JP6297688B2 - Vehicle control apparatus and vehicle control method - Google Patents

Description

  The present invention provides a vehicle control that performs a running idle stop control that temporarily stops an in-vehicle engine when the driving / running state of the preceding vehicle, the following vehicle, and the host vehicle satisfies a predetermined condition during the running. The present invention relates to an apparatus and a vehicle control method.

  In recent years, in the field of vehicle control, mainly for the purpose of improving fuel consumption and reducing exhaust gas, during running, the engine is temporarily stopped and then restarted (hereinafter referred to as running idle stop control) Are known.

  Conventionally, during driving, when the driving / running state of the host vehicle and the preceding vehicle satisfies a predetermined condition, the engine is temporarily stopped, and when the condition is not satisfied, the engine is used by using the kinetic energy of the vehicle. Control to restart is performed.

  Further, Patent Document 1 describes a travel pattern planning apparatus that can reduce energy consumption at the time of engine restart and can reliably improve fuel efficiency. In this technology, when there is no following vehicle, the basic speed pattern is adopted when low speed driving is permitted, the acceleration is stopped at the straight line before the corner, the engine is stopped, free run deceleration is performed, and the corner is free. Pass through the run, restart the stopped engine with a starter at the corner exit (corner rise), and accelerate on a straight line after passing the corner. Also, if there is a following vehicle or if there is a following vehicle and low-speed driving is not permitted, the brake / starter speed pattern is adopted, acceleration is stopped on the straight line before the corner, the engine is stopped, and free-run deceleration is performed. The vehicle is decelerated by the brake before the corner entrance, passes through the corner with a free run, restarts the stopped engine with the starter before the corner exit, and accelerates in a straight line after passing the corner.

  On the other hand, Patent Document 2 discloses control for determining whether or not the engine can be stopped according to the driving / running state of the host vehicle and the following vehicle. In this technology, when the navigation-side control device 48 performs the subsequent contact determination process and detects that there is a risk of contact between the host vehicle and the subsequent vehicle (YES in step S4), the process proceeds to step S8, and the eco-drive mode Release processing is performed.

JP 2012-127265 A JP 2011-196346 A

  However, in the conventional technology for temporarily stopping the engine during traveling, control is performed in accordance with the traveling state of the preceding vehicle. For example, even when the following vehicle is approaching, the distance between the preceding vehicle and the preceding vehicle is long. Stop the engine. When the following vehicle is approaching, the driver feels uncomfortable.

  In the technique described in Patent Document 1, a plurality of traveling patterns are selected and controlled by determining whether there is a following vehicle, whether low-speed traveling of the host vehicle is permitted, or the like. For this reason, when there is no information on the preceding vehicle, the speed of the preceding vehicle is slow, and the driver approaches the preceding vehicle, the driver feels uncomfortable.

  In the technique described in Patent Document 2, control is performed according to the approaching state of the following vehicle. However, when the vehicle can be overtaken, for example, when there is a sufficient distance from the preceding vehicle, the eco drive mode is continued. However, since the eco-drive mode is canceled, the fuel-efficient driving cannot be further improved.

  The present invention has been made in view of such problems, and the object of the present invention is to smoothly stop and restart the running engine based on the preceding vehicle, the following vehicle, and the driver's intention. The present invention provides a vehicle control device and a vehicle control method that can be performed at the same time as well as a vehicle control device and a vehicle control method that can reduce a driver's uncomfortable feeling caused by traffic conditions and enable low fuel consumption travel.

  In order to achieve the above object, a vehicle control apparatus according to the present invention is a vehicle control apparatus configured to perform an idle stop during traveling that temporarily stops an in-vehicle engine, and a distance between the own vehicle and a preceding vehicle ( The first detection unit for detecting or calculating the first distance), the second detection unit for detecting or calculating the distance (second distance) between the host vehicle and the following vehicle, and the intention of the driver of the host vehicle A driver intention determination unit that determines the vehicle, and a control unit that performs ON / OFF control of the idle stop during traveling based on the first distance, the second distance, and the driver's intention. It is characterized by having. Moreover, it is preferable that ON / OFF control of the idling stop during driving | running | working of the said control part is timing control.

  In the vehicle control device of the present invention configured as described above, the first detection unit detects or calculates the first distance between the host vehicle and the preceding vehicle, and the second detection unit detects the difference between the host vehicle and the following vehicle. In order to detect or calculate the second distance and control ON / OFF of the idling stop during driving based on the intention of the driver of the own vehicle, the engine is adjusted according to the traffic situation and based on the intention of the driver. Since stop or restart is performed, idling stop without a sense of incongruity is performed, and low fuel consumption traveling can be achieved.

According to the present invention, the following effects can be obtained.
(1) Engine stop and restart can be used properly based on the preceding vehicle, the following vehicle, and the driver's intention.
(2) It is possible to achieve both improvement of a sense of incongruity caused by the traffic condition and realization of low fuel consumption. Problems, configurations, and operational effects other than those described above will be clarified by the following embodiments.

The vehicle block diagram of one Embodiment of the vehicle control apparatus which concerns on this invention. The functional block diagram which shows the principal part of the vehicle control apparatus shown in FIG. The flowchart which shows operation | movement of a vehicle control apparatus. The figure used for description etc. of the relationship between the following vehicle, the own vehicle, and a preceding vehicle at the time of following driving | running | working. The flowchart which shows the operation | movement of idle stop maintenance and cancellation | release of a vehicle control apparatus.

Hereinafter, an embodiment of a vehicle control device according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a vehicle configuration diagram of an embodiment of a vehicle control device according to the present embodiment, and FIG. 2 is a functional block diagram showing a main part of the vehicle control device shown in FIG.
In the configuration diagram of the vehicle in FIG. 1, the illustrated vehicle 1 includes, for example, an in-cylinder injection gasoline engine 10 as a driving power source, an automatic transmission 12 that can be connected to and separated from the engine 10, a propeller shaft 13, and a differential. This is a rear wheel drive vehicle having a general configuration including a gear 14, a drive shaft 15, four wheels 16, and a hydraulic brake 18.

  The vehicle 1 includes a vehicle integrated control unit 20 that constitutes a main part of the vehicle control device 5 according to the present invention that controls integrated control of devices, actuators, and devices mounted on the vehicle 1, and an engine control unit 30 that controls engine control. Each control unit with a built-in microcomputer, such as a transmission control unit 40 for controlling transmission control, is disposed at a predetermined portion. Devices, actuators, and devices including each control unit and sensors, which will be described later, can exchange signals and data through in-vehicle LAN and CAN communication.

  A stereo camera 17 is provided at the front of the vehicle 1. The stereo camera 17 constitutes a first detection unit, and has a control unit part with a built-in microcomputer, and the control unit part indicates the traveling state of the preceding vehicle based on the photographed video. Detect. Specifically, the relative speed between the preceding vehicle and the host vehicle, the preceding vehicle ahead of the host vehicle, the distance between the obstacle, the oncoming vehicle, etc. (referred to as the first distance), the road surface at the lower end of the body of the preceding vehicle Is detected or calculated and supplied to the vehicle integrated control unit 20.

  A rear external recognition sensor 22 such as a stereo camera is disposed at the rear of the vehicle 1. This external recognition sensor 22 constitutes a second detection unit, and has a control unit part with a built-in microcomputer, and the control unit part detects the running state of the following vehicle. Specifically, it detects or calculates the relative speed of the following vehicle with the vehicle, the following vehicle behind the vehicle, the distance between the obstacle and the vehicle (referred to as the second distance), etc. Supply to unit 20.

  The vehicle integrated control unit 20 detects four wheel speed sensors 21 that detect the rotational speed of each wheel 16, an accelerator pedal sensor 25 that detects the opening degree (depression amount) of the accelerator pedal 24, and a depression amount of the brake pedal 27. A signal from the brake sensor 28 for performing the operation, a gyro sensor 19 for detecting the gradient of the host vehicle, a depression signal for the steering switch 23, and a determination signal from the driver's voice recognition unit 29 are also supplied.

  The illustrated vehicle 1 is an example of a vehicle to which the present invention is applicable, and does not limit the configuration of the vehicle to which the present invention can be applied. For example, a vehicle that employs a continuously variable transmission (CVT) instead of the automatic transmission 12 may be used. As an external recognition sensor, a laser radar, a millimeter wave radar, a mono camera, or the like may be used instead of the stereo cameras 17 and 22. It may be configured using one or a plurality of combinations of the following, and the driving state of the preceding vehicle, that is, the relative speed with respect to the preceding vehicle, the inter-vehicle distance, etc. may be obtained. The speed, the inter-vehicle distance, etc. may be obtained.

  Further, the depression amount of the brake pedal 27 is detected not only by the brake sensor 28 but also by a hydraulic pressure sensor (not shown) for detecting the brake hydraulic pressure in the control system of the brake 18.

  In addition to signals and data from control units such as the vehicle integrated control unit 20 and the transmission control unit 40, the engine control unit 30 includes an operation state of the engine 10 (engine The engine control unit 30 will be described later on the basis of these signals. The engine control unit 30 will be described later based on these signals, representing the rotational speed, intake air amount, throttle opening, in-cylinder pressure, etc.). As shown in FIG. 2, a predetermined control signal is supplied to the fuel injection valve 31, an ignition unit 33 including an ignition coil, an ignition plug, and the like, an electric throttle valve 34, etc., and fuel injection (amount) control, Ignition (timing) control, throttle opening control, etc. are executed.

  The vehicle control device 5 includes a vehicle integrated control unit 20 as a main part. As shown in the functional block diagram of FIG. 2, the vehicle integrated control unit 20 includes a following vehicle traveling state detection unit 51 (second detection unit) and a preceding vehicle traveling state detection unit 52 (first detection unit). ), Own vehicle running state detection means 53 (third detection section), idle stop control availability determination means (control section) 54, and driver intention determination section 55.

  The following vehicle running state detection means 51 obtains information on the relative speed and the inter-vehicle distance between the following vehicle and the own vehicle from an external recognition sensor such as the stereo camera 22, and calculates the following vehicle speed V 'and acceleration / deceleration. In the present embodiment, the following vehicle traveling state detection means 51 detects the distance (second distance) between the host vehicle and the following vehicle and the relative speed, and detects the approaching state with the following vehicle and the collision with the following vehicle. Judging the danger.

  The preceding vehicle running state detection means 52 acquires information on the relative speed and the inter-vehicle distance between the preceding vehicle and the host vehicle from the stereo camera 17 and calculates the preceding vehicle speed V and acceleration / deceleration. In the present embodiment, it is determined whether the distance (first distance) between the host vehicle and an obstacle such as a preceding vehicle is a predetermined value or more. The stereo camera 17 and the external recognition sensor 22 may directly calculate the inter-vehicle distance and the relative speed from the imaging data of the preceding vehicle and the following vehicle. In this case, the stereo cameras 17 and 22 detect the first and second detections. Part.

  The own vehicle running state detection means 53 calculates a third vehicle speed v and acceleration / deceleration based on, for example, a signal from the wheel speed sensor 21 and the like, and a third detection unit that detects the running state of the vehicle (own vehicle) 1. Configure. The driver intention determination unit 55 detects the driver's intention as an accelerator pedal sensor 25 for detecting the opening degree (depression amount) of the accelerator pedal 24, a brake sensor 28 for detecting the depression amount of the brake pedal 27, and a depression signal of the steering switch 23. The determination is made based on the determination signal from the driver's voice recognition unit 29, and the driver's intention to determine whether or not the idle stop can be performed is determined.

  The idle stop control enable / disable determining unit 54 determines whether to permit or prohibit the execution of the idle stop control based on the traveling state of the preceding vehicle and the succeeding vehicle, the traveling state of the host vehicle, and the intention of the driver. The idle stop control availability determination means 54 permits the execution of the idle stop control and outputs an engine stop command to the engine control unit 30 when a predetermined execution condition is satisfied. Further, when a release condition such as detection of depression of the accelerator pedal 24 is detected while the engine is stopped, execution of idle stop control is prohibited and an engine restart command is output to the engine control unit 30.

  When the engine control unit 30 receives an engine stop command from the idle stop control enable / disable determining means 54, the engine control unit 30 stops supplying the fuel injection (drive) pulse signal to the fuel injection valve 31, and further supplies the ignition signal to the ignition unit 33. Also stop. Then, the control of the electric throttle valve 34 is reset. As a result, the engine stops. Further, the engine control unit 30 resumes the supply of the fuel injection (drive) pulse signal to the fuel injection valve 31 when the engine restart command is received from the idle stop control enable / disable determining means 54 and further ignites the ignition unit 33. The signal supply is also resumed, and the electric throttle valve 34 is controlled. This restarts the engine.

  In addition, when the engine stop command is output to the engine control unit 30, the idle stop control availability determination means 54 outputs an engine shut-off command to the transmission control unit 40 and outputs an engine restart command at the same time. At the same time, an engine connection command is output to the transmission control unit 40. As a result, when the engine is stopped, the engine 10 and the transmission 12 are mechanically separated from each other and the engine brake is not applied, so that the running resistance is reduced. Further, after the engine is restarted, the engine 10 and the transmission 12 are connected and normal power transmission is performed.

Next, an example of processing contents and a procedure of an idle stop control routine during traveling executed by the vehicle integrated control unit 20 will be described with reference to a flowchart of FIG.
First, in step S100, detection of the preceding vehicle traveling state, the subsequent vehicle traveling state, the host vehicle traveling state, and the driver intention state is performed. The preceding vehicle traveling state is determined based on the signal data from the stereo camera 17 as to whether or not the preceding vehicle 2 exists in front of the host vehicle 1. If the preceding vehicle 2 is present, the traveling speed of the preceding vehicle 2 is determined. The preceding vehicle speed V is detected. In the following vehicle traveling state, it is determined whether or not the following vehicle 3 exists behind the host vehicle 1 based on signal data from the external recognition sensor 22 such as a stereo camera. When there is a subsequent vehicle 3, the subsequent vehicle speed V ′ that is the traveling speed of the subsequent vehicle 3 is detected. The approaching state of the succeeding vehicle is detected from the speed of the succeeding vehicle detected by the following vehicle traveling state detecting means 51 and the own vehicle speed detected by the own vehicle traveling state detecting means 53. Further, the following vehicle traveling state detection means 51 calculates the distance (second distance) between the own vehicle and the following vehicle, and determines the collision risk with the following vehicle.

  The own vehicle running state is detected based on detection signals from the sensors of the own vehicle 1, and the own vehicle speed v is detected based on the detection signals from the wheel speed sensor 21. The driver's intention state is determined by the driver intention determination unit 55 based on the driver's intention, an accelerator pedal sensor 25 for detecting the opening degree (depression amount) of the accelerator pedal 24, a brake sensor 28 for detecting the depression amount of the brake pedal 27, It is detected from the state of the push signal of the steering switch 23 and the determination signal from the driver's voice recognition unit 29.

  Based on the preceding vehicle traveling state, the subsequent vehicle traveling state, the own vehicle traveling state, and the driver intention state detected in step S100, in step S101A, based on the signal data from the stereo camera 17, the vehicle 1 is moved forward. It is determined whether or not the preceding vehicle 2 exists, and if there is the preceding vehicle 2, it is determined whether the distance (first distance) between the host vehicle 1 and the preceding vehicle 2 or an obstacle is a predetermined value or more, If the distance from the preceding vehicle 2 or an obstacle is less than the predetermined value, idle stop control is not performed during traveling (following preceding vehicle traveling), so the idle stop prohibiting process is performed in step S101B and this routine is terminated. To do.

  If the distance between the vehicle and the preceding vehicle 2 or an obstacle is equal to or greater than a predetermined value (YES in step S101A), the preceding vehicle speed V, which is the traveling speed of the preceding vehicle 2, is detected, and the distance from the preceding vehicle is determined. Check. Thus, since the idle stop is controlled based on the output of the preceding vehicle traveling state detection means 52 that is the first detection unit, it can be controlled in accordance with the traveling state of the preceding vehicle. Further, the distance between the two vehicles can be detected at any time based on the vehicle speed of the preceding vehicle detected by the preceding vehicle traveling state detecting unit 52 and the own vehicle speed detected by the own vehicle traveling state detecting unit 53.

  Next, in step S102, when the succeeding vehicle 3 is behind the own vehicle 1, the traveling states of the own vehicle 1 and the following vehicle 3 are determined, and the approaching state of the following vehicle 3 is determined. The approaching state is determined from the relative speed between the own vehicle 1 and the following vehicle 3 obtained from the external recognition sensor 22 attached to the rear, and the inter-vehicle distance. For example, in the simplest case, when the inter-vehicle distance is less than a certain threshold, it can be determined that the following vehicle is in the approaching state. Moreover, the tendency of approach or separation can also be determined by considering the relative speed. As described above, since the idle stop is controlled based on the output of the subsequent vehicle traveling state detecting means 51 as the second detection unit, it is possible to control according to the traveling state of the subsequent vehicle.

  If there is no subsequent vehicle 3 in step S102, or if the subsequent vehicle 3 is not approaching (NO in step S102), idle stop control during normal traveling (during the preceding vehicle following traveling) (idle in S107). Stop execution process). If there is a succeeding vehicle 3 in step S102 (YES in step S102), it is determined whether or not the idle stop control during traveling is possible based on the intentions of the own vehicle 1, the succeeding vehicle 3, and the driver.

  If it is determined in step S103 that the driver of the vehicle 1 does not want to perform ISS (idle start / stop) while the following vehicle 3 is approaching (NO in step S103), the process proceeds to step S105, and idle stop prohibition processing is performed. Is executed. For example, in the case of a driver of the own vehicle 1 who is driving with concern about the following vehicle 3, there is a case where distrust occurs due to the approach of the following vehicle, and the driver does not perform idle stop. There is a case where it is desired to reduce the distance between the preceding vehicle 2 and the vehicle. In such a case, the driver of the host vehicle 1 has an intention to prohibit the idle stop. For example, when the driver depresses the steering switch 23 or speaks to the voice recognition unit 29 as "release idle stop", the driver The intention determination unit 55 determines that the idle stop is prohibited. Thus, in the present embodiment, the idle stop can be controlled based on the driver's intention.

  In step S105, idle stop prohibition processing is performed. For example, it is possible to make the inter-vehicle distance easier to close by delaying the engine stop timing with respect to the normal engine stop timing as shown in FIG. Similarly, in step S101B, control may be performed so as to delay the engine stop timing. Since the engine brake is applied by delaying the engine stop timing, the driver can perform control without a sense of incongruity.

  If the driver of the host vehicle 1 intends to perform an idle stop start while the following vehicle 3 is approaching in step S103 (YES in step S103), the process proceeds to step S104, and the risk of contact with the following vehicle is increased. to decide. When the engine is stopped, the vehicle is switched to coasting, so the deceleration is low. However, because the vehicle decelerates, it may be dangerous when the following vehicle approaches. Further, in order to restart the engine while traveling, in addition to the restart time, it takes time to adjust the engine speed according to the vehicle speed, so that an acceleration delay occurs. Therefore, when there is a risk of collision in the own vehicle 1 due to the traveling state of the following vehicle 3, it is desirable to be able to accelerate without stopping the engine. For example, the collision risk with the following vehicle may be determined using a collision time TTC (Time to Collision).

  If there is a risk of collision with the following vehicle 3 in step S104 (NO in step S104), the process proceeds to step S105, and idle stop prohibition processing is executed. When the idle stop prohibiting process is executed, the engine remains rotating without stopping, and the driver can drive as desired, such as acceleration or deceleration by engine braking. If there is no risk of collision with the following vehicle 3 in step S104 (YES in step S104), the process proceeds to step S106, and an idle stop execution process is executed.

  In step S106, an idle stop execution process is performed. For example, the engine may be stopped at the engine stop timing of the idle stop during traveling while following the preceding vehicle. However, as shown in FIG. 4, by increasing the engine stop timing relative to the normal engine stop timing, It is also possible to perform control with the intention of performing the idle stop of one driver.

  Next, in step S107, an idle stop control execution process is performed. When there is no subsequent vehicle 3 or when there is a subsequent vehicle 3 and the vehicle is not in an approaching state, the engine is stopped at the engine stop timing of the idling stop during traveling while following the preceding vehicle. When there is a succeeding vehicle 3, the engine stop determination and the engine stop timing are switched according to the results determined in steps S103 and S104.

  In step S108, when the engine is stopped based on the results of the prohibition process and the execution process in steps S101B, S105, S106, and S107, the process proceeds to step S110, and the running engine is stopped. In step S108, based on the results of the prohibition process and execution process in steps S101B, S105, S106, and step S107, if the engine is not stopped, the process proceeds to step S109 to maintain the engine start state. Restart the engine.

  As described above, in the vehicle control device and the vehicle control method of the present embodiment, the traveling state of the preceding vehicle is detected by the first detection unit, and the distance between the preceding vehicle 2 or the obstacle and the host vehicle 1 (the first distance). ) And the second detection unit detects the traveling state of the succeeding vehicle 3 to determine the approaching state between the own vehicle 1 and the following vehicle 3 and the driver intention determination unit 55 The driver's intention state is determined, the distance (second distance) between the own vehicle 1 and the following vehicle 3 is calculated, and based on the first distance, the approaching state, the second distance, and the driver's intention. Thus, since the idling stop ON / OFF is controlled while the vehicle 1 is traveling, it is possible to achieve a fuel-efficient traveling without making the driver feel uncomfortable according to traffic conditions.

  Next, with the vehicle control device 5 of the present invention, whether the idle stop is maintained or canceled in the state where the idle stop is performed during running (idle stop ON state) will be described with reference to FIG. In FIG. 5, the vehicle (own vehicle) 1 is traveling in an idle stop state in step S201. In step S202, the following vehicle traveling state, the host vehicle traveling state, and the driver intention state are detected. For example, the distance (second distance) between the following vehicle 3 and the own vehicle 1 is calculated, the relative speed is calculated from the speed of the following vehicle 3 and the speed of the own vehicle 1, and the driver's intention is confirmed.

  In step S203, the intention of idling stop is determined from the driver intention state of step S202. If the driver does not intend to stop idling in step S203 (NO), the idling stop is canceled in step S205 and the engine is restarted. If the driver intends to stop idling in step S203 (YES), the risk of collision with the following vehicle is determined in step S204. Specifically, the risk of collision between the own vehicle and the following vehicle is determined based on the second distance between the own vehicle 1 and the following vehicle 3 detected or calculated by the second detection unit.

  If there is a risk of collision with the following vehicle 3 in step S204 (NO), the idle stop is canceled in step S205 and the engine is restarted. If there is no risk of a collision with the following vehicle 3 in step S204 (YES), the idle stop is maintained in step S206, and the engine is stopped. As described above, the vehicle control device 5 according to the present embodiment determines the driver's intention even when the engine is in the idling stop ON state, and keeps the idling stop in the ON state in consideration of the collision risk with the following vehicle 3. Alternatively, since the ON state is released (OFF), low fuel consumption traveling is possible reflecting the driver's intention.

  The embodiment of the present invention has been described with reference to the drawings. However, the specific configuration is not limited to this embodiment, and even if there is a change without departing from the gist of the present invention, Are included in the present invention. For example, the first detection unit has shown an example in which the distance (first distance) between the host vehicle and the preceding vehicle is detected or calculated, but in addition to the preceding vehicle, an object such as an obstacle positioned ahead You may comprise so that distance may be detected.

  Moreover, although the case where this invention was applied to the gasoline engine vehicle was demonstrated in the said Example, it is not restricted to it, This invention is applicable similarly to a diesel engine vehicle, a hybrid vehicle, etc. Furthermore, although the example which detects the traveling state of a preceding vehicle or a succeeding vehicle with a stereo camera was shown, you may make it detect using a monocular camera.

  Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Furthermore, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

1 Vehicle (own vehicle)
2 preceding vehicle 3 following vehicle 5 vehicle control device 10 engine 12 transmission 17 stereo camera 20 vehicle integrated control unit 21 wheel speed sensor 22 rear external recognition sensor (stereo camera)
23 Steering switch 29 Driver's voice recognition unit 30 Engine control unit 31 Fuel injection valve 33 Ignition unit 34 Electric throttle valve 40 Transmission control unit 51 Subsequent vehicle running state detection means (second detection unit)
52 A preceding vehicle travel state detection means (first detection unit)
53 Self-vehicle travel state detection means (third detection unit)
54 Idle stop control availability determination means (control unit)
55 Driver intention determination section

Claims (7)

A vehicle control device that performs idle stop control during traveling to temporarily stop an in-vehicle engine,
A first detector that detects or calculates a distance between the host vehicle and a preceding vehicle (referred to as a first distance);
A second detector for detecting or calculating a distance between the host vehicle and the following vehicle (referred to as a second distance);
A driver intention determination unit that determines the intention of the driver of the vehicle;
A controller that performs ON / OFF control of the idle stop during traveling based on the first distance, the second distance, and the driver's intention;
Have
The second detection section further calculates a relative speed between the following vehicle and the subject vehicle, based on said relative velocity to calculate the velocity and acceleration of the follower vehicle, said second distance and the relative velocity Based on the above, calculate the approach state of the vehicle and the following vehicle ,
The said control part further performs ON / OFF control of the said idling stop during driving | running | working based on the approach state of the said own vehicle and a subsequent vehicle .   The vehicle control device according to claim 1, wherein ON / OFF control of idle stop during traveling by the control unit is timing control.   The vehicle control device according to claim 1, wherein the driver intention determination unit determines a driver's intention based on a button, an accelerator pedal, a brake pedal, and a voice recognition unit.   In the idle stop ON state, the vehicle control device performs the idle stop ON maintenance and the ON release based on the vehicle running state, the second distance, and the driver's intention. The vehicle control device according to any one of claims 1 to 3.   4. The vehicle control device according to claim 1, wherein the first detection unit calculates the first distance based on a stereo camera and imaging data acquired by the stereo camera. 5. .   4. The vehicle control device according to claim 1, wherein the second detection unit calculates the second distance based on a stereo camera and imaging data acquired by the stereo camera. 5. . A vehicle control method for performing idle stop during traveling to temporarily stop an in-vehicle engine,
Detects the presence or absence of a preceding vehicle or obstacle, calculates the distance between the vehicle and the preceding vehicle or obstacle (referred to as the first distance)
Calculating a relative speed between the following vehicle and the subject vehicle and the distance between the following vehicle and the subject vehicle (referred to as a second distance), on the basis of said relative speed, and calculates the speed and acceleration of the follower vehicle, the relative Based on the speed and the second distance, the approaching state of the vehicle and the following vehicle is determined,
The driver's intention determination unit determines the intention of the driver of the vehicle,
Judging the risk of collision at the second distance between the vehicle and the following vehicle,
Based on the first distance between the host vehicle and the preceding vehicle or obstacle, the approach state between the host vehicle and the following vehicle, the intention of the driver, and the second distance between the host vehicle and the following vehicle. To control ON / OFF of idle stop while driving,
The vehicle control method characterized by the above-mentioned.

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