JP2006021578A - Inter-vehicle distance controlling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inter-vehicle distance controlling device able to properly execute the inter-vehicle distance control by resuming at a proper timing the radiation with a radar stopped by the automatic stop of the vehicle concerned owing to its relation to the foregoing vehicle. <P>SOLUTION: In controlling the vehicle distance from the foregoing vehicle using a radar sensor to radiate a laser beam to ahead of the vehicle, a vehicle stop control is executed whereby the vehicle concerned is stopped in association with the stop of the foregoing vehicle. When stopping the vehicle concerned is started by the vehicle stop control, the radiation of laser beam by the radar sensor is stopped. It is resumed if the driver turns on a radiation resumption switch after the radiation was stopped. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an inter-vehicle distance control device, and in particular, vehicle stop control for automatically stopping the host vehicle when controlling the inter-vehicle distance from a preceding vehicle using a radar that irradiates light or electromagnetic waves in front of the vehicle. The present invention relates to an inter-vehicle distance control device that can be executed.

Conventionally, by irradiating light or electromagnetic waves toward the front of the vehicle from an in-vehicle radar disposed at the front of the vehicle body, a preceding vehicle existing in front of the host vehicle is detected, and an appropriate inter-vehicle distance from the preceding vehicle is determined. There is known an inter-vehicle distance control device that controls the distance between them (for example, see Patent Document 1). In this device, irradiation of light or electromagnetic waves by the in-vehicle radar is executed when the vehicle is traveling, while the irradiation is stopped when the vehicle is stopped. For this reason, it is possible to suppress the irradiation by the radar to the same pedestrian for a long time while the vehicle is stopped, and to reduce the influence of the irradiation by the radar on the person as much as possible.
Japanese Patent Laid-Open No. 10-325865

  However, when the above-mentioned inter-vehicle distance control includes vehicle stop control for stopping the host vehicle when the preceding vehicle stops, irradiation by the in-vehicle radar is stopped when the host vehicle stop is started by the vehicle stop control. Therefore, after that, it becomes impossible for the own vehicle to grasp the situation of the preceding vehicle using the radar, and as a result, the execution of the inter-vehicle distance control is hindered.

  The present invention has been made in view of the above-mentioned points, and the inter-vehicle distance control is performed by resuming the irradiation by the radar stopped when the own vehicle is automatically stopped in relation to the preceding vehicle at an appropriate timing. It is an object of the present invention to provide an inter-vehicle distance control device capable of accurately executing the above.

  According to the first aspect of the present invention, as described in claim 1, the vehicle stop control for stopping the host vehicle in controlling the distance between the radar that irradiates light or electromagnetic waves in front of the vehicle and the preceding vehicle using the radar. An intervehicular distance control unit that can be executed, and an irradiation stop unit that stops irradiation by the radar when the own vehicle stop is started by the vehicle stop control, and the irradiation stop unit This is achieved by an inter-vehicle distance control device comprising irradiation resumption means for resuming irradiation by the radar when a predetermined switch operation is performed by the driver after irradiation by the radar is stopped.

  In the present invention, when the own vehicle stop is started by the vehicle stop control at the time of controlling the inter-vehicle distance from the preceding vehicle using a radar that irradiates light or electromagnetic waves in front of the vehicle, the irradiation from the radar is stopped. After that, when a predetermined switch operation is performed by the driver, irradiation from the radar is resumed. For this reason, while avoiding as much as possible the inconvenience caused by radar irradiation during vehicle stop control, the inter-vehicle distance control is accurately executed by restarting radar irradiation at the driver's will during the stop control. It becomes possible to make it.

  In this case, as described in claim 2, in the inter-vehicle distance control device according to claim 1, the irradiation stopping means uses the radar immediately after the irradiation restarting means restarts the irradiation by the radar. When the stop of the preceding vehicle is detected, if the irradiation by the radar is stopped again, the preceding vehicle detected by the restart of the radar irradiation is stopped, so that the own vehicle continues to stop. It is possible to avoid inconvenience caused by continued irradiation by the restarted radar.

  In addition, as described in claim 3, in the inter-vehicle distance control device according to claim 2, the inter-vehicle distance control means uses the radar immediately after the irradiation is resumed by the irradiation resuming means. When the vehicle stop is detected, it is sufficient to continue holding the vehicle stop by the vehicle stop control.

  According to the first to third aspects of the present invention, the inter-vehicle distance control is accurately executed by restarting the irradiation by the radar stopped when the host vehicle is automatically stopped in relation to the preceding vehicle at an appropriate timing. Can be made.

  FIG. 1 is a system configuration diagram of an inter-vehicle distance control device 10 mounted on a vehicle according to an embodiment of the present invention. The inter-vehicle distance control device 10 according to the present embodiment sets the inter-vehicle distance between the own vehicle and a preceding vehicle existing immediately before the own vehicle in a low vehicle speed range (for example, 0 km / h to 30 km / h) or the entire vehicle speed range (0 km / h). It is a cruise control system that executes the inter-vehicle distance control controlled by ~). As shown in FIG. 1, the inter-vehicle distance control device 10 includes an electronic control unit (hereinafter referred to as an inter-vehicle control ECU) 12 that performs calculations for inter-vehicle distance control, and performs inter-vehicle distance control using the inter-vehicle control ECU 12. Execute.

  The inter-vehicle control ECU 12 is connected to a radar sensor 14 disposed near the front grill of the vehicle, for example. The radar sensor 14 is configured to scan a predetermined area in front of the vehicle at a predetermined cycle, and receives the reflected wave when the laser light irradiated to the predetermined area in front of the vehicle is reflected by the target object. A signal corresponding to the presence / absence of an object based on the time from reception to reception and the distance to the object is output. The output signal of the radar sensor 14 is supplied to the inter-vehicle control ECU 12. Based on the output signal of the radar sensor 14, the inter-vehicle control ECU 12 determines whether or not there is a preceding vehicle in a predetermined area in front of the own vehicle, and if there is a preceding vehicle, the own vehicle and its preceding vehicle. A relative speed Vr between the host vehicle and the preceding vehicle is detected by differentiating the detected inter-vehicle distance L.

  A wheel speed sensor 16 and a G sensor 18 are also connected to the inter-vehicle control ECU 12. The wheel speed sensor 16 outputs a signal corresponding to the speed of the host vehicle to the inter-vehicle control ECU 12. The inter-vehicle control ECU 12 detects the host vehicle speed V1 based on the output signal of the wheel speed sensor 16, and also detects the speed V2 of the preceding vehicle based on the relationship between the host vehicle speed V1 and the relative speed Vr. In addition, the G sensor 18 outputs a signal corresponding to the acceleration / deceleration of the host vehicle to the inter-vehicle control ECU 12. The inter-vehicle control ECU 12 detects the acceleration / deceleration α of the host vehicle based on the output signal of the G sensor 18. The acceleration / deceleration α is a value that is positive when accelerating and negative when decelerating.

  A cruise control switch 22 that can be operated by the vehicle driver is also connected to the inter-vehicle control ECU 12. The cruise control switch 22 is, for example, a lever-type switch attached to the side of the steering column, and a latch-type main switch for starting the cruise control system for executing the above-described inter-vehicle distance control, and the inter-vehicle distance control. A set operation switch for starting and a cancel operation switch for canceling the controlled travel by the cruise control system are integrated. The operations of the set operation switch and the cancel operation switch are effective only when the main switch is in an on state for system activation. The inter-vehicle control ECU 12 detects various states of the cruise control switch 22 and executes inter-vehicle distance control according to the states as will be described later.

  An irradiation resumption switch 24 that can be operated by the vehicle driver is also connected to the inter-vehicle control ECU 12. The irradiation resumption switch 24 is configured integrally with the cruise control switch 22 described above, or is attached to the surface of the steering wheel separately from the cruise control switch 22. As will be described in detail later, the irradiation resumption switch 24 is a dedicated switch for resuming the irradiation of the laser light at an appropriate timing when the irradiation of the laser light from the radar sensor 14 is stopped. The operation of the irradiation resumption switch 24 is effective only at such timing. The inter-vehicle control ECU 12 detects the state of the irradiation resumption switch 24 at an appropriate timing when the irradiation of the laser light from the radar sensor 14 is stopped, and when the irradiation resumption switch 24 is turned on, Resume laser beam irradiation.

  The inter-vehicle control ECU 12 is also connected to an engine ECU 26 that controls the engine that is the vehicle power and a brake ECU 28 that controls the vehicle brake. The engine ECU 26 is connected to a throttle actuator 30 that generates a driving force for driving the vehicle by rotating the engine. The brake ECU 28 is connected to a brake actuator 32 that generates a braking force for braking the vehicle by operating an electric or hydraulic brake mechanism of the vehicle and suppressing rotation of each wheel by shifting down the transmission. . As will be described later, the inter-vehicle control ECU 12 controls the engine ECU 26 and the brake ECU 28 so as to appropriately operate the throttle actuator 30 and the brake actuator 32 so that the host vehicle travels at a target inter-vehicle distance or stops with respect to the preceding vehicle. Then, each command signal is supplied to execute inter-vehicle distance control. The engine ECU 26 and the brake ECU 28 appropriately operate the throttle actuator 30 and the brake actuator 32 in accordance with a command signal supplied from the inter-vehicle control ECU 12.

  An alarm device 34 is further connected to the inter-vehicle control ECU 12. The warning device 34 informs the vehicle driver that an abnormality has occurred in the cruise control system, that the own vehicle may collide with a preceding vehicle, that the own vehicle has stopped due to execution of vehicle distance control, and the like. It is a device that outputs an alarm sound such as a buzzer and a voice to inform the auditory sense. The inter-vehicle control ECU 12 drives the alarm device 34 when it is determined that an abnormality occurs in the cruise control system or that the host vehicle may collide with a preceding vehicle during inter-vehicle distance control. Instead of the alarm device 34 or together with the alarm device 34, an alarm indicator that visually informs the driver of an abnormality or a collision possibility may be provided.

  Next, operation | movement of the inter-vehicle distance control apparatus 10 of a present Example is demonstrated. FIG. 2 is a diagram for explaining the inter-vehicle distance control in the present embodiment.

  In this embodiment, the engine ECU 26 and the brake ECU 28 do not receive a command signal from the inter-vehicle control ECU 12 when the main switch of the cruise control switch 22 is in an off state and the cruise control system is not activated, A command signal is supplied to the throttle actuator 30 so that a driving force corresponding to the operation of the accelerator pedal by the driver is generated in the vehicle, or a braking force corresponding to the operation of the brake pedal by the vehicle driver is generated in the vehicle. A command signal is supplied to the brake actuator 32. Therefore, when the cruise control system is not activated, the vehicle travels at an acceleration / deceleration according to the accelerator operation and brake operation of the vehicle driver.

  When the main switch of the cruise control switch 22 is switched from the off state to the on state from this state and the system is activated, the inter-vehicle control ECU 12 enters a mode for executing inter-vehicle distance control. In this mode, the vehicle driver adjusts the speed of the vehicle in a situation where a preceding vehicle is present immediately before the host vehicle, and the vehicle speed V1 reaches the target speed range (for example, 0 km / h to 30 km / h) of the inter-vehicle distance control. When the set operation switch of the cruise control switch 22 is turned on while the vehicle is running, the vehicle distance control is shifted from a standby state where execution of the vehicle distance control is not permitted to a state in which the vehicle distance control is actually executed, and execution of the vehicle distance control is started. It will be.

  When the execution of the inter-vehicle distance control is started in this way, the inter-vehicle control ECU 12 drives the radar sensor 14 to irradiate the laser beam so that a predetermined area is scanned forward of the host vehicle. Then, the inter-vehicle control ECU 12 detects the preceding vehicle existing immediately before the own vehicle on the same lane as the own vehicle using the radar sensor 14, and the speed V2 of the preceding vehicle is, for example, 20 km / h within the control target speed range. In some cases, as shown in FIG. 2A, command signals are appropriately supplied to the engine ECU 26 and the brake ECU 28 so that the host vehicle follows the preceding vehicle at the speed (20 km / h).

  In this case, the host vehicle is automatically accelerated or decelerated so that the inter-vehicle distance from the preceding vehicle automatically matches the target inter-vehicle distance proportional to the vehicle speed V1 without any brake operation or accelerator operation by the driver (hereinafter referred to as “this”). One mode during inter-vehicle distance control is called follow-up control). The target inter-vehicle distance is a distance that allows the driver to stop the vehicle immediately before the preceding vehicle by a brake operation even when the preceding vehicle to be controlled stops due to sudden braking. The longer the vehicle speed V1, the longer the distance is set. However, it may be possible to switch between “long”, “medium”, and “short” in multiple stages by a predetermined switch operation by the vehicle driver.

  Further, after starting the execution of the inter-vehicle distance control, when the inter-vehicle control ECU 12 detects that the preceding vehicle to be controlled has stopped using the radar sensor 14, as shown in FIG. Along with this, a command signal is supplied to the brake ECU 28 so that the host vehicle also stops at a predetermined target inter-vehicle distance. In this case, the host vehicle is automatically stopped without a brake operation by the driver (hereinafter, one aspect during the inter-vehicle distance control is referred to as vehicle stop control).

  Here, if the laser beam is continuously irradiated while the vehicle is stopped, there is a high possibility that a pedestrian or the like on the road may look directly into the laser beam by looking into the front of the vehicle. Since the direct viewing of the laser beam can be performed for a long time, the influence on the person of the laser beam irradiation becomes excessive. On the other hand, in this embodiment, when the vehicle stop by the vehicle stop control is started and the vehicle actually stops, the inter-vehicle distance control ECU 12 subsequently detects the preceding vehicle while holding the vehicle stop. The irradiation of the laser beam from the provided radar sensor 14 is stopped. For this reason, it is possible to suppress the irradiation of the laser light of the radar sensor 14 to the person while the vehicle is stopped, and to reduce the influence of the irradiation on the person.

  When the irradiation of the laser beam from the radar sensor 14 is stopped due to the vehicle stopping by the vehicle stop control, the vehicle control ECU 12 then restarts the irradiation of the laser beam from the radar sensor 14 at a timing described in detail later. . When a preceding vehicle is detected using the radar sensor 14, the inter-vehicle distance from the preceding vehicle is controlled again in accordance with the following control or vehicle stop control.

  When the brake pedal is depressed during execution of the inter-vehicle distance control, when the cancel operation switch of the cruise control switch 22 is turned on, when the shift position of the transmission is shifted outside the drive range, When there is no preceding vehicle to be controlled due to lane change of the vehicle or own vehicle, when the parking brake is turned on, and the own vehicle speed V1 exceeds the upper limit value (for example, 30 km / h) of the target speed range. If this happens, the inter-vehicle control ECU 12 stops the execution of the inter-vehicle distance control. Further, when the main switch of the cruise control switch 22 is turned off after the cruise control system is activated, the inter-vehicle control ECU 12 stops the execution when the inter-vehicle distance control is actually being executed.

  Thus, according to the inter-vehicle distance control, when the preceding vehicle exists in the target speed range exceeding 0 km / h, the preceding vehicle is moved so that the inter-vehicle distance with the preceding vehicle coincides with the target inter-vehicle distance according to the vehicle speed. The vehicle can be driven following the vehicle, and when the preceding vehicle stops, the host vehicle can be automatically stopped along with the stop. For this reason, according to the present embodiment, particularly in the case of traffic jams where it is necessary to repeatedly generate braking force and driving force alternately on the vehicle, the driver can perform accelerator operation and brake operation to be performed to reduce the burden. It is possible to improve the convenience of the driver.

  By the way, as described above, in this embodiment, after the vehicle stop by the vehicle stop control is started, the irradiation of the laser beam from the radar sensor 14 is stopped. In this regard, when the irradiation of the laser beam from the radar sensor 14 is stopped during the execution of the vehicle stop control in this way, it is impossible to grasp the status of the preceding vehicle using the radar sensor 14 thereafter in the own vehicle. Therefore, if the preceding vehicle starts in the meantime, the inter-vehicle distance between the host vehicle and the preceding vehicle is not properly controlled thereafter, and the execution of the inter-vehicle distance control is hindered. Therefore, the system of the present embodiment restarts the irradiation of the laser beam from the radar sensor 14 stopped due to the stop of the own vehicle accompanying the stop of the preceding vehicle at an appropriate timing, so that the inter-vehicle distance control is accurately performed. It is characterized in that it is executed. Hereinafter, with reference to FIG. 3, the characteristic part of a present Example is demonstrated.

  FIG. 3 shows a flowchart of a control routine executed by the inter-vehicle control ECU 12 in the inter-vehicle distance control device 10 of the present embodiment. The routine shown in FIG. 3 is a routine that is repeatedly started each time the process is completed. When the routine shown in FIG. 3 is started, first, the process of step 100 is executed.

  In step 100, it is determined whether or not the vehicle stop control is executed due to the stop of the preceding vehicle during the inter-vehicle distance control and the host vehicle is actually stopped. As a result, if a negative determination is made, the current routine is terminated without any further processing. On the other hand, when the vehicle stop control is started, the laser light irradiation from the radar sensor 14 is stopped thereafter. If an affirmative determination is made in step 100, the processing of step 102 is performed next. Executed.

  In step 102, after an affirmative determination is made in step 100, it is determined whether or not the irradiation resumption switch 24 is turned on. As a result, if it is determined that the irradiation resumption switch 24 is not turned on, the current routine is terminated. On the other hand, if it is determined that the irradiation resumption switch 24 has been turned on, the process of step 104 is performed next.

  In step 104, a process for restarting the irradiation of the laser beam from the radar sensor 14 that has been stopped is executed. After the process of step 104 is executed, if there is a preceding vehicle ahead of the host vehicle, the preceding vehicle can be detected using the radar sensor 14, and the distance between the preceding vehicle and the preceding vehicle can be detected. The distance can be controlled. If the process of this step 104 is performed, the process of step 106 will be performed next.

  In step 106, when the laser light from the radar sensor 14 is restarted in step 104, the preceding vehicle detected using the radar sensor 14 is stopped or the preceding vehicle is detected using the radar sensor 14. It is determined whether or not it is in a state where it cannot be detected. As a result, when the preceding vehicle is detected using the radar sensor 14 and the preceding vehicle has not stopped, it can be determined that the preceding vehicle has shifted from the stopped state and is in a starting state, and therefore the own vehicle is the radar sensor 14. It is appropriate to follow the preceding vehicle by the inter-vehicle distance control using. Accordingly, if a negative determination is made in step 106, the current routine is terminated.

  On the other hand, when the preceding vehicle is detected using the radar sensor 14 that has resumed the laser light irradiation but the preceding vehicle is stopped, the preceding vehicle that is subject to control of the inter-vehicle distance control still stops. Therefore, the own vehicle is not started by the inter-vehicle distance control, and the stop of the own vehicle is held. At this time, it is appropriate to stop the irradiation of the laser light from the radar sensor 14 once restarted in consideration of the influence of the laser light irradiation on the person. If no preceding vehicle is detected using the radar sensor 14 that has resumed laser light irradiation, it can be determined that there is no preceding vehicle to be controlled by the inter-vehicle distance control. Distance control cannot be executed. At this time, it is not necessary to continue the irradiation of the laser beam from the radar sensor 14 that has been resumed. Therefore, if an affirmative determination is made in step 106, the process of step 108 is executed next.

  In step 108, processing for stopping the irradiation of laser light from the radar sensor 14 restarted in step 104 is executed. When the processing of this step 108 is executed, the laser light irradiation from the radar sensor 14 is stopped again, so the influence of the laser irradiation from the stopped vehicle on a person such as a pedestrian is not affected. Will be reduced. When the processing of step 108 is completed, the current routine is terminated.

  According to the routine shown in FIG. 3, after the stop of the host vehicle accompanying the stop of the preceding vehicle is realized by the vehicle stop control using the radar sensor 14, the irradiation of the laser light from the radar sensor 14 is stopped. When the driver turns on the irradiation resumption switch 24, the stopped laser beam irradiation can be resumed. Accordingly, if the driver turns on the irradiation resumption switch 24 at an appropriate timing when the preceding vehicle starts to start after the irradiation of the laser light from the radar sensor 14 is stopped, the laser from the radar sensor 14 is turned on. The irradiation of light is resumed, the preceding vehicle is detected again, and the inter-vehicle distance control for the preceding vehicle can be performed.

  In this regard, according to the system of the present embodiment, the laser light irradiation from the radar sensor 14 is stopped during the automatic stop of the host vehicle by the vehicle stop control, and the laser light irradiation continues. It is possible to avoid as much as possible the inconvenience that a person such as a pedestrian has an excessive influence, and then restart the laser light irradiation from the radar sensor 14 at the driver's intention during the automatic stop. It is possible to accurately execute the inter-vehicle distance control for the vehicle.

  It should be noted that it is not guaranteed that the driver's operation to turn on the irradiation resumption switch 24 during vehicle stop control and when laser irradiation is stopped will be performed at an appropriate timing, so that the preceding vehicle continues to stop. There is a good chance that it will be done. However, when the preceding vehicle stops, the own vehicle is stopped by the vehicle stop control using the radar sensor 14 after the laser irradiation is resumed, so that the irradiation restart switch is maintained even though the stop of the own vehicle is maintained. If the irradiation of the laser beam from the radar sensor 14 resumed by the ON operation of 24 continues, there may be a disadvantage that it is difficult to wipe off the influence on a person such as a pedestrian.

  On the other hand, according to the routine shown in FIG. 3, immediately after the irradiation of the laser light from the radar sensor 14 is resumed due to the driver's operation of turning on the irradiation resumption switch 24, the radar irradiation leads. When it is detected that the vehicle is stopped, the irradiation of the laser light from the radar sensor 14 can be stopped again. When the preceding vehicle stops during the inter-vehicle distance control using the radar sensor 14, the host vehicle is stopped by the vehicle stop control. Therefore, according to the system of the present embodiment, once restarted laser light irradiation is immediately stopped by detecting the stop of the preceding vehicle based on the irradiation, the restarted laser light irradiation is stopped by the preceding vehicle. It is possible to avoid inconveniences caused by continuing after the stop of the vehicle after the stop is detected, and to reduce the influence on people such as pedestrians.

  In the above-described embodiment, the radar sensor 14 corresponds to the “radar” recited in the claims, and the inter-vehicle control ECU 12 includes the radar sensor 14 including vehicle stop control for stopping the host vehicle. By using the inter-vehicle distance control for controlling the inter-vehicle distance with the preceding vehicle using the “inter-vehicle distance control means” described in the claims, the radar sensor is used when the stop of the host vehicle is started by the vehicle stop control. The “irradiation stopping means” described in the claims by stopping the irradiation of the laser beam from the No. 14 performs the processing of Step 104 in the routine shown in FIG. The “irradiation resuming means” is realized.

  In the above embodiment, the preceding vehicle is detected using the radar sensor 14 that irradiates laser light. However, in addition to the laser light, a sensor or camera that irradiates electromagnetic waves such as millimeter waves or ultrasonic waves is used. It is good also as detecting a preceding vehicle using. Even in such a configuration, when the vehicle stop control is executed and the own vehicle is stopped along with the stop of the preceding vehicle, the irradiation of the electromagnetic wave from the sensor or the like is stopped, and then the irradiation restart switch 24 is turned on. When this is done, such irradiation will be resumed. It should be noted that stopping the irradiation of electromagnetic waves in this way is effective in reducing power consumption when performing electromagnetic wave irradiation because there is not much need to irradiate electromagnetic waves for detecting a preceding vehicle while the vehicle is stopped. Because it becomes.

  Further, in the above-described embodiment, the irradiation of the laser beam from the radar sensor 14 that is stopped when the own vehicle is automatically stopped by the vehicle stop control is resumed by turning on the irradiation restart switch 24 by the driver. This irradiation resumption switch 24 is a dedicated switch that is integrated with the cruise control switch 22 or provided separately. However, an accelerator operation switch or a driver that is turned on when the driver operates the accelerator pedal. Alternatively, an existing switch such as a brake operation switch that is turned on when the brake pedal is operated may be used as the irradiation resumption switch 24 described above. In such a configuration, when the accelerator operation switch is turned on, when the brake operation switch is turned on, or when the brake operation switch is turned off after the on operation, irradiation of the laser light from the stopped radar sensor 14 is resumed. What should I do?

1 is a system configuration diagram of an inter-vehicle distance control device mounted on a vehicle according to an embodiment of the present invention. It is a figure for demonstrating the inter-vehicle distance control in a present Example. It is a flowchart of the control routine performed in the inter-vehicle distance control device of the present embodiment.

Explanation of symbols

10 inter-vehicle distance control device 12 inter-vehicle control ECU
14 Radar sensor 24 Irradiation restart switch

Claims (3)

Inter-vehicle distance comprising: a radar that irradiates light or electromagnetic waves in front of the vehicle; and an inter-vehicle distance control means that can execute vehicle stop control for stopping the host vehicle when controlling the inter-vehicle distance from the preceding vehicle using the radar. A control device,
Irradiation stopping means for stopping irradiation by the radar when the vehicle stopping is started by the vehicle stop control;
Irradiation restarting means for restarting irradiation by the radar when a predetermined switch operation is performed by the driver after irradiation by the radar is stopped by the irradiation stopping means;
An inter-vehicle distance control device comprising:   The irradiation stopping means stops the irradiation by the radar again when a stop of the preceding vehicle is detected using the radar immediately after the irradiation restarting by the irradiation restarting means is resumed. The inter-vehicle distance control device according to claim 1.   The inter-vehicle distance control means continues holding the own vehicle stop by the vehicle stop control when the stop of the preceding vehicle is detected using the radar immediately after the irradiation restart by the irradiation restart means is resumed. The inter-vehicle distance control device according to claim 2.

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