流部における渋滞を緩和して交通全体の流れをスムーズにすることができる。
【００１１】
また請求項２に記載された発明によれば、請求項１の構成に加えて、自車前方の物体を検知可能な物体検知手段を備え、渋滞検知手段は、物体検知手段から得られる物体の移動履歴に基づいて渋滞を検知することを特徴とする車両の走行制御装置が提案される。
【００１２】
上記構成によれば、物体検知手段で検知した自車前方の物体の移動履歴に基づいて渋滞を検知するので、渋滞を的確に検知することができる。
【００１３】
また請求項３に記載された発明によれば、請求項１の構成に加えて、渋滞検知手段は、自車位置から車両合流部検知手段で検知した車両の合流部までの所定の区間における自車の車速が所定値以下の場合に渋滞を検知することを特徴とする車両の走行制御装置が提案される。
【００１４】
上記構成によれば、自車位置から車両の合流部までの所定の区間における自車の車速が所定値以下の場合に渋滞を検知するので、渋滞を的確に検知することができる。
【００１５】
また請求項４に記載された発明によれば、請求項１の構成に加えて、自車と外部との通信を可能にする通信手段を備え、渋滞検知手段は、通信手段から得られる渋滞情報に基づいて渋滞を検知することを特徴とする車両の走行制御装置が提案される。
【００１６】
上記構成によれば、自車と外部との通信によって得られる渋滞情報に基づいて渋滞を検知するので、渋滞を的確に検知することができる。
【００１７】
また請求項５に記載された発明によれば、請求項１〜請求項４の何れか１項の構成に加えて、道路情報を記憶する道路情報記憶手段を備え、車両合流部検知手段は、道路情報記憶手段に記憶されている道路情報に基づいて合流部を検知することを特徴とする車両の走行制御装置が提案される。
【００１８】
上記構成によれば、記憶された道路情報に基づいて合流部を検知するので、合流部を的確に検知することができる。
【００１９】
また請求項６に記載された発明によれば、請求項１〜請求項４の何れか１項の構成に加えて、自車前方の物体を検知可能な物体検知手段を備え、車両合流部検知手段は、物体検知手段により得られる自車前方車両の車線変更回数および車線変更地点に基づいて合流部を検知することを特徴とする車両の走行制御装置が提案される。
【００２０】
上記構成によれば、自車前方車両の車線変更回数および車線変更地点に基づいて合流部を検知するので、合流部を的確に検知することができる。
【００２１】
また請求項７に記載された発明によれば、請求項１〜請求項４の何れか１項の構成に加えて、自車と外部との通信を可能にする通信手段を備え、車両合流部検知手段は、通信手段により得られる事故情報に基づいて合流部を検知することを特徴とする車両の走行制御装置が提案される。
【００２２】
上記構成によれば、自車と外部との通信により得られる事故情報に基づいて合流部を検知するので、合流部を的確に検知することができる。
【００２３】
また請求項８に記載された発明によれば、請求項７の構成に加えて、車両合流部検知手段は、事故発生地点が自車走行車線に隣接する車線上にあるときに、合流部が自車走行車線上にあると判断することを特徴とする車両の走行制御装置が提案される。
【００２４】
上記構成によれば、事故発生地点が自車走行車線に隣接する車線上にあるときに合流部が自車走行車線上にあると判断するので、合流部を的確に検知することができる。
【００２５】
また請求項９に記載された発明によれば、請求項１〜請求項８の何れか１項の構成に加えて、自車前方の物体を検知可能な物体検知手段を備え、割込み車両検知手段は、物体検知手段により得られ得る先行車周辺の車両の位置と、車両合流部検知手段により得られる合流部の位置とから先行車周辺の割込み車両を検知することを特徴とする車両の走行制御装置が提案される。
【００２６】
上記構成によれば、自車前方の物体を検知して得られる先行車周辺の車両の位置と、合流部の位置とから先行車周辺の割込み車両を検知するので、割込み車両を的確に検知することができる。
【００２７】
尚、撮像装置１１およびレーダー装置１３は本発明の物体検知手段に対応する。
【００２８】
【発明の実施の形態】
以下、本発明の実施の形態を、添付図面に示した本発明の実施例に基づいて説明する。
【００２９】
図１〜図５は本発明の一実施例を示すもので、図１は車両の走行制御装置の全体構成図、図２は本実施例のメインルーチンのフローチャート、図３は合流部推定ルーチンのフローチャート、図４は割込み車両決定ルーチンのフローチャート、図５は割込み時の車間距離制御の説明図である。
【００３０】
図１に示すように、車両の走行制御装置の電子制御ユニットＵは、先行車決定手段Ｍ１と、自車軌跡推定手段Ｍ２と、実車間距離検知手段Ｍ３と、目標車間距離補正手段Ｍ４と、車速制御手段Ｍ５と、車両情報表示手段Ｍ６と、車両合流部検知手段Ｍ７と、合流部距離検知手段Ｍ８と、渋滞検知手段Ｍ９と、割込み車両検知手段Ｍ１０とを備える。テレビカメラのような撮像装置１１に接続された撮像装置検知出力手段１２と、ミリ波レーダーやレーザーレーダーのようなレーダー装置１３に接続されたレーダー装置検知出力手段１４とが先行車決定手段Ｍ１に接続される。自車の運転状態を検知するセンサ、例えば車速を検知する車速センサ１５と、ヨーレートを検知するヨーレートセンサ１６と、舵角を検知する舵角センサ１７とが自車軌跡推定手段Ｍ２に接続されており、自車軌跡推定手段Ｍ２はそれら車速、ヨーレートおよび舵角に基づいて自車の将来の走行軌跡を推定する。
【００３１】
先行車決定手段Ｍ１は、撮像装置検知出力手段１２およびレーダー装置検知出力手段１４の出力に基づいて、自車の前方を走行する車両のうちから、自車軌跡推定手段Ｍ２で推定した自車の将来の走行軌跡上に位置する車両を先行車として決定する。そして実車間距離検知手段Ｍ３は、上述のようにして決定した先行車と自車との実車間距離を検知する。この実車間距離を検知には、撮像装置検知出力手段１２および／またはレーダー装置検知出力手段１４の出力の基づいて行われる。
【００３２】
ドライバーが希望の目標車間距離を設定する目標車間距離設定手段２２が接続された目標車間距離補正手段Ｍ４は、先行車に対する追従走行中に自車の前方の合流部に割込み車両が割込む可能性があるときに、スムーズな割込みを可能にするために前記目標車間距離を増加する方向に補正する。そして目標車間距離補正手段Ｍ４において補正された目標車間距離と実車間距離検知手段Ｍ３で検知された実車間距離とが入力される車速制御手段Ｍ５は、実車間距離が目標車間距離に一致するようにスロットルアクチュエータ２３およびブレーキアクチュエータ２４の作動を制御する。具体的には、実車間距離が目標車間距離よりも小さくなると、スロットルアクチュエータ２３および／またはブレーキアクチュエータ２４を作動させて車両を減速することで実車間距離を増加させ、実車間距離が目標車間距離よりも大きくなると、スロットルアクチュエータ２３を作動させて車両を加速することで実車間距離を減少させる。
【００３３】
目標車間距離補正手段Ｍ４による目標車間距離の補正が行われると、車両情報表示手段Ｍ６が音声出力手段２５および／または映像出力手段２６を作動させ、音声および／または映像で目標車間距離が補正されたことをドライバーに報知する。
【００３４】
車両合流部検知手段Ｍ７は自車前方における車両の合流部を検知するためのもので、その検知は複数の手法により行うことができる。第１の手法は、ナビゲーションシステムのＣＤ−ＲＯＭような道路情報記憶手段２１に予め記憶された道路形状に基づいて自車前方における車両の合流部を検知するものである。第２の手法は、テレビカメラのような撮像装置１１やミリ波レーダーやレーザーレーダーのようなレーダー装置１３から得られた道路形状に基づいて自車前方における車両の合流部を検知するものである。第３の手法は、ＶＩＣＳや路車間通信装置のような通信手段２０から得られた事故情報に基づいて自車前方における車両の合流部を検知するものである。事故現場では使用可能な車線数が減少するために合流部が発生し、自車線に隣接する車線が事故発生地点である場合に、事故発生地点の手前の自車線に合流部が発生することになる。
【００３５】
合流部距離検知手段Ｍ８は、車両合流部検知手段Ｍ７で検知した合流部と自車位置との距離を、撮像装置１１やレーダー装置１３の出力から検知する。
【００３６】
渋滞検知手段Ｍ９は、自車前方の合流部において渋滞が発生しているか否を検知するためのもので、その検知は複数の手法により行うことができる。第１の手法は、撮像装置１１やレーダー装置１３の出力から検知した他車両の移動履歴に基づいて渋滞の発生を検知するものである。自車前方の合流部に渋滞が発生すると、自車前方の他車両の車速が全般的に低下することで渋滞を検知することができる。第２の手法は、車両合流部検知手段Ｍ７で検知した合流部までの所定の区間での自車の車速が所定値以下の場合に渋滞の発生を検知するものである。第３の手法は、路車間通信装置のような通信手段２０から得られた渋滞情報に基づいて渋滞の発生を検知するものである。
【００３７】
割込み車両検知手段Ｍ１０は、車両合流部検知手段Ｍ７で検知した合流部において、先行車決定手段Ｍ１で決定した先行車の周辺の車両の挙動を撮像装置１１やレーダー装置１３により監視することにより割込み車両を検知する。
【００３８】
目標車間距離補正手段Ｍ４は、実車間距離検知手段Ｍ３で検知した実車間距離および合流部距離検知手段Ｍ８で検知した合流部までの距離がそれぞれ所定値以下であり、車両合流部検知手段Ｍ７および渋滞検知手段Ｍ９からの情報により合流部近傍における渋滞が検知され、かつ割込み車両検知手段Ｍ１０が先行車近傍の割込み車両を検知したときに、目標車間距離設定手段２２で設定した目標車間距離を増加させる。
【００３９】
このように、合流部で渋滞が発生している場合に、図５（Ｂ）に示すように、先行車に対する追従走行の目標車間距離を増加させて自車と先行車との間に積極的にスペースを形成し、そのスペースに割込み車両を割込ませることで交通全体の流れをスムーズにするとともに、割込み車両のドライバーの不満を解消することができる。しかも、その際にドライバーは特別の操作を行う必要がなく、追従走行制御が解除されることもないため、ドライバーの操作負担が軽減される。
【００４０】
尚、割込みの完了後、あるいは車間距離を広げてから所定時間が経過しても割込みが行われない場合には、目標車間距離は当初の状態に自動的に復帰する。
【００４１】
上記作用をフローチャートに基づいて更に説明する。
【００４２】
図２のフローチャートは本実施例のメインルーチンを示すもので、先ずステップＳ１で先行車との車間距離が所定値以下であり、ステップＳ２で自車が合流部付近を走行しており、ステップＳ３で合流部付近が渋滞しており、かつステップＳ４で先行車との間に割込もうとする割込み車両が存在する場合に、ステップＳ５で追従走行の目標車間距離を拡大して割込み車両がスムーズに割込めるようにする。一方、前記ステップＳ１〜Ｓ４の何れかが不成立の場合には、ステップＳ６で追従走行の目標車間距離を現状のまま維持する。
【００４３】
図３のフローチャートは合流部推定ルーチンを示すもので、先ずステップＳ１１でＶＩＣＳや路車間通信装置のような通信手段２０からの渋滞情報があれば、ステップＳ１２で自車の現在位置やインターチェンジの位置等から合流部の位置を検知する。
【００４４】
前記ステップＳ１１で通信手段２０からの渋滞情報がなければ、ステップＳ１３で撮像装置１１やレーダー装置１３の出力に基づいて自車線および隣車線に存在する車両を検知し、ステップＳ１４で両車線ともに所定数以上の車両が存在し、ステップＳ１５で所定時間における隣車線の車両が自車線に移動する頻度が所定回数以上であり、かつステップＳ１６で隣車線の車両が自車線に移動するポイントが所定回数以上同一であれば、ステップＳ１７で前記移動ポイントの統計から合流部を検知する。一方、前記ステップＳ１４〜Ｓ１６の何れかが不成立の場合には、ステップＳ１８で合流部が存在しないと判断する。
【００４５】
図４のフローチャートは割込み車両決定ルーチを示すもので、先ずステップＳ２１で先行車の所定周辺範囲に車両が存在すれば、ステップＳ２２でその車両を割込み車両候補とする。続くステップＳ２３で割込み車両候補の走行車線が自車線に合流していれば、ステップＳ２４で割込み車両候補を割込み車両と決定する。また前記ステップＳ２３で割込み車両候補の走行車線が自車線に合流していなくても、ステップＳ２５で割込み車両候補の前方に事故発生地点（あるいは工事地点）が存在して実質的に割込み車両候補の走行車線が自車線に合流していれば、前記ステップＳ２４で割込み車両候補を割込み車両と決定する。また前記ステップＳ２１で先行車の所定周辺範囲に車両が存在しないか、あるいは前記ステップＳ２５で割込み車両候補の前方に事故発生地点（あるいは工事地点）が存在しなければ、ステップＳ２６で割込み車両が無いと判定する。
【００４６】
以上、本発明の実施例を説明したが、本発明はその要旨を逸脱しない範囲で種々の設計変更を行うことが可能である。
【００４７】
例えば、実施例ではドライバーが目標車間距離設定手段２２を操作して目標車間距離を設定するようになっているが、目標車間距離設定手段２２は自車の車速等に応じて自動的に目標車間距離を設定するものであっても良い。
【００４８】
【発明の効果】
以上のように請求項１に記載された発明によれば、先行車との実車間距離が所定値以下であり、他車が合流する合流部までの距離が所定値以下であり、合流部近傍において渋滞が発生しており、かつ先行車近傍で合流部に割込もうとしている割込み車両が検知されたときに、先行車に対する追従走行の目標車間距離を増加させるので、自車と先行車との車間距離を自動的に増加させて割込み車両をスムーズに割込ませることができ、合流部における渋滞を緩和して交通全体の流れをスムーズにすることができる。
【００４９】
また請求項２に記載された発明によれば、物体検知手段で検知した自車前方の物体の移動履歴に基づいて渋滞を検知するので、渋滞を的確に検知することができる。
【００５０】
また請求項３に記載された発明によれば、自車位置から車両の合流部までの所定の区間における自車の車速が所定値以下の場合に渋滞を検知するので、渋滞を的確に検知することができる。
【００５１】
また請求項４に記載された発明によれば、自車と外部との通信によって得られる渋滞情報に基づいて渋滞を検知するので、渋滞を的確に検知することができる。
【００５２】
また請求項５に記載された発明によれば、記憶された道路情報に基づいて合流部を検知するので、合流部を的確に検知することができる。
【００５３】
また請求項６に記載された発明によれば、自車前方車両の車線変更回数および車線変更地点に基づいて合流部を検知するので、合流部を的確に検知することができる。
【００５４】
また請求項７に記載された発明によれば、自車と外部との通信により得られる事故情報に基づいて合流部を検知するので、合流部を的確に検知することができる。
【００５５】
また請求項８に記載された発明によれば、事故発生地点が自車走行車線に隣接する車線上にあるときに合流部が自車走行車線上にあると判断するので、合流部を的確に検知することができる。
【００５６】
また請求項９に記載された発明によれば、自車前方の物体を検知して得られる先行車周辺の車両の位置と、合流部の位置とから先行車周辺の割込み車両を検知するので、割込み車両を的確に検知することができる。
【図面の簡単な説明】
【図１】車両の走行制御装置の全体構成図
【図２】本実施例のメインルーチンのフローチャート
【図３】合流部推定ルーチンのフローチャート
【図４】割込み車両決定ルーチンのフローチャート
【図５】割込み時の車間距離制御の説明図
【符号の説明】
１１　　　　撮像装置（物体検知手段）
１３　　　　レーダー装置（物体検知手段）
２０　　　　通信手段
２１　　　　道路情報記憶手段
２２　　　　目標車間距離設定手段
Ｍ３　　　　実車間距離検知手段
Ｍ４　　　　目標車間距離補正手段
Ｍ５　　　　車速制御手段
Ｍ７　　　　車両合流部検知手段
Ｍ８　　　　合流部距離検知手段
Ｍ９　　　　渋滞検知手段
Ｍ１０　　　割込み車両検知手段[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides a vehicle for controlling the vehicle speed of the own vehicle so as to follow the preceding vehicle by controlling the vehicle speed so that the actual inter-vehicle distance detected by the actual inter-vehicle distance detection means matches the target inter-vehicle distance set by the target inter-vehicle distance setting means. The present invention relates to a travel control device.
[0002]
[Prior art]
Japanese Patent Application Laid-Open Nos. H10-320691 and H11-328584 disclose a vehicle travel control device for smoothly joining a vehicle from a branch line to a group of vehicles traveling on a main road.
[0003]
Japanese Patent Application Laid-Open No. H10-320691 discloses a method of performing inter-vehicle communication between a vehicle traveling on a branch line and another vehicle traveling on a main line to exchange data on vehicle position and vehicle speed with each other. At the merging time, the other vehicle (specific vehicle) in front of the merging position is specified, the distance between the own vehicle and the specific vehicle at the merging position is estimated, and the own vehicle is smoothly decelerated to widen the inter-vehicle distance. So that they can join.
[0004]
Further, Japanese Patent Application Laid-Open No. H11-328584 discloses that a vehicle group traveling in platoon on a main line receives position information and the like of a vehicle traveling on a branch line by vehicle-to-vehicle communication or road-to-vehicle communication. The platoon is divided by controlling the speed of the vehicle closest to the vehicle running on the branch line at the junction position, so that the vehicle from the branch line can smoothly merge into the space formed there.
[0005]
Also, a preceding vehicle recognizing means such as a radar device or an image pickup device mounted on the own vehicle recognizes the preceding vehicle on the traveling locus immediately before the own vehicle, and the inter-vehicle distance with the preceding vehicle is maintained at the target inter-vehicle distance. A traveling control device for a vehicle for controlling the vehicle speed of the own vehicle to perform the following traveling is also known.
[0006]
[Problems to be solved by the invention]
By the way, when following the preceding vehicle during traffic congestion, it is desirable to minimize the target inter-vehicle distance. The reason for this is that if the vehicle follows the vehicle with the target inter-vehicle distance increased, the frequency at which another vehicle cuts in front of the own vehicle increases, and the driver feels discomfort. Also, shortening the target inter-vehicle distance during a traffic jam has the effect of shortening the section of the traffic jam itself.
[0007]
The places where traffic congestion is likely to occur include a place where a rampway joins a main line of a high-traffic expressway and a place where the number of lanes that can be opened due to construction or accident is reduced. As shown in FIG. 5 (b), blocking a vehicle in such a place would impede traffic congestion. Therefore, as shown in FIG. 5 (B), it is desirable to actively allow the vehicle to be interrupted. However, when the vehicle is following the vehicle with a short target inter-vehicle distance, there is a problem that traffic congestion is promoted because it is impossible to interrupt the vehicle ahead.
[0008]
The present invention has been made in view of the above-mentioned circumstances, and has as its object to smoothly interrupt another vehicle in front of a vehicle that is following a target inter-vehicle distance during a traffic jam.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, target inter-vehicle distance setting means for setting a target inter-vehicle distance to a preceding vehicle, and an actual inter-vehicle distance to detect an actual inter-vehicle distance to a preceding vehicle Traveling control of a vehicle, comprising: detecting means; and vehicle speed control means for controlling the vehicle speed of the own vehicle such that the actual inter-vehicle distance detected by the actual inter-vehicle distance detecting means matches the target inter-vehicle distance set by the target inter-vehicle distance setting means. In the device, a vehicle merging portion detecting means capable of detecting a merging portion of the vehicle in front of the own vehicle, a merging portion distance detecting means capable of detecting a distance from the own vehicle to the merging portion of the vehicle, and a congestion in the own vehicle traveling path. The detectable traffic congestion detecting means, the interrupting vehicle detecting means capable of detecting the interrupting vehicle near the preceding vehicle, and the actual inter-vehicle distance detected by the actual inter-vehicle distance detecting means and the distance to the merging section detected by the merging section distance detecting means. Respectively When the congestion near the junction is detected by the information from the vehicle merging portion detecting means and the traffic congestion detecting means, and the interrupting vehicle detecting means detects an interrupting vehicle near the preceding vehicle, the target inter-vehicle distance is determined to be equal to or less than the predetermined value. There is proposed a travel control device for a vehicle, comprising a target inter-vehicle distance correcting means for increasing the distance.
[0010]
According to the above configuration, the actual inter-vehicle distance to the preceding vehicle is equal to or less than a predetermined value, the distance to a junction where another vehicle joins is equal to or less than a predetermined value, traffic congestion occurs near the junction, and When an interrupted vehicle that is trying to interrupt the junction near the vehicle is detected, the target inter-vehicle distance for following the preceding vehicle is increased, so the inter-vehicle distance between the own vehicle and the preceding vehicle is automatically increased. The interrupted vehicle can be smoothly interrupted, and congestion at the junction can be alleviated to smooth the flow of the entire traffic.
[0011]
According to the second aspect of the present invention, in addition to the configuration of the first aspect, the vehicle further comprises an object detection unit capable of detecting an object in front of the own vehicle, and the traffic congestion detection unit detects an object obtained from the object detection unit. A traveling control device for a vehicle, which detects traffic congestion based on a movement history, is proposed.
[0012]
According to the above configuration, the traffic jam is detected based on the movement history of the object ahead of the vehicle detected by the object detection means, so that the traffic jam can be accurately detected.
[0013]
According to the third aspect of the present invention, in addition to the configuration of the first aspect, the traffic congestion detecting means is provided in a predetermined section from a position of the own vehicle to a merging point of the vehicle detected by the vehicle merging part detecting means. A traveling control device for a vehicle is proposed, which detects a traffic jam when the vehicle speed is equal to or lower than a predetermined value.
[0014]
According to the above configuration, the traffic jam is detected when the vehicle speed of the own vehicle in a predetermined section from the position of the vehicle to the junction of the vehicle is equal to or lower than the predetermined value, so that the traffic jam can be accurately detected.
[0015]
According to a fourth aspect of the present invention, in addition to the configuration of the first aspect, there is provided communication means for enabling communication between the vehicle and the outside, and the traffic congestion detecting means comprises traffic congestion information obtained from the communication means. There is proposed a traveling control device for a vehicle, which detects traffic congestion based on a vehicle.
[0016]
According to the above configuration, since the traffic jam is detected based on the traffic jam information obtained by communication between the vehicle and the outside, the traffic jam can be accurately detected.
[0017]
According to the invention described in claim 5, in addition to the configuration of any one of claims 1 to 4, the vehicle information processing apparatus further includes a road information storage unit that stores road information, A traveling control device for a vehicle is proposed which detects a junction based on road information stored in road information storage means.
[0018]
According to the above configuration, the junction is detected based on the stored road information, so that the junction can be accurately detected.
[0019]
According to a sixth aspect of the present invention, in addition to the configuration of any one of the first to fourth aspects, the vehicle further includes an object detection unit capable of detecting an object in front of the own vehicle, and detects a vehicle merging portion. A traveling control device for a vehicle is proposed, wherein the means detects the junction based on the number of lane changes and the lane change point of the vehicle ahead of the own vehicle obtained by the object detecting means.
[0020]
According to the above configuration, the junction is detected based on the number of lane changes and the lane change point of the vehicle ahead of the host vehicle, so that the junction can be accurately detected.
[0021]
According to a seventh aspect of the present invention, in addition to the configuration of any one of the first to fourth aspects, a communication unit for enabling communication between the vehicle and the outside is provided, and A traveling control device for a vehicle is proposed in which the detecting means detects the junction based on accident information obtained by the communication means.
[0022]
According to the above configuration, the junction is detected based on accident information obtained by communication between the vehicle and the outside, so that the junction can be accurately detected.
[0023]
According to the invention described in claim 8, in addition to the configuration of claim 7, the vehicle merging portion detecting means is configured such that when the accident occurrence point is on a lane adjacent to the own vehicle traveling lane, the merging portion is detected. A traveling control device for a vehicle, which determines that the vehicle is on the own vehicle traveling lane, is proposed.
[0024]
According to the above configuration, when the accident occurrence point is on the lane adjacent to the own vehicle traveling lane, it is determined that the junction is on the own vehicle traveling lane, so that the junction can be accurately detected.
[0025]
According to the ninth aspect of the present invention, in addition to the configuration of any one of the first to eighth aspects, the vehicle further includes an object detection unit capable of detecting an object in front of the own vehicle, and an interruption vehicle detection unit. Detecting the interrupted vehicle around the preceding vehicle from the position of the vehicle around the preceding vehicle that can be obtained by the object detecting means and the position of the merging section obtained by the vehicle merging section detecting means. An apparatus is proposed.
[0026]
According to the above configuration, the interrupted vehicle around the preceding vehicle is detected from the position of the vehicle around the preceding vehicle obtained by detecting the object ahead of the own vehicle and the position of the merging section, so that the interrupted vehicle is accurately detected. be able to.
[0027]
Note that the imaging device 11 and the radar device 13 correspond to the object detection means of the present invention.
[0028]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings.
[0029]
1 to 5 show an embodiment of the present invention. FIG. 1 is an overall configuration diagram of a vehicle travel control device, FIG. 2 is a flowchart of a main routine of the embodiment, and FIG. FIG. 4 is a flowchart of an interrupted vehicle determination routine, and FIG. 5 is an explanatory diagram of inter-vehicle distance control at the time of an interrupt.
[0030]
As shown in FIG. 1, the electronic control unit U of the traveling control device of the vehicle includes a preceding vehicle determining unit M1, an own vehicle trajectory estimating unit M2, an actual inter-vehicle distance detecting unit M3, a target inter-vehicle distance correcting unit M4, The vehicle includes a vehicle speed control unit M5, a vehicle information display unit M6, a vehicle junction detection unit M7, a junction distance detection unit M8, a traffic jam detection unit M9, and an interruption vehicle detection unit M10. An imaging device detection output unit 12 connected to an imaging device 11 such as a television camera and a radar device detection output unit 14 connected to a radar device 13 such as a millimeter wave radar or a laser radar are included in the preceding vehicle determination unit M1. Connected. A sensor for detecting the driving state of the vehicle, for example, a vehicle speed sensor 15 for detecting the vehicle speed, a yaw rate sensor 16 for detecting the yaw rate, and a steering angle sensor 17 for detecting the steering angle are connected to the vehicle trajectory estimating means M2. The own vehicle trajectory estimating means M2 estimates the future running trajectory of the own vehicle based on the vehicle speed, the yaw rate, and the steering angle.
[0031]
The preceding vehicle determination means M1 is based on the outputs of the imaging device detection output means 12 and the radar device detection output means 14 to determine, from among the vehicles traveling ahead of the own vehicle, the own vehicle estimated by the own vehicle trajectory estimation means M2. A vehicle located on a future traveling locus is determined as a preceding vehicle. Then, the actual inter-vehicle distance detecting means M3 detects the actual inter-vehicle distance between the preceding vehicle and the own vehicle determined as described above. The detection of the actual inter-vehicle distance is performed based on the output of the imaging device detection output unit 12 and / or the radar device detection output unit 14.
[0032]
The target inter-vehicle distance correcting means M4 to which the driver sets a desired target inter-vehicle distance is connected to the target inter-vehicle distance correcting means M4. When there is, the target inter-vehicle distance is corrected in a direction to increase in order to enable a smooth interruption. Then, the vehicle speed control means M5, to which the target inter-vehicle distance corrected by the target inter-vehicle distance correction means M4 and the actual inter-vehicle distance detected by the actual inter-vehicle distance detection means M3, are inputted, so that the actual inter-vehicle distance matches the target inter-vehicle distance. The operation of the throttle actuator 23 and the brake actuator 24 is controlled. Specifically, when the actual inter-vehicle distance becomes smaller than the target inter-vehicle distance, the actual inter-vehicle distance is increased by operating the throttle actuator 23 and / or the brake actuator 24 to decelerate the vehicle. If it becomes larger, the actual inter-vehicle distance is reduced by operating the throttle actuator 23 to accelerate the vehicle.
[0033]
When the target inter-vehicle distance is corrected by the target inter-vehicle distance correction unit M4, the vehicle information display unit M6 activates the audio output unit 25 and / or the video output unit 26, and the target inter-vehicle distance is corrected by audio and / or video. Notify the driver of this.
[0034]
The vehicle merging portion detecting means M7 is for detecting a merging portion of the vehicle ahead of the host vehicle, and the detection can be performed by a plurality of methods. The first method is to detect a merging portion of a vehicle ahead of the host vehicle based on a road shape stored in advance in a road information storage unit 21 such as a CD-ROM of a navigation system. The second method is to detect a merging portion of a vehicle ahead of the own vehicle based on a road shape obtained from an imaging device 11 such as a television camera or a radar device 13 such as a millimeter-wave radar or a laser radar. . The third method is to detect a junction of vehicles ahead of the own vehicle based on accident information obtained from communication means 20 such as VICS or road-to-vehicle communication device. At the accident site, the number of usable lanes decreases, so a confluence occurs.If the lane adjacent to the own lane is the accident site, the confluence occurs in the own lane before the accident site. Become.
[0035]
The merging section distance detecting means M8 detects the distance between the merging section detected by the vehicle merging section detecting means M7 and the position of the own vehicle from the output of the imaging device 11 and the radar device 13.
[0036]
The traffic congestion detection means M9 is for detecting whether or not traffic congestion occurs at the junction in front of the vehicle, and the detection can be performed by a plurality of methods. The first method is to detect the occurrence of traffic congestion based on the movement history of another vehicle detected from the output of the imaging device 11 or the radar device 13. When traffic congestion occurs at the junction in front of the host vehicle, traffic congestion can be detected by generally decreasing the vehicle speed of other vehicles in front of the host vehicle. The second method is to detect the occurrence of congestion when the vehicle speed of the own vehicle in a predetermined section up to the junction detected by the vehicle junction detection means M7 is equal to or lower than a predetermined value. The third technique is to detect the occurrence of congestion based on the congestion information obtained from the communication means 20 such as a road-to-vehicle communication device.
[0037]
The interrupting vehicle detecting means M10 interrupts by monitoring the behavior of the vehicle around the preceding vehicle determined by the preceding vehicle determining means M1 by the imaging device 11 and the radar device 13 at the merging portion detected by the vehicle merging portion detecting means M7. Detect the vehicle.
[0038]
The target inter-vehicle distance correcting means M4 is configured such that the actual inter-vehicle distance detected by the actual inter-vehicle distance detecting means M3 and the distance to the merging section detected by the merging section distance detecting means M8 are each equal to or less than a predetermined value. The target inter-vehicle distance set by the target inter-vehicle distance setting means 22 is increased when the congestion near the junction is detected by the information from the congestion detection means M9 and the interrupted vehicle detection means M10 detects an interrupted vehicle near the preceding vehicle. Let it.
[0039]
In this way, when traffic congestion occurs at the junction, as shown in FIG. 5B, the target inter-vehicle distance of the following vehicle with respect to the preceding vehicle is increased to actively move between the own vehicle and the preceding vehicle. By forming a space in the space and interrupting the interrupting vehicle, the flow of the entire traffic can be made smooth and the dissatisfaction of the driver of the interrupting vehicle can be eliminated. Moreover, at this time, the driver does not need to perform any special operation, and the follow-up traveling control is not released, so that the driver's operation burden is reduced.
[0040]
Note that the target inter-vehicle distance automatically returns to the initial state if the interruption is not performed after completion of the interruption or within a predetermined time after the inter-vehicle distance is widened.
[0041]
The above operation will be further described based on a flowchart.
[0042]
The flowchart of FIG. 2 shows the main routine of this embodiment. First, in step S1, the inter-vehicle distance to the preceding vehicle is equal to or less than a predetermined value, and in step S2, the own vehicle is traveling near the junction. In step S4, if there is a traffic jam near the junction and there is an interrupted vehicle that is about to interrupt the preceding vehicle in step S4, the target inter-vehicle distance of the following vehicle is expanded in step S5 to make the interrupted vehicle smooth. To be able to interrupt. On the other hand, if any of the steps S1 to S4 is not satisfied, the target inter-vehicle distance of the follow-up traveling is maintained as it is in step S6.
[0043]
The flowchart of FIG. 3 shows a merging portion estimation routine. First, if there is traffic jam information from the communication means 20 such as a VICS or a road-to-vehicle communication device in step S11, the current position of the vehicle or the position of the interchange is determined in step S12. The position of the confluence is detected from the above.
[0044]
If there is no traffic congestion information from the communication means 20 in step S11, vehicles existing in the own lane and the adjacent lane are detected based on the outputs of the imaging device 11 and the radar device 13 in step S13, and both lanes are determined in step S14. At least a predetermined number of vehicles are present in the adjacent lane at step S15, and the frequency at which the vehicle in the adjacent lane moves to the own lane at step S15 is a predetermined number of times. If they are the same, the merging portion is detected from the statistics of the moving points in step S17. On the other hand, if any of steps S14 to S16 is not satisfied, it is determined in step S18 that there is no junction.
[0045]
The flowchart of FIG. 4 shows an interrupting vehicle determination routine. First, in step S21, if a vehicle exists within a predetermined peripheral range of the preceding vehicle, the vehicle is determined as an interrupting vehicle candidate in step S22. If the traveling lane of the candidate for the interrupted vehicle merges with the own lane in the subsequent step S23, the candidate for the interrupted vehicle is determined as the interrupted vehicle in step S24. Even if the running lane of the interrupted vehicle candidate does not merge with the own lane in step S23, an accident occurrence point (or a construction point) exists in front of the interrupted vehicle candidate in step S25, and substantially the interrupted vehicle candidate If the traveling lane merges with the own lane, the interrupt vehicle candidate is determined to be the interrupt vehicle in step S24. If there is no vehicle in the predetermined surrounding area of the preceding vehicle in step S21, or if there is no accident occurrence point (or construction point) in front of the interrupting vehicle candidate in step S25, there is no interrupting vehicle in step S26. Is determined.
[0046]
The embodiments of the present invention have been described above. However, various design changes can be made in the present invention without departing from the gist thereof.
[0047]
For example, in the embodiment, the driver operates the target inter-vehicle distance setting means 22 to set the target inter-vehicle distance. However, the target inter-vehicle distance setting means 22 automatically sets the target inter-vehicle distance according to the vehicle speed of the own vehicle. The distance may be set.
[0048]
【The invention's effect】
As described above, according to the invention described in claim 1, the actual inter-vehicle distance to the preceding vehicle is equal to or less than the predetermined value, the distance to the junction where another vehicle joins is equal to or less than the predetermined value, and the vicinity of the junction is When a congestion has occurred in the vehicle and an interrupted vehicle that is trying to interrupt the junction near the preceding vehicle is detected, the target inter-vehicle distance for following the preceding vehicle is increased. Can automatically increase the inter-vehicle distance, and can smoothly interrupt the interrupted vehicle, thereby alleviating the congestion at the junction and smoothing the flow of the entire traffic.
[0049]
According to the second aspect of the present invention, since the traffic jam is detected based on the movement history of the object ahead of the vehicle detected by the object detecting means, the traffic jam can be accurately detected.
[0050]
According to the third aspect of the present invention, a traffic jam is detected when the vehicle speed of the own vehicle in a predetermined section from the position of the own vehicle to the junction of the vehicle is equal to or lower than a predetermined value, so that the traffic jam is accurately detected. be able to.
[0051]
According to the invention described in claim 4, since the traffic jam is detected based on the traffic jam information obtained by the communication between the vehicle and the outside, the traffic jam can be accurately detected.
[0052]
According to the invention described in claim 5, the junction is detected based on the stored road information, so that the junction can be accurately detected.
[0053]
According to the invention described in claim 6, since the junction is detected based on the number of lane changes and the lane change point of the vehicle ahead of the host vehicle, the junction can be accurately detected.
[0054]
According to the invention described in claim 7, the junction is detected based on accident information obtained by communication between the vehicle and the outside, so that the junction can be accurately detected.
[0055]
According to the invention described in claim 8, when the accident occurrence point is on a lane adjacent to the own vehicle traveling lane, it is determined that the junction is on the own vehicle traveling lane. Can be detected.
[0056]
According to the ninth aspect of the present invention, the interrupted vehicle around the preceding vehicle is detected from the position of the vehicle around the preceding vehicle obtained by detecting an object ahead of the own vehicle and the position of the merging section. An interrupting vehicle can be accurately detected.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a vehicle travel control device. FIG. 2 is a flowchart of a main routine of the present embodiment. FIG. 3 is a flowchart of a merging portion estimation routine. FIG. 4 is a flowchart of an interrupt vehicle determination routine. Diagram of inter-vehicle distance control at the time [Description of symbols]
11 Imaging device (object detection means)
13. Radar device (object detection means)
Reference Signs List 20 communication means 21 road information storage means 22 target inter-vehicle distance setting means M3 actual inter-vehicle distance detection means M4 target inter-vehicle distance correction means M5 vehicle speed control means M7 vehicle merging section detecting means M8 merging section distance detecting means M9 congestion detecting means M10 interrupting vehicle detection means

Claims

Target inter-vehicle distance setting means (22) for setting a target inter-vehicle distance with a preceding vehicle;
An actual inter-vehicle distance detecting means (M3) for detecting an actual inter-vehicle distance from a preceding vehicle;
Vehicle speed control means (M5) for controlling the vehicle speed of the own vehicle such that the actual inter-vehicle distance detected by the actual inter-vehicle distance detection means (M3) matches the target inter-vehicle distance set by the target inter-vehicle distance setting means (22);
In a travel control device for a vehicle comprising:
A vehicle merging portion detecting means (M7) capable of detecting a merging portion of the vehicle in front of the own vehicle, a merging portion distance detecting means (M8) capable of detecting a distance from the own vehicle to the merging portion of the vehicle,
Traffic congestion detecting means (M9) capable of detecting traffic congestion on the own vehicle traveling path;
An interrupting vehicle detecting means (M10) capable of detecting an interrupting vehicle near a preceding vehicle;
The actual inter-vehicle distance detected by the actual inter-vehicle distance detecting means (M3) and the distance to the merging section detected by the merging section distance detecting means (M8) are each equal to or less than a predetermined value, and the vehicle merging section detecting means (M7) and the congestion detection Target inter-vehicle distance correction means for increasing the target inter-vehicle distance when traffic congestion in the vicinity of the junction is detected based on information from the means (M9) and the interrupted vehicle detection means (M10) detects an interrupted vehicle near the preceding vehicle. (M4),
A travel control device for a vehicle, comprising:

Object detection means (11, 13) capable of detecting an object in front of the vehicle is provided, and the traffic congestion detection means (M9) detects congestion based on the movement history of the object obtained from the object detection means (11, 13). The travel control device for a vehicle according to claim 1, wherein:

The congestion detecting means (M9) detects the congestion when the vehicle speed of the own vehicle in a predetermined section from the position of the own vehicle to the confluence of the vehicle detected by the vehicle confluence detecting means (M7) is lower than a predetermined value. The travel control device for a vehicle according to claim 1, wherein the travel control device is a vehicle.

Communication means (20) for enabling communication between the vehicle and the outside; and a traffic congestion detection means (M9) for detecting traffic congestion based on traffic congestion information obtained from the communication means (20). The vehicle travel control device according to claim 1.

A road information storage unit (21) for storing road information is provided, and the vehicle junction detection unit (M7) detects the junction based on the road information stored in the road information storage unit (21). The vehicle travel control device according to any one of claims 1 to 4, wherein:

An object detecting means (11, 13) capable of detecting an object in front of the own vehicle is provided, and the vehicle merging section detecting means (M7) is provided with the number of times of lane change of the preceding vehicle obtained by the object detecting means (11, 13). The traveling control device for a vehicle according to any one of claims 1 to 4, wherein the junction is detected based on a lane change point.

A communication unit (20) for enabling communication between the vehicle and the outside is provided, and the vehicle junction detection unit (M7) detects the junction based on accident information obtained by the communication unit (20). The vehicle travel control device according to any one of claims 1 to 4, wherein:

8. The vehicle merging portion detecting means (M7), when the accident occurrence point is on a lane adjacent to the own vehicle traveling lane, judges that the merging portion is on the own vehicle traveling lane. A travel control device for a vehicle according to claim 1.

An object detecting means (11, 13) capable of detecting an object in front of the own vehicle is provided, and the interrupted vehicle detecting means (M10) includes a vehicle position around the preceding vehicle obtained by the object detecting means (11, 13), and a vehicle. The traveling of the vehicle according to any one of claims 1 to 8, wherein an interrupted vehicle around a preceding vehicle is detected from a position of the junction obtained by the junction detection means (M7). Control device.