JP4292111B2 - Vehicle tracking control device - Google Patents

Description

  The present invention relates to a vehicle follow-up travel control device using an object detection device that detects an object ahead by object detection means mounted on the vehicle.

In the inter-vehicle distance detection / alarm device that detects the inter-vehicle distance from the host vehicle to the preceding vehicle with a radar device and issues a warning to the driver when the inter-vehicle distance falls below a predetermined value, A technique for changing the detection area of a radar device in accordance with an increase or decrease is known from Patent Document 1 below.
JP-A-5-174296

  By the way, in the above-mentioned conventional one, the detection area of the radar device is changed according to the vehicle speed, but even if the vehicle speed is the same, when the driver notices the decrease in the inter-vehicle distance and has the intention to decelerate, it does not Since there is a difference in the possibility of a rear-end collision with the case, it is not always appropriate to change the detection area according to the vehicle speed alone without considering the driver's intention.

  In addition, in order to detect the preceding vehicle with the radar device, a detection area of about the lane width along the own vehicle's travel locus is usually set, but if there is an intersection ahead, the driver's attention It is also directed to an interrupting vehicle that cuts into the car's driving trajectory from the side, and there may be a gap between the driver's consciousness when detecting a preceding vehicle based on a detection area with a narrow lane width. . In order to eliminate such a problem, it is not preferable to make the detection area wide to avoid erroneous detection of a vehicle on the opposite lane or an increase in data processing load on the object detection means.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to appropriately set the detection area of the object detection means so that an obstacle can be reliably detected.

In order to achieve the above object, according to the invention described in claim 1, object detection means for detecting an object ahead of the own vehicle, trajectory estimation means for estimating the travel locus of the own vehicle, and travel of the own vehicle Detection area setting means for setting a predetermined detection area in front of the vehicle based on the trajectory; obstacle detection means for extracting an obstacle based on the detection result set by the object detection means and the detection area set by the detection area setting means; The vehicle follow-up travel control device includes a vehicle control means for causing the vehicle to follow the preceding vehicle extracted by the obstacle extraction means, and includes an acceleration / deceleration intention detection means for detecting an occupant's intention to accelerate or decelerate, The detection area setting means divides the detection area into a first area from the own vehicle to the preceding vehicle and a second area from the preceding vehicle to the maximum detectable distance of the object detection means, and the acceleration / deceleration intention detecting hand. While only the adaptive cruise control apparatus characterized by expanding the width of the area of the first area or the second area is proposed when the occupant deceleration intention is detected by.

According to the invention described in claim 2, the object detection means for detecting an object in front of the own vehicle, the trajectory estimation means for estimating the traveling locus of the own vehicle, and the front of the own vehicle based on the traveling locus of the own vehicle. A detection area setting means for setting a predetermined detection area, an obstacle extraction means for extracting an obstacle based on the detection result set by the object detection means and the detection area set by the detection area setting means, and the obstacle extraction means In the vehicle follow-up running control device comprising the vehicle control means for causing the vehicle to follow the preceding vehicle, the vehicle is provided with acceleration / deceleration intention detection means for detecting the intention of acceleration or deceleration of the occupant. the detection area with divided into a left detection area and the right detection area of the travel path of the vehicle, the deceleration intent detecting means when the occupant acceleration intention is detected, the left and right detection areas Adaptive cruise control apparatus characterized by reducing the width of only the detection area of the left direction or a right turn direction of the preceding vehicle Chi obstacle extracting means has extracted area is proposed.

  According to a third aspect of the invention, in addition to the configuration of the first or second aspect, the acceleration / deceleration intention detecting means includes a brake pedal operation by the occupant, an accelerator pedal operation by the occupant, and a switch operation by the occupant. There is proposed a vehicle object detection device that detects an accelerating / decelerating intention of an occupant based on at least one of the occupant's voices.

According to the invention described in claim 4, the object detection means for detecting an object in front of the own vehicle, the trajectory estimation means for estimating the traveling locus of the own vehicle, and the front of the own vehicle based on the traveling locus of the own vehicle. A detection area setting means for setting a predetermined detection area, an obstacle extraction means for extracting an obstacle based on the detection result set by the object detection means and the detection area set by the detection area setting means, and the obstacle extraction means In a vehicle follow-up travel control device comprising a vehicle control means for causing the vehicle to follow the preceding vehicle, the vehicle speed detection means for detecting the vehicle speed, and the acceleration / deceleration detection for detecting the acceleration / deceleration from the vehicle speed detected by the vehicle speed detection means And the detection area setting means divides the detection area into a first area from the own vehicle to the preceding vehicle and a second area from the preceding vehicle to the maximum detectable distance of the object detection means, While only the adaptive cruise control apparatus characterized by expanding the width of the area of the first area or the second area is proposed when the deceleration of the vehicle is detected by the deceleration detecting means.

According to the invention described in claim 5, the object detection means for detecting an object ahead of the own vehicle, the trajectory estimation means for estimating the traveling locus of the own vehicle, and the front of the own vehicle based on the traveling locus of the own vehicle. A detection area setting means for setting a predetermined detection area, an obstacle extraction means for extracting an obstacle based on the detection result set by the object detection means and the detection area set by the detection area setting means, and the obstacle extraction means In a vehicle follow-up travel control device comprising a vehicle control means for causing the vehicle to follow the preceding vehicle, the vehicle speed detection means for detecting the vehicle speed, and the acceleration / deceleration detection for detecting the acceleration / deceleration from the vehicle speed detected by the vehicle speed detection means and means, detection area setting means, wherein the detection area with divided into a left detection area and the right detection area of the travel path of the vehicle, acceleration of the vehicle is detected of the acceleration detecting means If the is characterized by reducing the lateral width of only obstacle extracting unit detection area of the left direction or a right turn direction of the extracted preceding vehicle area, out of the detection area, the adaptive cruise control system is proposed Is done.

  The radar device 15 of the embodiment corresponds to the object detection means of the present invention.

According to the first and fourth aspects of the invention, the detection area is divided into a first area from the own vehicle to the preceding vehicle and a second area from the preceding vehicle to the maximum detectable distance of the object detection device, and the passenger's intention to decelerate (Claim 1) or when vehicle deceleration (Claim 4) is detected , the width of the area is enlarged only by one area, so the load of the object detection means is reduced by setting the detection area to the minimum necessary. On the other hand, it is possible to collect more information on the object in the desired detection area and enable stable follow-up traveling.

According to the inventions of claims 2 and 5, the detection area is divided into a detection area on the left side and a detection area on the right side of the travel locus of the own vehicle, and the occupant's intention to accelerate (Claim 2) or vehicle acceleration ( If the claim 5) is detected, so to reduce the lateral width of only obstacle extracting unit detection area of the left direction or a right turn direction of the extracted preceding vehicle area, out of the detection area, the traveling direction of the preceding vehicle The detection area on the opposite side is not changed, and detection of the oncoming vehicle on the right side when the preceding vehicle makes a left turn and detection of the vehicle parked on the left side when the preceding vehicle makes a right turn are performed as usual be able to.

  According to the invention of claim 3, since the acceleration / deceleration intention detecting means detects the accelerating / decelerating intention of the occupant based on the operation of the brake pedal, the operation of the accelerator pedal, the operation of the switch, or the voice of the occupant, the detection is easy. And it can be done reliably.

  Hereinafter, embodiments of the present invention will be described based on reference examples shown in the accompanying drawings and examples of the present invention.

  1 to 5 show a first reference example, FIG. 1 is a block diagram of a control system of the ACC system, FIG. 2 is an explanatory diagram of a detection area, and FIGS. 3 and 4 are cases where the driver has a deceleration intention. FIG. 5 is a flowchart for explaining the operation when the driver has an intention to accelerate.

  As shown in FIG. 1, an ACC (adaptive cruise) that keeps a preset inter-vehicle distance and follows the preceding vehicle when there is a preceding vehicle, and runs at a constant speed at a preset vehicle speed when there is no preceding vehicle. The control system includes trajectory estimation means M1, detection area setting means M2, obstacle extraction means M3, acceleration / deceleration intention detection means M4, control target value determination means M5, and vehicle control means M6. The navigation system 11, the yaw rate detection means 12, the steering angle detection means 13 and the vehicle speed detection means 14 are connected to the trajectory estimation means M1, the radar device 15 is connected to the obstacle extraction means M3, and the acceleration / deceleration intention detection means M4 is connected. The brake pedal operation detection means 16, the accelerator pedal operation detection means 17, the switch operation detection means 18 and the voice recognition means 19 are connected, and the acceleration actuator 20, the deceleration actuator 21 and the display 22 are connected to the vehicle control means M6.

  The trajectory estimating means M1 is based on the road information stored in the navigation system 11, the yaw rate detected by the yaw rate detecting means 12, the steering angle detected by the steering angle detecting means 13, and the vehicle speed detected by the vehicle speed detecting means 14. To estimate the future trajectory of the vehicle.

  The acceleration / deceleration intention detection means M4 determines whether the driver has an intention to accelerate or decelerate the vehicle. That is, if the brake pedal operation detecting means 16 detects a depression operation of the brake pedal, it is determined that the vehicle has an intention to decelerate, and if the accelerator pedal operation detection means 17 detects a depression operation of the accelerator pedal, it is determined that the vehicle has an acceleration intention, If a return operation of the accelerator pedal is detected, it is determined that the vehicle has an intention to decelerate. Further, if the switch operation detecting means 18 detects an operation of a vehicle speed setting switch for instructing a set vehicle speed for constant speed running in the ACC system or a resume switch for increasing or decreasing the set vehicle speed, it is determined that the vehicle has a intention to decelerate or accelerate. The voice recognition means 19 determines whether or not there is an intention to decelerate or accelerate from the content of the passenger's conversation or the content of the driver's monologue.

  As shown in FIG. 2A, the detection area setting means M2 sets a detection area having a predetermined width along the center line, with the future travel locus of the host vehicle estimated by the locus estimation means M1 as the center line. Normally, the width of the detection area is set to be equal to the lane width, but when the acceleration / deceleration intention detection means M4 detects the driver's intention to decelerate, the width of the detection area is increased as shown in FIG. The width of the increased detection area is arbitrary, for example, an integer multiple of the lane width.

  The radar device 15 transmits an electromagnetic wave such as a laser beam or a millimeter wave, and receives the reflected wave reflected from the object, thereby detecting the direction of the object, the distance to the object, the relative speed with the object, and the like. Therefore, the obstacle extracting means M3 extracts an object existing in the detection area from the objects detected by the radar device 15 as a preceding vehicle (obstacle) to be controlled.

  The control target value determining means M5 determines the target vehicle speed, the target acceleration / deceleration, the target inter-vehicle distance, etc., which are parameters for causing the preceding vehicle extracted by the obstacle extracting means M3 to be controlled and to follow the host vehicle. Then, the target vehicle speed, the target acceleration / deceleration, the target inter-vehicle distance, etc. are corrected according to the driver's intention to accelerate / decelerate detected by the acceleration / deceleration intention detecting means M4.

  Then, the vehicle control means M6 drives the acceleration actuator 20 and the deceleration actuator 21 based on the control target value determined by the control target value determination means M5, and opens / closes the throttle valve or operates the brake device to follow the traveling control. In addition to executing the constant speed running control, the current control state of the vehicle is displayed on the display 22 to notify the driver.

  The above operation will be further described with reference to the flowcharts of FIGS.

  The flowcharts of FIGS. 3 and 4 are for the case where the acceleration / deceleration intention detection means M4 detects the driver's intention to decelerate. First, in step S1, the radar device 15 detects an object, and in step S2, the trajectory estimation means M1 detects the vehicle. In step S3, the detection area setting means M2 sets a first detection area, that is, a detection area corresponding to the lane width along the estimated travel path. If the first obstacle is present in the first detection area in the subsequent step S4, the obstacle extracting means M3 sets the first obstacle as a control object in step S5, and the vehicle control means M6 is the first obstacle in step S6. The vehicle speed is controlled so that the vehicle travels following the object while maintaining a predetermined inter-vehicle distance. On the other hand, if the first obstacle does not exist in the first detection area in step S4, the vehicle speed is controlled so that the vehicle control means M6 travels at a constant speed at a preset vehicle speed in step S7.

  When the acceleration / deceleration intention detection unit M4 detects the driver's intention to decelerate in the next step S8, the detection area setting unit M2 sets the second detection area in step S9. As described with reference to FIG. 2, the second detection area is set to have a wider width than the first detection area so that an interrupting vehicle or the like that interrupts from the side can be detected. In the subsequent step S10, the second obstacle is present in the second detection area, and in step S11, the second obstacle is in a position close to the traveling locus of the own vehicle, or in step S11, the second obstacle is the own vehicle. Even if the vehicle is far from the travel locus, if the second obstacle is approaching toward the travel locus of the vehicle in step S12, contact with the second obstacle is avoided in the following steps S13 to S17. Therefore, the content of vehicle control by the vehicle control means M6 is changed according to the degree of urgency.

  That is, if the own vehicle is under acceleration control in step S13, the acceleration control of the own vehicle is stopped, the acceleration gain is decreased, or the set inter-vehicle distance for the follow-up running control is increased in step S15. If the host vehicle is in constant speed running control in step S14, the acceleration start timing of the host vehicle is delayed in step S16, the set inter-vehicle distance in follow-up running control is increased, or the set vehicle speed in constant speed running control is set. Decrease. If the own vehicle is under deceleration control in step S14, the set inter-vehicle distance for follow-up travel control is increased or the set vehicle speed for constant speed travel control is decreased in step S17.

  As described above, if the driver feels uneasy about the situation ahead of the vehicle and has a willingness to slow down, the detection area for detecting obstacles will be expanded, so it is possible to reliably detect an interrupting vehicle that interrupts in front of the vehicle. In addition to preventing the driver from coming into contact with the interrupting vehicle, the driver can feel uncomfortable and the operation of the ACC system can be ensured. In addition, since the driver's intention to decelerate is detected based on the operation of the brake pedal, the operation of the accelerator pedal, the operation of the switch or the voice of the occupant, the detection can be performed easily and reliably.

  The flowchart in FIG. 5 is for the case where the acceleration / deceleration intention detection means M4 detects the driver's intention to accelerate. First, in step S21, the radar device 15 detects an object, and in step S22, the locus estimation means M1 detects the travel locus of the host vehicle. In step S23, the detection area setting means M2 sets a first detection area, that is, a detection area corresponding to a normal lane width along the estimated travel path. If the first obstacle is present in the first detection area in the following step S24, the obstacle extracting means M3 extracts the first obstacle as a control object in step S25, and the vehicle control means M6 is the first obstacle in step S26. The vehicle speed is controlled so that the vehicle travels following the object while maintaining a predetermined inter-vehicle distance. On the other hand, if the first obstacle does not exist in the first detection area in step S24, the vehicle speed is controlled so that the vehicle control means M6 travels at a constant speed at a preset vehicle speed in step S27.

  When the acceleration / deceleration intention detection means M4 detects the driver's intention to accelerate in the next step S28, the detection area setting means M2 sets a second detection area narrower than the first detection area in step S29. When the first obstacle does not exist in the new second detection area in step S30, the first obstacle exists in the second detection area in step S30, and the lateral direction of the first obstacle in step S31. When the relative speed is equal to or higher than the predetermined value, that is, when the first obstacle moves away from the own vehicle at a high speed in the lateral direction, the follow-up running control for the first obstacle is canceled in step S32 and the vehicle runs at a constant speed. Continue control. In step S33, the deceleration control of the own vehicle is stopped, the deceleration gain is reduced, or the set inter-vehicle distance for the following traveling control is decreased.

  When the lateral relative speed of the first obstacle is less than a predetermined value in step S31, the follow-up running control in step S26 is continued as it is.

  As described above, if the driver confirms the safety ahead of the vehicle and has an intention to accelerate, the detection area for detecting obstacles will be reduced, so turn left or right to advance away from the traveling track of the vehicle. Can be promptly removed from the control target, and unnecessary follow-up running control can be performed to prevent the driver from feeling uncomfortable. In addition, since the driver's intention to accelerate is detected based on the operation of the brake pedal, the operation of the accelerator pedal, the operation of the switch, or the voice of the occupant, the detection can be performed easily and reliably.

  Next, a second reference example will be described based on FIG.

  The second reference example includes acceleration / deceleration detection means M7 instead of the acceleration / deceleration intention detection means M4 of the first reference example. The acceleration / deceleration detection means M7 time-differentiates the vehicle speed input from the vehicle speed detection means 14. Detects vehicle acceleration / deceleration.

  In the first reference example, the detection area is enlarged or reduced and the control content of the ACC system is changed based on the driver's intention to decelerate or accelerate. In the second reference example, the actual acceleration or reduction of the vehicle is reduced. Based on the speed, the detection area is enlarged / reduced and the control content of the ACC system is changed. The acceleration / deceleration of the vehicle detected by the acceleration / deceleration detection means M7 reflects not only the driver's intention of acceleration / deceleration but also the automatic acceleration / deceleration by the vehicle control means M6 not depending on the driver's intention. Accurate operation can be enabled.

By the way, in the reference example, when the driver's intention to decelerate is detected or the vehicle decelerating is detected , the width of the detection area is uniformly expanded. However, in the embodiment of the present invention, the detection area is Is divided into a first area from the preceding vehicle to the second area from the preceding vehicle to the maximum detectable distance of the radar device 15, and the width of the area is expanded only by one of them. In this case, it can be set according to various conditions which of the first and second areas is enlarged.

  To give some examples, the area including intersections and junctions where there is a high possibility of an interrupting vehicle may be preferentially enlarged, and the first distance is short because the distance between the vehicle and the preceding vehicle is short. If there is a low possibility that another vehicle will break into the area, only the second area may be expanded. If there is no danger even if another vehicle breaks into the second area because the distance between the vehicle and the preceding vehicle is long Only the first area may be enlarged.

  In this way, by expanding only a part of the detection area, it is possible to minimize problems such as erroneously detecting a vehicle on the opposite lane as a preceding vehicle or increasing the data processing load of the radar device 15. .

In the reference example, when the driver's intention to accelerate is detected or when the acceleration of the vehicle is detected , the width of the detection area is uniformly reduced. However, in the embodiment of the present invention, the detection area is divided into left detection area of the traveling locus of the and the right detection area, and reduce the width of only the detection area of the left direction or a right turn direction of the preceding vehicle area, out of the detection area of the right and left. As a result, even if the preceding vehicle turns left and the left detection area is reduced, the right detection area for detecting the oncoming vehicle is not changed, and even if the preceding vehicle turns right and the right detection area is reduced, Since the left detection area for detecting parked vehicles is not changed, those oncoming vehicles and parked vehicles can be detected as usual.

  Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.

  Moreover, although the ACC system has been described in the embodiment, the present invention can be applied to a vehicle object detection device or a follow-up travel control device for any application other than the ACC system.

Block diagram of the control system of the ACC system according to the first reference example Illustration of detection area First part of the flowchart explaining the action when the driver has a willingness to slow down Second part of a flowchart explaining the action when the driver has a willingness to slow down Flow chart explaining the action when the driver has an intention to accelerate Block diagram of control system of ACC system according to second reference example

Explanation of symbols

M1 Trajectory estimation means M2 Detection area setting means M3 Obstacle extraction means M4 Acceleration / deceleration intention detection means M6 Vehicle control means M7 Acceleration / deceleration detection means 14 Vehicle speed detection means 15 Radar device (object detection means)

Claims (5)

Object detection means (15) for detecting an object in front of the vehicle;
Trajectory estimation means (M1) for estimating the travel trajectory of the own vehicle;
A detection area setting means (M2) for setting a predetermined detection area in front of the host vehicle based on the travel locus of the host vehicle;
An obstacle extraction means (M3) for extracting an obstacle based on the detection result of the object detection means (15) and the detection area set by the detection area setting means (M2);
In a vehicle follow-up travel control device comprising vehicle control means (M6) for causing the vehicle to follow the preceding vehicle extracted by the obstacle extraction means (M3),
Acceleration / deceleration intention detection means (M4) for detecting an occupant's intention to accelerate or decelerate,
The detection area setting means (M2) divides the detection area into a first area from the own vehicle to the preceding vehicle and a second area from the preceding vehicle to the maximum detectable distance of the object detection means (15). The vehicle follow-up travel control device, wherein when the occupant's intention to decelerate is detected by the deceleration intention detection means (M4), the width of the area is expanded by one of the first area and the second area. Object detection means (15) for detecting an object in front of the vehicle;
Trajectory estimation means (M1) for estimating the travel trajectory of the own vehicle;
A detection area setting means (M2) for setting a predetermined detection area in front of the host vehicle based on the travel locus of the host vehicle;
An obstacle extraction means (M3) for extracting an obstacle based on the detection result of the object detection means (15) and the detection area set by the detection area setting means (M2);
In a vehicle follow-up travel control device comprising vehicle control means (M6) for causing the vehicle to follow the preceding vehicle extracted by the obstacle extraction means (M3),
Acceleration / deceleration intention detection means (M4) for detecting an occupant's intention to accelerate or decelerate,
The detection area setting means (M2) divides the detection area into a detection area on the left side and a detection area on the right side of the travel locus of the host vehicle, and the acceleration / deceleration intention detection means (M4) detects the acceleration intention of the occupant. in this case, left and right, characterized in that only the detection area of the left direction or a right turn direction of the obstacle extracting means (M3) is extracted preceding vehicle to reduce the width of the area of the detection area, follow-up running control apparatus for a vehicle .   The acceleration / deceleration intention detection means (M4) detects the accelerating / decelerating intention of the occupant based on at least one of the operation of the brake pedal by the occupant, the operation of the accelerator pedal by the occupant, the operation of the switch by the occupant, and the voice of the occupant. The vehicle follow-up travel control device according to claim 1, wherein the vehicle follow-up travel control device is characterized. Object detection means (15) for detecting an object in front of the vehicle;
Trajectory estimation means (M1) for estimating the travel trajectory of the own vehicle;
A detection area setting means (M2) for setting a predetermined detection area in front of the host vehicle based on the travel locus of the host vehicle;
An obstacle extraction means (M3) for extracting an obstacle based on the detection result of the object detection means (15) and the detection area set by the detection area setting means (M2);
In a vehicle follow-up travel control device comprising vehicle control means (M6) for causing the vehicle to follow the preceding vehicle extracted by the obstacle extraction means (M3),
Vehicle speed detection means (14) for detecting the vehicle speed, and acceleration / deceleration detection means (M7) for detecting acceleration / deceleration from the vehicle speed detected by the vehicle speed detection means (14),
The detection area setting means (M2) divides the detection area into a first area from the own vehicle to the preceding vehicle and a second area from the preceding vehicle to the maximum detectable distance of the object detection means (15). When the vehicle speed is detected by the speed detecting means (M7), the vehicle follow-up running control device increases the width of the area by one of the first area and the second area. Object detection means (15) for detecting an object in front of the vehicle;
Trajectory estimation means (M1) for estimating the travel trajectory of the own vehicle;
A detection area setting means (M2) for setting a predetermined detection area in front of the host vehicle based on the travel locus of the host vehicle;
An obstacle extraction means (M3) for extracting an obstacle based on the detection result of the object detection means (15) and the detection area set by the detection area setting means (M2);
In a vehicle follow-up travel control device comprising vehicle control means (M6) for causing the vehicle to follow the preceding vehicle extracted by the obstacle extraction means (M3),
Vehicle speed detection means (14) for detecting the vehicle speed, and acceleration / deceleration detection means (M7) for detecting acceleration / deceleration from the vehicle speed detected by the vehicle speed detection means (14),
The detection area setting means (M2) divides the detection area into a detection area on the left side and a detection area on the right side of the traveling locus of the host vehicle, and when acceleration of the vehicle is detected by the acceleration / deceleration detection means (M7). Is a vehicle following travel control device characterized in that the width of the area is reduced only in the detection area in the left or right turn direction of the preceding vehicle extracted by the obstacle extraction means (M3) from the left and right detection areas.

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