JPH10151964A - Follow-up traveling controller for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure a vehicle follow-up traveling controller that has reduced the labor of a driver by ensuring any operation during the follow-up control, securing traffic safety, while carrying out a follow-up release as a driver's intention according to a foolow-up release requirement. SOLUTION: A follow-up control means 21 comprises a timer means 22 generating a follow-up release signal F at a time when a span of duration of an accelerator operating signal is reached to the prescribed time, in addition to an accelerator operation detecting means 12 generating the accelerator operating signal of his own vehicle as a follow-up release request E, and in this constitution, when it releases a follow-up traveling state in response to the follow-up release signal, it allows the operation in the case where an acceleration operation is within the prescribed time, and follow-up control is automatically reopened, while in the case where the acceleration operation is the prescribed time or more, it is regarded as a follow-up undesired condition, releasing the follow-up traveling control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cruise control system for a vehicle, which is mounted on a vehicle and controls the cruise control of a self-vehicle so as to keep the inter-vehicle distance with a preceding vehicle at a safe inter-vehicle distance. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle cruising control device that ensures safety when a cruising condition of a host vehicle is released.

[0002]

2. Description of the Related Art Conventionally, a vehicle follow-up cruise control device developed for the purpose of reducing the driver's operation labor is designed to detect a preceding vehicle, an obstacle, etc. existing in front of a vehicle.
A radar device is provided as an inter-vehicle distance sensor that detects an inter-vehicle distance from a preceding vehicle.

[0003] This type of vehicle follow-up running control device is described in, for example, Japanese Patent Application Laid-Open No. 62-35680.
The running state of the host vehicle is controlled so that the detected inter-vehicle distance to the preceding vehicle is kept constant, and the running speed control, the stop control, the start control, etc., which follow the preceding vehicle, are performed.
The follow-up running state is released as needed.

A vehicle follow-up running control device for automatically controlling engine output torque and braking can be referred to, for example, in Japanese Utility Model Publication No. 3-68126, and controls at least one of a throttle and a brake. ,
When the inter-vehicle distance increases, the host vehicle is accelerated to follow the preceding vehicle.

In this way, by controlling the vehicle to follow the preceding vehicle, the burden required for the driver to pay attention to the front is reduced, and even if the road is congested with vehicles, This eliminates the complexity of repeatedly stopping and starting operations and following running operations.

[0006] However, when the radar device is mounted on a vehicle and follows a preceding vehicle, the driver's feeling of acceleration does not pose a problem for a driver due to a low vehicle speed in a severe traffic congestion, but the vehicle can run at a relatively high vehicle speed. In a light traffic jam, there may be a case where the feeling of acceleration does not match the driver's intention and the follow-up traveling control becomes unnecessary.

That is, in the case of a light traffic jam, it can be considered that the current traffic jam is being resolved or that a relatively agile running is required, and rather, it is unnecessary to follow the running control.

In this case, even if the accelerator pedal is depressed for a long time to obtain a sufficient acceleration, the vehicle returns to the following traveling state after the accelerator operation is completed. It is necessary to intentionally release the following running state of the own vehicle by the operation.

[0009] Further, even if the vehicle ahead is lost during the following running, the following running control becomes impossible and unnecessary. However, the driver operates the following running changeover switch to be aware of the following running state of the own vehicle. Must be canceled. Further, if work such as finding the front vehicle and resetting it to the following running state after losing sight of the front vehicle is frequently performed in a short period of time, the driver needs troublesome labor.

[0010] Further, when the driver inadvertently activates the parking brake during the follow-up running, or changes the shift position by operating the shift lever (for example, D
When the vehicle is changed from the N range to the N range, an operation for canceling the following traveling state of the own vehicle must be performed in the same manner, which requires troublesome labor for the driver.

[0011]

As described above, the conventional cruise control system for a vehicle allows the driver to consciously follow when the cruising condition does not meet the driver's intention or becomes unnecessary. Since it is necessary to operate the traveling changeover switch, if the operation of the follow-up traveling changeover switch is frequently performed in a short time, there is a problem that it becomes troublesome for the driver and requires a great deal of labor.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and detects a follow-up release request corresponding to a driver's normal driving operation during the follow-up control, and automatically performs the driver's intention. It is an object of the present invention to provide a vehicle-based cruise control device that reduces the driver's labor and ensures the safety of the host vehicle by releasing the following.

According to the present invention, when the following running state of the own vehicle is automatically released, and when the following running state is returned, an alarm is generated to make the driver aware and secure the safety of the own vehicle. It is an object of the present invention to obtain a vehicle follow-up running control device.

[0014]

According to a first aspect of the present invention, there is provided a vehicle follow-up traveling control device, comprising: a vehicle speed sensor for detecting a traveling speed of an own vehicle; and an inter-vehicle detecting device for detecting an inter-vehicle distance from the own vehicle to a preceding vehicle. A distance sensor, a throttle actuator for controlling the engine output of the own vehicle, a brake actuator for controlling the brake of the own vehicle, and a follow-up control for controlling at least one of the throttle actuator and the brake actuator so as to keep the inter-vehicle distance at a safe inter-vehicle distance. Control means, and a follow-up release request detecting means for generating a follow-up release request in response to a predetermined condition during the follow-up traveling based on the follow-up control means, wherein the follow-up control means In the vehicle cruising control device for canceling the following cruising state, the following cancellation request detecting means includes an accelerator operation of the own vehicle. The acceleration control detecting means includes a timer means for generating a tracking release signal when the duration of the accelerator operation signal reaches a predetermined time, and responds to the tracking release signal. Then, the following running state is released.

According to a second aspect of the present invention, there is provided a vehicle follow-up traveling control device, comprising: a vehicle speed sensor for detecting a traveling speed of the own vehicle; an inter-vehicle distance sensor for detecting an inter-vehicle distance from the own vehicle to a preceding vehicle; A throttle actuator that controls the engine output of the own vehicle, a brake actuator that controls the brake of the own vehicle, and a follow-up control unit that controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance; During a following running based on the following control means, a following cancellation request detecting means for generating a following cancellation request in response to a predetermined condition, wherein the following control means changes the following running state of the own vehicle in response to the following cancellation request. In the following cruise control device for a vehicle to be released, the following release request detecting means detects that the following vehicle is released when the vehicle ahead is lost. Includes a front wheel confirmation means for generating a demanded follow-up control means is responsive to tracking cancellation request, it is to hold the speed of the vehicle to a predetermined vehicle speed.

According to a third aspect of the present invention, in the second aspect, the follow-up control means sets the speed of the own vehicle immediately before the follow-up traveling state is canceled as a predetermined vehicle speed. Things.

According to a fourth aspect of the present invention, there is provided a vehicle follow-up cruise control device according to the second or third aspect.
The preceding vehicle confirmation means generates a preceding vehicle confirmation signal when confirming the preceding vehicle, and the following control means produces a following restart signal when the preceding vehicle confirmation signal is generated within a predetermined time after the generation of the following release request. And automatically resumes the following running state in response to the following restart signal.

According to a fifth aspect of the present invention, there is provided a vehicle follow-up running control apparatus according to the fourth aspect, further comprising an alarm unit for generating an alarm in response to at least one of a follow-up release request and a follow-up restart signal. It is.

According to a sixth aspect of the present invention, there is provided a vehicle follow-up traveling control device, comprising: a vehicle speed sensor for detecting a traveling speed of the own vehicle; an inter-vehicle distance sensor for detecting an inter-vehicle distance from the own vehicle to a preceding vehicle; A throttle actuator that controls the engine output of the own vehicle, a brake actuator that controls the brake of the own vehicle, and a follow-up control unit that controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance; During a following running based on the following control means, a following cancellation request detecting means for generating a following cancellation request in response to a predetermined condition, wherein the following control means changes the following running state of the own vehicle in response to the following cancellation request. In the following cruise control device for a vehicle to be released, the following release request detecting means includes a parking brake operation of the own vehicle. Includes a parking brake actuation detection means for generating a No. as follow release request, follow-up control means is for canceling the following state in response to the parking brake actuation signal.

According to a seventh aspect of the present invention, there is provided a vehicle follow-up traveling control device comprising: a vehicle speed sensor for detecting a traveling speed of the own vehicle; an inter-vehicle distance sensor for detecting an inter-vehicle distance from the own vehicle to a preceding vehicle; A throttle actuator that controls the engine output of the own vehicle, a brake actuator that controls the brake of the own vehicle, and a follow-up control unit that controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance; During a following running based on the following control means, a following cancellation request detecting means for generating a following cancellation request in response to a predetermined condition, wherein the following control means changes the following running state of the own vehicle in response to the following cancellation request. In the vehicle follow-up running control device to be released, the follow-up release request detecting means outputs the shift lever operation signal of the own vehicle. Includes a shift lever operation detecting means for generating a sub release request, follow-up control means is for canceling the following state in response to a shift lever operation signal.

According to an eighth aspect of the present invention, in the vehicle follow-up traveling control device, the shift lever operation detecting means includes a shift lever operation signal from the D range to the N range and a shift lever operation signal from the D range to the P range. Is generated as a follow-up release request.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram showing the overall configuration of the first embodiment of the present invention. In FIG. 1, reference numeral 10 denotes an inter-vehicle distance sensor that detects an inter-vehicle distance D from the host vehicle to a preceding vehicle, and is constituted by, for example, a laser radar device or a millimeter wave radar device, and a detection signal corresponding to the inter-vehicle distance D. Is output.

Reference numeral 11 denotes a vehicle speed sensor for detecting the traveling speed V of the own vehicle, and outputs a vehicle speed pulse having a frequency corresponding to the traveling speed V as a detection signal. Reference numeral 12 denotes a follow-up release request detecting means for detecting the follow-up release request E in accordance with a predetermined condition. In this case, the follow-up release request detecting means 12 is constituted by an accelerator operation detecting means for outputting a driver's accelerator operation signal as the follow-up release request E.

Reference numeral 13 denotes a control ECU for controlling the own vehicle to follow the preceding vehicle. The control ECU 13 includes a microcomputer for maintaining the inter-vehicle distance D at a predetermined safe inter-vehicle distance. The distance D, the traveling speed V, and the follow-up release request E are fetched, and at least one of a throttle and a brake for acceleration / deceleration switching is controlled as described later.

Reference numeral 14 denotes a throttle actuator that is driven and controlled by a throttle drive signal A from the control ECU 13 and controls the opening of a throttle (not shown) to control the engine output of the vehicle.

Reference numeral 15 denotes a brake actuator which is driven and controlled by a brake drive signal B from the control ECU 13, and controls a brake (not shown) of each wheel of the own vehicle to determine a following running state or a following releasing state.

The control ECU 13 includes a follow-up control means 21 for outputting a throttle drive signal A and a brake drive signal B based on the following distance D and running speed V. Each of the actuators 14 and 15 is controlled by the drive signals A and B.
, The throttle and the brake are driven such that the inter-vehicle distance D becomes the safe inter-vehicle distance, and the own vehicle is controlled to follow the preceding vehicle.

The control ECU 13 also includes a timer 22 for generating a follow-up release signal F when the duration of the follow-up release request (accelerator operation signal) E reaches a predetermined time. In response to the following cancellation signal F from the timer 22 generated based on E, the following running state of the own vehicle is canceled.

The timer 22 is, for example, a timer counter in which a count value corresponding to a predetermined time is initially set, and starts counting down from the time when a follow-up release request E composed of an accelerator operation signal is detected, and counts up (predetermined time). ), A tracking release signal F is output.

Further, the following control means 21 automatically releases the following running state of the own vehicle in response to the following release signal F. The accelerator operation detecting means 12 as a follow-up release request detecting means is constituted by a switch for detecting depression of an accelerator pedal, an accelerator pedal position sensor for detecting an amount of depression of an accelerator pedal, and the like.

Next, the following running operation and the following releasing operation during the following running according to the first embodiment of the present invention shown in FIG. 1 will be described. First, in a normal following running state, the following control means 21 in the control ECU 13 is based on a detection signal indicating the following distance D from the following distance sensor 10 and a detection signal indicating the running speed V from the vehicle speed sensor 11. And the relative speed of the preceding vehicle with respect to the own vehicle together with the own vehicle speed and the preceding vehicle speed.

Subsequently, the following control means 21 calculates the safe inter-vehicle distance from the own vehicle to the preceding vehicle from the own vehicle speed, the preceding vehicle speed and the relative speed, and the inter-vehicle distance D is always maintained at the safe inter-vehicle distance. Thus, the throttle actuator 14 and the brake actuator 15 are controlled to control the engine output and the brake for each wheel. That is, when the preceding vehicle starts, the own vehicle also starts, and when the preceding vehicle stops, the own vehicle also stops, and the inter-vehicle distance D with the preceding vehicle is maintained at the safe inter-vehicle distance.

When the driver operates the accelerator during such follow-up running, the accelerator operation detecting means 12
An accelerator operation signal is output as a follow-up release request E. Accordingly, the following control means 21 in the control ECU 13 temporarily stops the following driving control in response to the following cancel request E, and drives the throttle actuator 14 in response to the driver's accelerator operation.

The timer 22 starts the counting operation in response to the following cancellation request E. However, if the accelerator operation time of the driver is within a predetermined time, the timer 22 is reset, so that the following cancellation signal F is output. Never. Therefore, the follow-up control means 21 returns to the follow-up traveling state again after the completion of the follow-up release request E, and controls the own vehicle to follow-up traveling.

On the other hand, when the accelerator operation by the driver is longer than the predetermined time, the timer 22 continues the counting operation in response to the continuation of the following request E, and outputs the following signal F after the lapse of the predetermined time. . Such a state in which the accelerator pedal is depressed for a long time is a state in which traffic congestion is being eliminated or there is a need for agile traveling. Therefore, it can be considered that the driver does not need to follow the traveling control.

Accordingly, the follow-up control means 21 determines from the follow-up release signal F that the follow-up traveling control is unnecessary, and does not return to the follow-up traveling state after the completion of the follow-up release request E. Switch to the tracking release state.

As a result, even when the vehicle is following the vehicle, if the driver continues to generate the following cancellation request E by operating the accelerator, the following control unit 21 changes the following traveling state in response to the following cancellation request E. Since the cancellation is performed, the driver does not need to consciously operate the switch, and the driver's labor can be reduced.

Hereinafter, the tracking release operation according to the first embodiment of the present invention will be described more specifically with reference to the flowchart of FIG. In FIG. 2, first, the control ECU 13 determines whether or not the own vehicle is in a following traveling state based on a state of a following traveling changeover switch and a following control means 21 (step S1).

If the following running control is not being performed (that is,
If the determination is NO, the process exits the processing routine of FIG. In addition, the following running state (that is, YES)
Then, it is determined whether an accelerator operation signal (following release request) E by the driver has been detected (step S2).

If it is determined that there is no accelerator operation signal E (that is, NO), the follow-up control means 21 maintains the follow-up traveling control (step S6). Also,
The control ECU 13 clears the timer 22 corresponding to the accelerator operation signal E (step S7), and exits the processing routine of FIG.

On the other hand, in step S2, the driver has performed an accelerator operation during the follow-up running (that is, YES).
If determined to be, the following control means 21 temporarily stops the following traveling state, switches to the accelerator following control, and drives the throttle actuator 14 in response to the accelerator operation signal E (step S3).

The timer 22 receives an accelerator operation signal E
The accelerator operation time of the driver is measured based on the continuation time (step S4), and after the driver completes the accelerator operation, it is determined whether the continuation time of the accelerator operation signal E is equal to or longer than a predetermined time (step S5).

If the duration is within a predetermined time (ie,
If the determination is NO, the process returns to step S2. At this time, since the accelerator operation signal E has not been generated, the processing routine of FIG. 2 is executed via the following travel maintaining step S6 and the clearing step S7 of the timer 22. Get out.

On the other hand, in step S5, the duration of the accelerator operation signal E is equal to or longer than a predetermined time (that is, YE
If determined as S), the process proceeds to step S7, in which the following control means 21 does not return to the following traveling control, and the timer 22 is cleared.

As described above, the following control means 21 does not cancel the following running control even if the driver slightly operates the accelerator,
Only when the accelerator is operated for more than a predetermined time,
In response to the follow-up release signal F from 2, it is determined that the follow-up traveling control is unnecessary, and the following traveling state is automatically released. After that, until the driver operates the following travel changeover switch,
The vehicle can be switched to the normal traveling state without returning to the following traveling control.

Embodiment 2 In the first embodiment, the follow-up release request detecting means is replaced by the accelerator operation detecting means 12.
And the accelerator operation signal is the follow-up release request E. However, the follow-up release request detecting means may be constituted by the preceding vehicle confirming means, and the follow-up release request Ea may be output when the preceding vehicle is lost.

In this case, when the preceding vehicle is confirmed again within a predetermined time after the following is canceled, the following driving control may be restarted in response to the preceding vehicle confirming signal from the preceding vehicle confirming means.

Also, in response to a following release request Ea when the preceding vehicle is lost, or in response to a following restart signal when the preceding vehicle is reconfirmed, the alarm means is driven to notify the driver of the following state. Alternatively, the tracking restart state may be notified.

Hereinafter, a second embodiment of the present invention using a forward vehicle confirming means and a warning means will be described with reference to the drawings. FIG. 3 is a functional block diagram showing the overall configuration of the second embodiment of the present invention. Ea, 13A and 21A correspond to the following cancellation request E (see FIG. 1), the control ECU 13 and the following control means 21, respectively. And 10, 11, 1
4, 15, A, B, D and V are the same as described above.

Reference numeral 23 denotes a front vehicle confirmation means for generating a follow-up release request Ea when the front vehicle is lost, and generates a preceding vehicle confirmation signal G when the presence of the front vehicle is confirmed based on the inter-vehicle distance D. . Reference numeral 24 denotes a timer cooperating with the following control means 21A, and when the preceding vehicle confirmation signal G is generated within a predetermined time after the generation of the following cancellation request Ea, the following restart signal H is generated.
Is generated, and the following travel control by the following control means 21A is restored.

The timer 24 is, for example, a timer counter in which a count value corresponding to a predetermined time is initially set. The timer 24 starts counting down from the point of time when the follow-up release request Ea is detected, and counts up (the predetermined time has elapsed). If the preceding vehicle confirmation signal G was previously input, the following restart signal H
After the count-up (predetermined time has elapsed), the follow-up restart signal H is not output even if the preceding vehicle confirmation signal G is input.

Numeral 30 denotes alarm means connected to the control ECU 13A.
a or an arbitrary means such as an audio alarm or a video display driven in response to the follow-up restart signal H from the timer 24, and issues an alarm to the driver when the follow-up is canceled or the follow-up is resumed.

In this case, when the following control means 21A loses sight of the preceding vehicle during the follow-up traveling control, the follow-up release request E
In response to a, the following running state is released, the running speed of the own vehicle is maintained at the predetermined vehicle speed, and if the preceding vehicle can be confirmed within a predetermined time after the following release, the following restart signal H is returned. Then, the following travel control is restarted.

Next, the following-up operation and the follow-up resuming operation according to the second embodiment of the present invention shown in FIG. 3 will be described with reference to the flowchart of FIG. FIG. 4 shows a processing routine in the case where the preceding vehicle is lost during follow-up running control, and S1 and S6 are the same steps as described above.

First, it is determined whether or not the own vehicle is under follow-up running control (step S1). If NO is determined, the processing routine of FIG. 4 is exited. If it is determined in step S1 that the follow-up running control is being performed (that is, YES), subsequently, the preceding vehicle checking means 23 determines whether or not the preceding vehicle is in an undetected state (step S12).

If it is determined that the preceding vehicle is being confirmed and the preceding vehicle confirmation signal G has been generated (that is, NO), the following traveling control is continuously maintained (step S).
6). If it is determined in step S12 that the preceding vehicle has been lost (that is, YES), the preceding vehicle checking means 23 responds to the forward vehicle non-detection state and issues a following cancellation request E.
a is output.

In response, the follow-up control means 21A cancels the follow-up traveling control in response to the follow-up release request Ea, and sets the throttle actuator 14 and the brake actuator 15 so that the own vehicle speed after the release maintains the predetermined vehicle speed. Is driven (step S13).

The timer 24 is activated in response to the follow-up release request Ea, and measures the elapsed time from losing sight of the preceding vehicle (step S14). Further, the alarm means 30
The driver is driven by the following cancellation request Ea, and the driver is notified as a non-detection warning that the following vehicle has been lost due to loss of sight of the preceding vehicle (step S15).

Next, the control ECU 13A compares the elapsed time after the cancellation of the following with the predetermined time, and determines whether or not the elapsed time has elapsed by the predetermined time (step S16). if,
If the preceding vehicle confirmation signal G is not generated within the predetermined time after the following is canceled and the timer 24 for measuring the non-detection of the preceding vehicle is counted up, it is determined that the elapsed time has exceeded the predetermined time (ie, YES). Therefore, the timer 24 is cleared (step S19), and the process exits from the processing routine of FIG.

Therefore, when a predetermined time has elapsed since the driver has lost sight of the preceding vehicle, the automatic return to the following running control is not performed, and the normal running state is continued. On the other hand, if the preceding vehicle confirmation signal G is generated before the timer 24 counts up, the timer 24 generates the follow-up restart signal H, so that the elapsed time is within the predetermined time (that is, NO in step S16). ), The process returns to the preceding vehicle determination step S12.

In this case, since the preceding vehicle has been confirmed,
It is not in the undetected state in step S12 (that is,
NO), and the process proceeds to the following traveling control step S6.
Therefore, when the preceding vehicle is confirmed within a predetermined time after the following is released, the following control unit 21A automatically restarts the following driving control.

Further, the alarm means 30 is driven by the following restart signal H, and generates an alarm for notifying the driver of the following running control restart state (step S18). Thereafter, the timer 24 is cleared (step S19), and the process exits from the processing routine of FIG.

If the throttle actuator 14 is simply stopped when the follow-up running control is canceled by losing sight of the preceding vehicle, unless the driver depresses the accelerator, the speed of the own vehicle may decrease and the following vehicle may be disturbed. There is. However, as described above, by maintaining the own vehicle speed at the predetermined vehicle speed when the following is released (step S13), the driver can continuously perform the driving operation in the normal driving state without disturbing the following vehicle due to sudden deceleration or the like. Can enter.

In a situation where the preceding vehicle is frequently lost within a predetermined time, the elapsed time determination step S16 is performed.
, The restart to the follow-up running control when the vehicle ahead can be confirmed again is automatically performed, so that the operation of the driver can be saved.

Embodiment 3 In the second embodiment, when the vehicle in front is lost due to loss of sight of the preceding vehicle,
Although the own vehicle speed is maintained at the predetermined vehicle speed (step S13), the own vehicle speed immediately before the following cancellation may be set as the predetermined vehicle speed at the time of following cancellation.

Hereinafter, a third embodiment of the present invention will be described with reference to the drawings, in which the own vehicle speed immediately before the following cancellation is set to a predetermined vehicle speed. In this case, the entire configuration of the apparatus is as shown in FIG. 3, and only a part (step S13) of the flowchart of FIG. 4 is different.

FIG. 5 is a flowchart showing a processing operation according to the third embodiment of the present invention, and shows a traveling control process when a preceding vehicle is lost during follow-up traveling control. FIG.
, S1, S6, S12, S14 to S16, S1
Steps 8 and S19 are the same as those described above (see FIG. 4), and will not be described in detail here.

First, if the preceding vehicle is lost during the follow-up running control of the own vehicle, and YES is determined in steps S1 and S12, the follow-up control means 21A (see FIG. 3) cancels the follow-up running control, and The vehicle speed at the time of release is set as a predetermined vehicle speed, and the throttle actuator 14 and the brake actuator 15 are driven so as to maintain the predetermined vehicle speed (step S23).

Hereinafter, the same processing steps S14 to S16 and S16 as described above are performed in accordance with the elapsed time from losing sight of the preceding vehicle.
Steps S18 and S19 are executed to exit the processing routine of FIG. In this case, the own vehicle speed at the time when the following vehicle is released after following the preceding vehicle is lost is maintained at the own vehicle speed immediately before the following of the following vehicle is released, so that the following vehicle is not bothered as described above.

Further, since the driver can enter the driving operation after following cancellation without performing any special operation, the following driving control when the preceding vehicle can be reconfirmed in a situation where the preceding vehicle is frequently lost. The labor of setting can be omitted, and the labor of the driver can be remarkably reduced.

Embodiment 4 In the first embodiment, the accelerator operation detecting means 12 is used as the follow-up release request detecting means, and the accelerator operation signal is used as the follow-up release request E. However, the parking brake operation detecting means is used as the follow-up release request detecting means. The brake actuation signal may be used as the following release request Eb.

Hereinafter, a fourth embodiment of the present invention in which the parking brake actuation signal is a follow-up release request Eb will be described with reference to the drawings. FIG. 6 is a functional block diagram showing the overall configuration of the fourth embodiment of the present invention, wherein Eb, 13B and 21
B is the tracking cancellation request E described above (see FIG. 1), and the control ECU
13 and the following control means 21, respectively.
10, 11, 14, 15, A, B, D and V are the same as described above.

Reference numeral 12B denotes a parking brake operation detecting means functioning as a following release request detecting means. When the driver operates the parking brake during the following driving control, a parking brake operating signal is generated as a following release request Eb. . The control ECU 13B cancels the following travel control when a following release request Eb is input from the parking brake operation detecting means 12B during the following travel control.

Therefore, if the driver inadvertently activates the parking brake during the following driving control, the parking brake operation detecting means 12B outputs a parking brake operation signal as a following release request Eb and responds to this. The following control means 21B in the control ECU 13B
The following running state of the own vehicle is released.

Hereinafter, the operation of the follow-up release processing when the parking brake is actuated according to the fourth embodiment of the present invention will be described with reference to the flowchart of FIG. In FIG. 7, S1 and S6 are the same steps as described above (see FIG. 4).

First, it is determined whether or not the own vehicle is under follow-up running control (step S1). If it is determined that the follow-up running control is not under way (ie, NO), the processing routine of FIG. 7 is exited.

Also, during follow-up running control (that is, YE
If it is determined as S), subsequently, it is determined whether or not there is a parking brake operation signal (following release request Eb), that is, whether or not the driver operates the parking brake (step S32).

If it is determined that the parking brake actuation signal has not been generated and the parking brake has not been actuated (ie, NO), the self-vehicle keeps following the running state (step S6). Then, the processing routine of FIG. 7 is exited.

On the other hand, if the parking brake actuation signal (following release request Eb) is generated during the following cruise control and it is determined that the parking brake has been operated (ie, YES), the following control means 21B performs the following cruise control. Is canceled (step S33), and the process exits from the processing routine of FIG.

In this way, when the parking brake operation by the driver is confirmed during the following running control, the following running control is automatically released, so that the vehicle enters an unstable running state with the parking brake being dragged. This can be prevented beforehand. Therefore, the safety of the host vehicle can be ensured, and the labor of the driver can be reduced.

Embodiment 5 In the fourth embodiment, the parking brake operation detecting means is used as the following release request detecting means, and the parking brake operation signal is the following release request Eb. However, the shift lever operation detecting means is used as the following release request detecting means. The shift lever operation signal may be used as the following release request Ec.

Hereinafter, a fifth embodiment of the present invention in which the shift lever operation signal is a follow-up release request Ec will be described with reference to the drawings. FIG. 8 is a functional block diagram showing the overall configuration of the fifth embodiment of the present invention, where Ec, 13C and 21C are:
The following cancellation request Eb (see FIG. 6) and the control ECU 13
B and the following control means 21B, respectively.
10, 11, 14, 15, A, B, D and V are the same as described above.

Reference numeral 12C denotes a shift lever operation detecting means functioning as a follow-up release request detecting means. When a driver operates the shift lever during the follow-up running control, a shift lever operation signal is generated as a follow-up release request Ec. Also,
The control ECU 13C cancels the following travel control when a following release request Ec is input from the shift lever operation detection means 12C during the following travel control.

Therefore, if the driver inadvertently operates the shift lever during the follow-up running control to change the shift position (for example, from the D range to the N range), the shift lever operation detecting means 12C will operate the shift lever operation. A signal is output as the following cancellation request Ec, and in response to this, the following control means 21C in the control ECU 13C cancels the following running state of the own vehicle.

Hereinafter, the operation of the follow-up release processing at the time of operating the shift lever according to the fifth embodiment of the present invention will be described with reference to the flowchart of FIG. In FIG.
S1, S6 and S33 are described above (see FIG. 7).
Since these steps are similar to those described above, they will not be described in detail here. In this case, only step S42 is different from step S32 described above.

First, if it is determined in step S1 that the host vehicle is performing follow-up running control (ie, YES), the driver subsequently operates the shift lever based on the presence or absence of a shift lever operation signal (following release request Ec). Is determined (step S42).

If the following release request Ec has not been generated from the shift lever operation detecting means 12C and it is determined that the shift lever has not been operated (ie, NO), the following travel control is continuously maintained (step S1). S6),
Exit from the processing routine of FIG.

If a shift lever operation signal (following release request Ec) has been generated and it is determined that the shift lever has been operated during follow-up traveling control (that is, YES), the follow-up control means 21C sets In response to the release request Ec, the following travel control is released (step S33), and the process exits from the processing routine of FIG.

Thus, when the operation of the shift lever by the driver is confirmed during the follow-up traveling control, the follow-up traveling control is automatically released, so that it is possible to shift to an operation state corresponding to the state of the shift lever. As a result, the unstable behavior of the host vehicle due to the erroneous operation of the shift lever can be prevented, and the labor of the driver can be reduced.

Embodiment 6 FIG. In the fifth embodiment, the condition for canceling the follow-up traveling control when operating the shift lever is not particularly mentioned. However, as the following condition for canceling the follow-up which may be a substantial problem, for example, the driver's D range → N range. Or the operation from the D range to the P range may be set as the following cancellation condition, and the following running state of the host vehicle may be maintained during the operation of another shift lever with less actual harm.

[0091]

As described above, according to the first aspect of the present invention, the following cancellation request detecting means includes the accelerator operation detecting means for generating the accelerator operation signal of the own vehicle as the following cancellation request, and the following control means includes: A timer means for generating a follow-up release signal when the duration of the accelerator operation signal reaches a predetermined time, and releasing the follow-up traveling state in response to the follow-up release signal, so that the accelerator operation is performed within a predetermined time. Allows the operation to be resumed automatically, and if the accelerator operation is performed for a predetermined time or longer, it is regarded as a condition that no follow-up is required, and the follow-up cruise control is released. As well as ensuring safety, following the driver's intention to release following following the driver's intention,
There is an effect that a vehicle following travel control device with reduced driver's labor can be obtained.

According to a second aspect of the present invention, the follow-up release request detecting means includes a forward vehicle confirming means for generating a follow-up release request when the front vehicle is lost, and the follow-up control means includes: In response, the vehicle speed is maintained at the predetermined vehicle speed, so that when following the vehicle is released when no preceding vehicle is detected, safety can be ensured without incurring a burden on the driver, and the vehicle speed decreases. Thus, there is an effect that a following-up running control device for a vehicle can be obtained in which the following vehicle is prevented from being annoying.

According to a third aspect of the present invention, in the second aspect, the following control means sets the speed of the own vehicle immediately before the following running state is released as the predetermined vehicle speed. When the following is canceled when the vehicle is not detected, the vehicle speed immediately before losing sight of the preceding vehicle is maintained and the safety is ensured, and the following cruise control device for the vehicle that prevents inconvenience of the following vehicle due to the decrease in the vehicle speed is obtained. There is.

According to a fourth aspect of the present invention, in the second or third aspect, the forward vehicle confirming means generates a forward vehicle confirming signal when the forward vehicle is confirmed, and the follow-up control means comprises: A timer means for generating a follow-up restart signal when a preceding vehicle confirmation signal is generated within a predetermined time after the generation of the follow-up release request, so that the follow-up running state is automatically restarted in response to the follow-up restart signal. Therefore, even if the non-detection and confirmation of the preceding vehicle are repeated within a predetermined time, the following operation is automatically restarted, and there is an effect that a following-traveling control device for a vehicle can be obtained in which the frequent operation labor of the driver is eliminated.

According to a fifth aspect of the present invention, in the fourth aspect, an alarm means for generating an alarm in response to at least one of the following cancellation request and the following restart signal is provided. When the driver loses sight of the preceding vehicle or resumes following travel control, the driver can be notified of the change in the running control state to draw his or her attention, and a vehicle following travel control device that ensures safety can be obtained. effective.

According to claim 6 of the present invention, the follow-up release request detecting means includes a parking brake actuation detecting means for generating a parking brake actuation signal of the vehicle as a follow-up release request, and the follow-up control means comprises Since the following running state is released in response to the brake actuation signal, unstable running with the erroneously operated parking brake being dragged can be prevented beforehand, reducing the driver's labor and reducing self-time. There is an effect that a vehicle follow-up traveling control device that ensures the safety of the vehicle can be obtained.

According to a seventh aspect of the present invention, the follow-up release request detecting means includes a shift lever operation detecting means for generating a shift lever operation signal of the own vehicle as a follow-up release request, and the follow-up control means includes Since the following running state is released in response to the lever operation signal, the behavior of the vehicle due to the driver's erroneous operation of the shift lever can be prevented beforehand, reducing the labor of the driver and the safety of the vehicle. Thus, there is an effect that a vehicle following travel control device ensuring the above is obtained.

Further, in the vehicle follow-up running control device according to claim 8 of the present invention, in claim 7, the shift lever operation detecting means includes a shift lever operation signal from the D range to the N range and a shift lever operation signal from the D range to the P range. At least one of the shift lever operation signals to the vehicle is generated as a follow-up release request, so that there is an effect that a following-up traveling control device for a vehicle that secures the safety of the vehicle in response to a shift lever operation that cannot be ignored is obtained .

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing an overall configuration of a first embodiment of the present invention.

FIG. 2 is a flowchart showing a processing operation at the time of detecting an accelerator operation during follow-up running according to the first embodiment of the present invention.

FIG. 3 is a functional block diagram showing an overall configuration of a second embodiment of the present invention.

FIG. 4 is a flowchart showing a processing operation when a preceding vehicle is lost during a follow-up running according to a second embodiment of the present invention.

FIG. 5 is a flowchart showing a processing operation in a case where a preceding vehicle is lost during follow-up running according to Embodiment 3 of the present invention.

FIG. 6 is a functional block diagram showing an overall configuration of a fourth embodiment of the present invention.

FIG. 7 is a flowchart showing a processing operation when a parking brake operation is detected during a follow-up running according to a fourth embodiment of the present invention.

FIG. 8 is a functional block diagram showing an overall configuration of a fifth embodiment of the present invention.

FIG. 9 is a flowchart showing a processing operation at the time of detecting a shift lever operation during follow-up running according to a fifth embodiment of the present invention.

[Explanation of symbols]

Reference Signs List 10 inter-vehicle distance sensor, 11 vehicle speed sensor, 12 accelerator operation detecting means, 12B parking brake operation detecting means, 12C shift lever operation detecting means, 13, 1
3A, 13B, 13C Control ECU, 14 Throttle actuator, 15 Brake actuator, 2
1, 21A, 21B, 21C tracking control means, 22, 2
4 timer, 23 preceding vehicle confirmation means, 30 alarm means,
D Inter-vehicle distance, E, Ea, Eb, Ec Following release request,
F following cancellation signal, G preceding vehicle confirmation signal, H following restart signal, V running speed, S1 step of determining following running state, S2 step of determining accelerator operation, S4
Measuring the duration of the accelerator operation, S5
Comparing the continuation time with a predetermined time, step S6, controlling the following of the own vehicle, following step S12, determining whether or not the preceding vehicle has not been detected, step S13, maintaining the own vehicle speed at the predetermined vehicle speed, and step S14 after releasing the following. Measuring the elapsed time, S15 generating an alarm when the preceding vehicle is not detected, S16 comparing the elapsed time with a predetermined time, S18 generating an alarm when the tracking is restarted, S23 determining the own vehicle speed immediately before the cancellation of the following vehicle speed. S32, a step of determining the operation of the parking brake, S33, a step of releasing the following running state, and S42, a step of determining the operation of the shift lever.

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁶ Identification code FI G08G 1/16 G01S 13/93 Z

Claims (8)

[Claims] A vehicle speed sensor for detecting a running speed of the host vehicle; an inter-vehicle distance sensor for detecting an inter-vehicle distance from the host vehicle to a preceding vehicle; a throttle actuator for controlling an engine output of the host vehicle; A brake actuator that controls a brake of the vehicle; a follow-up control unit that controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance; A follow-up release request detecting unit that generates a follow-up release request in response to a predetermined condition, wherein the follow-up control unit cancels the follow-up traveling state of the vehicle in response to the follow-up release request. In the control device, the follow-up release request detecting means transmits an accelerator operation signal of the host vehicle to the follow-up release signal. Accelerator operation detecting means for generating a release request, the tracking control means including timer means for generating a tracking release signal when the duration of the accelerator operation signal reaches a predetermined time, and responding to the tracking release signal And releasing the following traveling state by performing the following operation. 2. A vehicle speed sensor for detecting a traveling speed of the host vehicle, an inter-vehicle distance sensor for detecting an inter-vehicle distance from the host vehicle to a preceding vehicle, a throttle actuator for controlling an engine output of the host vehicle, A brake actuator that controls a brake of the vehicle; a follow-up control unit that controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance; A follow-up release request detecting unit that generates a follow-up release request in response to a predetermined condition, wherein the follow-up control unit cancels the follow-up traveling state of the vehicle in response to the follow-up release request. In the control device, the following cancellation request detecting means is configured to perform the following solution when the preceding vehicle is lost. Includes a front wheel confirmation means for generating a request, the follow-up control unit, the follow-up release request in response to the follow-up running control apparatus for a vehicle, characterized in that to hold the speed of the vehicle to a predetermined vehicle speed. 3. The vehicle following travel control device according to claim 2, wherein the following control unit sets the speed of the host vehicle immediately before the following traveling state is released as the predetermined vehicle speed. . 4. The forward vehicle confirming means generates a forward vehicle confirming signal when confirming the preceding vehicle, and the follow-up controlling means confirms the forward vehicle confirming within a predetermined time after the follow-up release request is generated. 4. The timer according to claim 2, further comprising timer means for generating a following restart signal when a signal is generated, wherein the following running state is automatically restarted in response to the following restart signal. Vehicle follow-up running control device. 5. The vehicle follow-up traveling control device according to claim 4, further comprising an alarm unit that generates an alarm in response to at least one of the following-up cancellation request and the following-up restart signal. 6. A vehicle speed sensor for detecting a traveling speed of the host vehicle, an inter-vehicle distance sensor for detecting an inter-vehicle distance from the host vehicle to a preceding vehicle, a throttle actuator for controlling an engine output of the host vehicle, A brake actuator that controls a brake of the vehicle; a follow-up control unit that controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance; A follow-up release request detecting unit that generates a follow-up release request in response to a predetermined condition; In the control device, the following cancellation request detecting means includes a parking brake operation signal of the host vehicle. The includes parking brake actuation detection means for generating as said follow-up release request, the follow-up control means, the adaptive cruise control system, characterized in that to release the follow-up run state in response to said parking brake actuation signal. 7. A vehicle speed sensor for detecting a running speed of the own vehicle, an inter-vehicle distance sensor for detecting an inter-vehicle distance from the own vehicle to a preceding vehicle, a throttle actuator for controlling an engine output of the own vehicle, A brake actuator that controls a brake of the vehicle; a follow-up control unit that controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance; A follow-up release request detecting unit that generates a follow-up release request in response to a predetermined condition, wherein the follow-up control unit cancels the follow-up traveling state of the vehicle in response to the follow-up release request. In the control device, the follow-up release request detecting means detects a shift lever operation signal of the host vehicle in advance. Includes a shift lever operation detecting means for generating a tracking release request, the follow-up control means, the shift lever in response to the operation signal tracking vehicle and cancels the following state travel control device. 8. The shift lever operation detecting means generates at least one of a shift lever operation signal from a D range to an N range and a shift lever operation signal from a D range to a P range as the follow-up release request. The vehicle follow-up running control device according to claim 7, wherein