JPH0717297A - Running control device for automobile - Google Patents

Abstract

PURPOSE:To provide more comfortable and safe driving by restricting the control of a vehicle-to-vehicle distance controller when the detected acceleration of a preceding vehicle is over a preset value, the deceleration is below a preset value and a vehicle-to- vehicle distance is over a preset value and restricting the running control of one's own vehicle following a preceding vehicle when having sudden change during vehicle-to- vehicle distance control. CONSTITUTION:Signals from various sensors and switches for a vehicle-to-vehicle distance detector and others are inputted to a control unit and processed at an input information processor 21, and a control instruction is given from a control changeover section 25 usually to one of car speed and vehicle-to-vehicle distance controllers 22-24 and output from an output information processor 26 to an operating section such as a throttle controller. The control changeover section 25 computes the acceleration and deceleration of a preceding vehicle and restricts the control of the vehicle-to-vehicle distance controller 24 when the acceleration is over a preset value or the deceleration is below a preset value and a vehicle-to-vehicle distance is over a preset value. In this way, the acceleration and deceleration of one's own vehicle following the preceding vehicle is prevented from being over a preset value to provide safe and comfortable driving.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle running control device having an inter-vehicle distance control unit for controlling the inter-vehicle distance between a vehicle and a preceding vehicle to be a predetermined target inter-vehicle distance.

[0002]

2. Description of the Related Art In recent years, as a vehicle running control device, in addition to a vehicle speed control function of running while maintaining a constant vehicle speed, an inter-vehicle distance detecting device such as an infrared laser radar device for detecting an inter-vehicle distance between a vehicle and a preceding vehicle. Various devices equipped with a device and provided with a vehicle-to-vehicle distance control function of traveling with a safe vehicle-to-vehicle distance not only when traveling alone but also when another vehicle is present, have been developed. For example, in Japanese Unexamined Patent Publication No. 1-114550, the vehicle speed is controlled so that the inter-vehicle distance detected by the radar device maintains a safe inter-vehicle distance according to the vehicle speed, the vehicle follows the preceding vehicle, and the preceding vehicle falls within the safe inter-vehicle distance. There is disclosed that the vehicle accelerates to a target vehicle speed set in advance when there is not, and then runs at a constant speed at the target vehicle speed.

[0003]

However, the above-mentioned prior art has the following problems in the inter-vehicle distance control. That is, particularly when the target safe inter-vehicle distance, that is, the target inter-vehicle distance is set as a function of the vehicle speed of the preceding vehicle, if the preceding vehicle suddenly changes the vehicle speed, the own vehicle may behave in an unstable manner or unnecessary. There are problems in terms of comfort and safety, such as acceleration and deceleration. In addition, even if the target inter-vehicle distance is fixed to a predetermined value,
When the preceding vehicle suddenly changes the vehicle speed, if the control for keeping the distance between the preceding vehicle and the preceding vehicle constant is faithfully performed, the behavior of the own vehicle becomes unstable.

The present invention has been made in view of the above points, and an object of the present invention is to restrict the traveling control of the own vehicle which follows the sudden change in the vehicle speed during the inter-vehicle distance control. Accordingly, it is an object of the present invention to provide a vehicle travel control device capable of improving ride comfort and safety.

[0005]

In order to achieve the above object, the invention according to claim 1 is to detect an inter-vehicle distance between an own vehicle and a preceding vehicle by an inter-vehicle distance detecting device, and the inter-vehicle distance is a predetermined target inter-vehicle distance. In a traveling control device for an automobile having an inter-vehicle distance control unit for controlling so that the acceleration / deceleration detecting means for detecting the acceleration / deceleration of the preceding vehicle and the detection result of the detecting means, the acceleration of the preceding vehicle is equal to or more than a predetermined value. Or the deceleration of the preceding vehicle is equal to or more than a predetermined value and the inter-vehicle distance is equal to or more than the predetermined distance, the control means regulates the control by the inter-vehicle distance control unit.

According to a second aspect of the present invention, like the first aspect of the present invention, the inter-vehicle distance between the host vehicle and the preceding vehicle is detected by the inter-vehicle distance detecting device, and the inter-vehicle distance becomes a predetermined target inter-vehicle distance. In a traveling control device for an automobile having an inter-vehicle distance control unit for controlling as described above, an acceleration / deceleration detecting means for detecting the acceleration / deceleration of the own vehicle, and a detection result of the detecting means are received, and the self-interval is controlled during the control by the inter-vehicle distance control section. When the vehicle acceleration is equal to or higher than a predetermined value, or when the deceleration of the host vehicle is equal to or higher than a predetermined value and the inter-vehicle distance is equal to or more than a predetermined distance, a regulation unit that regulates control by the inter-vehicle distance control unit is provided.

The inventions defined in claims 3, 4 and 5 all depend on the invention defined in claim 1 or 2 and show the regulation mode of the regulation means which is one of the components. That is, the invention according to claim 3 limits the throttle opening to a predetermined value or less, and the invention according to claim 4 limits the variation of the throttle opening to a predetermined value or less. Further, in the invention according to claim 5, the control by the inter-vehicle distance control unit is restricted by reducing the control gain. Here, in the invention described in claim 6, the predetermined value in the invention described in claim 3 or 4 is set to a value that changes according to the running resistance.

[0008]

With the above construction, in the invention according to claim 1,
When the preceding vehicle abruptly accelerates during the control by the inter-vehicle distance control unit, that is, during the inter-vehicle distance control, and the acceleration exceeds a predetermined value, the acceleration / deceleration detection means detects the acceleration state and the detection means detects the acceleration state. By the regulatory means that receive the results,
Regulations are added to the above inter-vehicle distance control, which allows
The acceleration of the own vehicle does not increase beyond a predetermined value following the preceding vehicle. In addition, when the preceding vehicle drastically decelerates while the vehicle-to-vehicle distance between the preceding vehicle and the preceding vehicle is relatively large and the deceleration becomes equal to or higher than a predetermined value, the acceleration / deceleration detection means similarly. By detecting the deceleration state and restricting the inter-vehicle distance control by the restricting means, the deceleration of the own vehicle does not increase above the predetermined value.

According to the second aspect of the present invention, the acceleration / deceleration detecting means causes the acceleration / deceleration detecting means to accelerate when the own vehicle rapidly accelerates following the preceding vehicle during the inter-vehicle distance control, and the acceleration exceeds a predetermined value. Is detected and the regulation means that receives the detection result of the detection means regulates the inter-vehicle distance control, so that the acceleration of the host vehicle does not increase significantly beyond a predetermined value. Further, when the own vehicle rapidly decelerates by following the preceding vehicle in a state where the distance between the own vehicle and the preceding vehicle is relatively large, even when the deceleration exceeds a predetermined value,
Similarly, the acceleration / deceleration detection means detects the deceleration state and the regulation means regulates the inter-vehicle distance control, so that the deceleration of the own vehicle does not increase to a predetermined value or more.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows the overall configuration of a vehicle travel control system according to an embodiment of the present invention. 1 is a throttle control system for automatically adjusting the opening of a throttle valve (not shown) of an engine intake system. Is a control device for an electronically controlled automatic transmission (EAT), and 3 is a brake control device for automatically adjusting the braking force applied to each wheel.
Each of the actuators 3 has an actuator (not shown), and each actuator is controlled by the control unit 4. That is, the control unit 4
Outputs a target throttle opening signal to the actuator of the throttle control device 1 for control, and outputs a target brake amount signal to the actuator of the brake control device 3 for control. Further, the control unit 4 receives the shift position signal from a sensor (not shown) for detecting the shift position of the EAT control device 2,
A shift control signal is output to the actuator of the AT control device 2 for control.

Reference numeral 6 denotes an information display device provided on an instrument panel or the like in the vehicle compartment. The information display device 6 is turned on when an alarm signal from the control unit 4 is received although not shown. An alarm lamp and a display unit for displaying a screen upon receiving a self-diagnosis signal from the control unit 4 are provided. Reference numeral 7 denotes an inter-vehicle distance detecting device for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle. The inter-vehicle distance detecting device 7 is a laser radar device in the present embodiment, and is a laser beam toward the front of the own vehicle. While receiving the laser light reflected by the preceding vehicle,
The inter-vehicle distance between the own vehicle and the preceding vehicle is detected based on the delay time between the reception time and the transmission time of the laser light, and the inter-vehicle distance signal which is the detection signal is input to the control unit 4.

Further, 11 is a throttle opening sensor which detects the opening of the throttle valve, 12 is a vehicle speed sensor which detects the vehicle speed, 13 is a steering angle sensor which detects the steering angle of the steering wheel, 1
4 is a brake switch that is turned on when the brake pedal is depressed, 15 is a yaw rate sensor that detects the yaw rate, 16 is a lateral G sensor that detects the lateral acceleration of the automobile, 1
Reference numeral 7 denotes a clutch switch that is turned on according to the operating state of the clutch. These sensor switches 11 to 17
All the detection signals of are input to the control unit 4. Incidentally, detection signals of other sensors and switches (not shown) such as an engine speed sensor are also input to the control unit 4.

As shown in FIG. 2, the control unit 4 starts the detection signal from the inter-vehicle distance detecting device 7,
An input information processing unit 21 that receives detection signals from various sensors and switches 11 to 17 and performs predetermined information processing, and a normal control unit 22 that performs normal control by driver operation.
A vehicle speed control unit 23 that controls the vehicle speed so that the vehicle travels at a constant target speed, and an inter-vehicle distance control unit 24 that controls the vehicle speed so that the inter-vehicle distance between the host vehicle and the preceding vehicle becomes a predetermined target inter-vehicle distance. A control switching unit 25 that issues a control command to any one of the three types of control units 22 to 24 to switch control based on the information obtained by the input information processing unit 21.
And an output information processing unit 26 that receives signals from the control units 22 to 24 and processes output information to be output to an operating unit (actuator or the like) of the throttle control device 1 or the like.

The control switching by the control switching unit 25 will be described with reference to FIG. 3. When the inter-vehicle distance DIS between the own vehicle and the preceding vehicle is shorter than a predetermined inter-vehicle distance La, the inter-vehicle distance control is performed. When the inter-vehicle distance DIS between the host vehicle and the preceding vehicle is longer than a predetermined inter-vehicle distance La, the control by the unit 24, that is, the inter-vehicle distance control is performed, the control by the vehicle speed control unit 23, that is, the vehicle speed control is performed. Further, when the vehicle speed of the own vehicle or the preceding vehicle becomes equal to or higher than the target vehicle speed of the vehicle speed control during the inter-vehicle distance control, the control switching unit 25 switches to the vehicle speed control.
In the inter-vehicle distance control area, in the area A where the relative speed REL between the own vehicle and the preceding vehicle is large in the positive direction (approaching direction) and the degree of danger is high, the alarm by the operation of the alarm display device 6 and the brake control device 3 are operated. Braking by operation is performed, braking is performed by the operation of the brake control device 3 and shift down is performed by operation of the EAT control device 2 in the B region where the risk is medium, and throttle control device is performed in the C region where the risk is low. Only the throttle opening adjustment by the operation 1 is performed.

Next, of the above-mentioned inter-vehicle distance control, the throttle opening control particularly in the C range will be described with reference to the flowchart shown in FIG.

In FIG. 4, first of all, step S1
After reading the input information such as the vehicle speed (hereinafter referred to as the own vehicle speed) VSP of the own vehicle detected by the vehicle speed sensor 12 and the inter-vehicle distance DIS between the own vehicle and the preceding vehicle detected by the inter-vehicle distance detection device 24, In S2, the relative speed REL between the own vehicle and the preceding vehicle is calculated. This relative speed REL is the amount of change in the inter-vehicle distance DIS between the host vehicle and the preceding vehicle per hour, and is calculated by dividing the difference between the previous value of the inter-vehicle distance DIS and the current value by the sampling cycle Δt (for example, 7 ms). It

Then, in step S3, the vehicle speed of the preceding vehicle (hereinafter referred to as the preceding vehicle speed) VSPF is calculated. The preceding vehicle speed VSPF is calculated by subtracting the relative speed REL from the own vehicle speed VSP. That is, the relational expression of VSPF = VSP-REL is established.

Then, in step S4, the target inter-vehicle distance DI
Calculate SO. The target inter-vehicle distance DISO is calculated using a map as shown in FIG. In this map, the target inter-vehicle distance DISO increases in a quadratic curve as the preceding vehicle speed VSPF increases. Then, the generated shaft torque TRQ is calculated in step S5, and the generated acceleration GSV of the own vehicle is calculated in step S6. The generated shaft torque TRQ is calculated by using the map shown in FIG.
And the engine speed NE. The generated acceleration GSV is calculated by dividing the difference between the previous value of the own vehicle speed VSP and the current value by the sampling cycle Δt.

Then, in step S7, the control amount DACUP (= f (GSV, TRQ, V is calculated from the generated acceleration GSV of the own vehicle, the generated shaft torque TRQ and the own vehicle speed VSP.
SP)) is calculated. Here, the running resistance is resistance due to a road surface gradient or the like. Further, the arithmetic expression of the control amount DACUP is DACUP = C1 * TRQ-C2 * GSV- (C3 * V
SP ² +4). However, C1 to C4 are coefficients.

Thereafter, in step S8, the target inter-vehicle distance D
The required resistance control amount DACTP is calculated by adding the running resistance component control amount DACUP to the deviation correction control amount f (DISO-DIS) corresponding to the deviation between the ISO and the actual inter-vehicle distance DIS. Then, in step S9, the required control amount DAC
Throttle opening corresponding to TP TVP (= f (DACT
P)) is calculated, and the throttle opening TVP is calculated in step S10.
Make the correction and return.

The correction of the throttle opening TVO, which is a characteristic part of the present invention, is performed according to the flowchart of FIG.

That is, first, in step S11, the acceleration / deceleration GFV of the preceding vehicle is calculated. This acceleration / deceleration GFV
Is calculated by dividing the difference between the previous value of the preceding vehicle speed VSPF and the current value by the sampling cycle Δt. The acceleration / deceleration detecting means 31 for detecting the acceleration / deceleration GFV of the preceding vehicle is constituted by the inter-vehicle distance detecting device 7 and the vehicle speed sensor 12 used for the calculation of the preceding vehicle speed VSPF in step S11.

Subsequently, in step S12, it is determined whether the acceleration / deceleration GFV of the preceding vehicle is a positive predetermined value Ga or more, that is, whether the preceding vehicle is in an accelerating state and the acceleration GFV is a predetermined value Ga or more. . If this determination is YES, in step S13 the required throttle opening TVP is replaced with a value obtained by adding a predetermined amount α to the current throttle opening TVO,
Restrict the amount of change in throttle opening. The predetermined amount α is
It is a value that changes according to running resistance. Therefore, the regulation of the change amount is based on the deviation correction control amount DA of the required control amount.
The throttle opening corresponding to CUP is regulated.

On the other hand, when the determination in step S12 is NO, in step S14 the acceleration / deceleration GFV of the preceding vehicle is less than or equal to a negative predetermined value (-Gb), that is, the preceding vehicle is in a decelerating state and its deceleration GFV. Is greater than or equal to the predetermined value Gb. If this determination is YES, the inter-vehicle distance DIS between the host vehicle and the preceding vehicle is set to a predetermined value L in step S15.
It is determined whether it is 0 or more. Here, the predetermined value L
0 is a value on the boundary line between the B area and the C area in FIG. 3, and changes according to the relative speed between the own vehicle and the preceding vehicle. That is, the determination in step S15 is that the inter-vehicle distance DIS between the host vehicle and the preceding vehicle is a relatively safe distance. If the inter-vehicle distance DIS is a safe distance, the required throttle opening TVP is set to the current throttle opening TVO by a predetermined amount α in step S16.
Is replaced with a value obtained by subtracting the value of, to regulate the amount of change in the throttle opening.

When the determination in step S14 or S15 is NO, the required throttle opening TVP is left unchanged in step S17 and the process returns.

When the acceleration GFV of the preceding vehicle is equal to or higher than the predetermined value Ga or the deceleration of the preceding vehicle is received by the detection result of the acceleration / deceleration detecting means 31 according to the control flow of steps S12 to S16 in the above flow chart. When the GFV is equal to or greater than the predetermined value Gb and the inter-vehicle distance DIS is equal to or greater than the predetermined distance L0, the regulation means 32 is configured to regulate the inter-vehicle distance control by limiting the variation amount of the throttle opening TVP.

Next, to explain the operation and effect of the above embodiment, when the preceding vehicle is rapidly accelerated during the inter-vehicle distance control and the acceleration GFV becomes equal to or higher than the predetermined value Ga, the acceleration / deceleration detecting means 31. Detects the acceleration state, and the detecting means 3
The restriction means 32 that receives the detection result of 1 restricts the amount of change in the throttle opening to a predetermined value α and restricts the inter-vehicle distance control. Therefore, the acceleration of the own vehicle does not increase beyond a predetermined value following the preceding vehicle.

Similarly, when the preceding vehicle drastically decelerates while the inter-vehicle distance DIS between the own vehicle and the preceding vehicle is relatively large and the deceleration GFV becomes equal to or greater than the predetermined value Gb. The acceleration / deceleration detection means 31 detects the deceleration state, and the regulation means 32 changes the throttle opening degree to a predetermined value α.
As a result of the restriction being imposed on the inter-vehicle distance control, the deceleration of the own vehicle will not increase above a predetermined value.
As a result, rapid acceleration / deceleration of the vehicle following the preceding vehicle can be prevented, and safety and riding comfort can be improved.

Moreover, the predetermined value α for limiting the amount of change in the throttle opening is set to a value that changes according to the running resistance, and the required control amount DACT under the inter-vehicle distance control is set.
Deviation correction control amount D related to acceleration / deceleration of the vehicle of P
Since the throttle opening corresponding to ACUP is restricted, the restriction does not cause excess or deficiency of the driving force.

FIG. 8 is a flow chart showing a modification of the correction of the throttle opening TVO.

In FIG. 8, first of all, step S21
A front and rear G sensor (not shown) as acceleration / deceleration detecting means
After reading the acceleration / deceleration GSV of the own vehicle detected in step S22, whether the acceleration / deceleration GSV of the own vehicle is a positive predetermined value Ga or more in step S22, that is, the own vehicle is in an acceleration state and its acceleration G
It is determined whether SV is equal to or greater than the predetermined value Ga. If this determination is YES, a predetermined amount β is subtracted from the required throttle opening TVP in step S23, the throttle opening is returned and corrected in the direction, and is limited to a predetermined value or less.

On the other hand, when the determination in step S22 is NO, it is determined in step S24 that the acceleration / deceleration GSV of the host vehicle is equal to or less than the negative predetermined value (-Gb), that is, the host vehicle is in the decelerating state and its deceleration GSV. Is greater than or equal to the predetermined value Gb. When this determination is YES, it is further determined in step S25 whether the inter-vehicle distance DIS between the own vehicle and the preceding vehicle is a predetermined value L0 or more. If this determination is YES, a predetermined amount β is added from the required throttle opening TVP in step S26 to correct the throttle opening in the opening direction.

If the determination in step S24 or S25 is NO, the required throttle opening TVP is left unchanged in step S27 and the process returns.

In the above flow chart, the control flow of steps S22 to S26 in particular receives the detection result of the acceleration / deceleration sensor, and when the acceleration GSV of the vehicle is equal to or greater than the predetermined value Ga, or the deceleration GSV of the vehicle is determined. A regulation unit 42 is configured to regulate the inter-vehicle distance control by limiting the throttle opening TVP when the inter-vehicle distance DIS is greater than or equal to the predetermined value Gb and is greater than or equal to the predetermined distance L0.

In such a modification, when the own vehicle rapidly accelerates following the preceding vehicle during the inter-vehicle distance control, and the acceleration GSV becomes equal to or greater than the predetermined value Ga, the throttle opening TVP is returned. It is possible to prevent the acceleration GSV of the own vehicle from greatly exceeding the predetermined value Ga or more by correcting the direction and limiting the value to the predetermined value or less. Further, when the own vehicle rapidly decelerates following the preceding vehicle while the distance between the own vehicle and the preceding vehicle is relatively large and the deceleration GSV becomes equal to or greater than the predetermined value Gb, the throttle opening is performed. By correcting the degree TVP in the opening direction, it is possible to prevent the deceleration GSV of the vehicle from greatly exceeding the predetermined value Gb.

In the above-described embodiment and its modification, the regulation means 32, 42 regulate the inter-vehicle distance control by limiting the throttle opening or the amount of change thereof. It goes without saying that the means 32, 42 may regulate the inter-vehicle distance control by reducing the control gain.

[0038]

As described above, according to the first aspect of the present invention, when the acceleration of the preceding vehicle becomes a predetermined value or more during the inter-vehicle distance control, the distance between the host vehicle and the preceding vehicle is relatively large. When the deceleration of the preceding vehicle exceeds a predetermined value while the vehicle is in a certain state, the inter-vehicle distance control is restricted, so it is necessary to prevent the acceleration / deceleration of the host vehicle from increasing above the predetermined value by following the preceding vehicle. As a result, safety and riding comfort can be improved.

According to the second aspect of the present invention, when the acceleration of the host vehicle becomes equal to or greater than a predetermined value by following the preceding vehicle during the inter-vehicle distance control, the distance between the own vehicle and the preceding vehicle is compared. When the deceleration of the host vehicle is equal to or higher than a predetermined value in a state where the vehicle is distant, the inter-vehicle distance control is restricted, so that it is possible to prevent the acceleration / deceleration of the host vehicle from significantly increasing above the predetermined value. It is possible to improve safety and riding comfort.

Further, according to the sixth aspect of the present invention, when the inter-vehicle distance control is restricted by limiting the throttle opening or the variation thereof to a predetermined value or less, the predetermined value is changed according to the running resistance. Since the value is set to 0, the inter-vehicle distance control can be appropriately regulated without causing a shortage of driving force.

[Brief description of drawings]

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

FIG. 2 is a block configuration diagram of a control unit.

FIG. 3 is a diagram for explaining a relationship between an inter-vehicle distance and the like and a control method.

FIG. 4 is a flowchart showing the control contents of the inter-vehicle distance control.

FIG. 5 is a diagram showing a map used to calculate a target inter-vehicle distance.

FIG. 6 is a diagram showing a map used for calculating a generated shaft torque TRQ.

FIG. 7 is a flowchart showing a correction process of a throttle opening.

FIG. 8 is a view corresponding to FIG. 7 showing a modified example.

[Explanation of symbols]

 7 Inter-Vehicle Distance Detection Device 24 Inter-Vehicle Distance Control Unit 31 Acceleration / Deceleration Detection Means 32, 42 Regulation Means

Claims (6)

[Claims] 1. A travel control device for an automobile, comprising: an inter-vehicle distance control unit for detecting an inter-vehicle distance between an own vehicle and a preceding vehicle by a inter-vehicle distance detection device and controlling the inter-vehicle distance to be a predetermined target inter-vehicle distance, Acceleration / deceleration detecting means for detecting the acceleration / deceleration of the preceding vehicle, and when the acceleration of the preceding vehicle is equal to or higher than a predetermined value, or the deceleration of the preceding vehicle is equal to or higher than the predetermined value and the inter-vehicle distance is A traveling control device for an automobile, comprising: a regulation unit that regulates the control by the inter-vehicle distance control unit when the distance is equal to or more than a predetermined distance. 2. A traveling control device for an automobile, comprising an inter-vehicle distance control unit for detecting an inter-vehicle distance between a host vehicle and a preceding vehicle by a inter-vehicle distance detecting device and controlling the inter-vehicle distance to be a predetermined target inter-vehicle distance, The acceleration / deceleration detecting means for detecting the acceleration / deceleration of the own vehicle, and the detection result of the detecting means, and when the acceleration of the own vehicle is equal to or more than a predetermined value during the control by the inter-vehicle distance control section, or the deceleration of the own vehicle is A traveling control device for an automobile, comprising: a regulation unit that regulates control by the inter-vehicle distance control unit when the inter-vehicle distance is equal to or greater than a predetermined value and the inter-vehicle distance is equal to or greater than a predetermined distance. 3. The vehicle travel control device according to claim 1, wherein the restricting means limits the throttle opening to a predetermined value or less. 4. The vehicle travel control device according to claim 1, wherein the restricting means limits the amount of change in the throttle opening to a predetermined value or less. 5. The vehicle travel control device according to claim 1, wherein the restriction means restricts control by the inter-vehicle distance control unit by reducing the control gain. 6. The vehicle drive control device according to claim 3, wherein the predetermined value is set to a value that changes according to the running resistance.