JP2000105900A - Controller for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle controller which can improve the safety at the time of an automatic tracking drive. SOLUTION: An automatic driven in a tracking mode wherein a precedent vehicle is tracked automatically is enabled (A6) by obtaining information from the precedent vehicle (A1), generating a tracking control plan according to it (A2), and controlling a travel actuator by carrying the plane into effect. An autonomous tracking control plan, on the other hand, is generated (A3) according to information on the present vehicle speed and headway distance which can be obtained by this vehicle without using the information from the precedent vehicle. Then when the two control plans contradict each other (A4), it is considered that the precedent vehicle or the system of this present vehicle is abnormal and the tracking mode is reset (A5).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle control device for realizing automatic driving of a vehicle by automatically tracking a preceding vehicle.

[0002]

2. Description of the Related Art Conventionally, information such as a current position, a vehicle speed and a steering angle has been received from a preceding vehicle by inter-vehicle communication.
2. Description of the Related Art There has been proposed an automatic traveling vehicle capable of automatically driving in a tracking mode, which automatically tracks a preceding vehicle by automatically controlling a steering mechanism and a vehicle speed so as to follow a traveling locus of the preceding vehicle while maintaining an appropriate inter-vehicle distance.

[0003]

However, if neither the system of the own vehicle nor the system of the preceding vehicle is operating normally, proper automatic tracking cannot be performed.
For example, if the communication part of any of the systems has a failure, the steering mechanism or the vehicle speed cannot be properly controlled, so that not only the automatic tracking cannot be performed accurately but also there is a problem in terms of safety. .

[0004] When a third vehicle having no vehicle information transmission function is interrupted between the preceding vehicle and the host vehicle,
If the preceding vehicle is to be automatically tracked regardless of the behavior of the third vehicle, there is still a safety problem. further,
If the safety control specification of the preceding vehicle is superior to the safety control specification of the host vehicle, tracking the preceding vehicle may not always be safe. For example, a so-called DYC (Dyna) for stabilizing the running posture of the vehicle is provided to the preceding vehicle.
mic Yaw Control) system, and if the own vehicle does not have a corresponding system, there will be a difference in cornering performance and the like. Depending on the speed of the preceding vehicle and road conditions, the Stable running may be impaired.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle control device capable of improving safety during automatic driving.

[0006]

Means for Solving the Problems and Effects of the Invention According to the first aspect of the present invention, there is provided a receiving means (1) for receiving information on traveling of a vehicle from a preceding vehicle.
1), tracking control means (15, 17, 20) for controlling a traveling actuator to track the preceding vehicle based on the information received by the receiving means, and tracking of the preceding vehicle by the control operation of the tracking control means. Tracking appropriateness determining means (15, A4, B) for determining whether it is appropriate to perform
3, B11, C10, D2), and in response to the tracking suitability determining means determining that it is inappropriate to perform tracking of the preceding vehicle by the control operation of the tracking control means, And a tracking prohibiting means (15, A5, B4, B10, D4) for prohibiting the control operation of the vehicle.

[0007] The numbers in parentheses are reference numerals for corresponding components and the like in embodiments described later. Hereinafter, the same applies in this section. The traveling actuator may include a power steering device (16). Further, the travel actuator may include an acceleration / deceleration actuator for accelerating / decelerating the vehicle. Examples of such an acceleration / deceleration actuator include a throttle actuator (18) for changing the throttle opening of the engine and a brake actuator (19) for changing the brake pressure.

[0008] According to the above configuration, the information on the traveling of the preceding vehicle (preceding vehicle information) is received by the receiving means, and the preceding vehicle is automatically tracked based on the information. If the automatic tracking based on the preceding vehicle information is inappropriate, this is determined by the tracking suitability determination means,
In response, the control operation for automatic tracking based on the preceding vehicle information is prohibited. Thereby, safety at the time of automatic driving is improved.

According to a second aspect of the present invention, there is provided an autonomous tracking system which autonomously controls a traveling actuator in accordance with the behavior of a preceding vehicle without using information received by the receiving means, and performs autonomous tracking of the preceding vehicle. Control means (13, 15, 2)
0, 23) and control signals output by the tracking control means and the autonomous tracking control means, respectively, and abnormality detection means (15, A) for detecting an abnormality based on the comparison result.
And 4) the tracking suitability determining means determines that it is inappropriate to perform tracking of the preceding vehicle by the control operation of the tracking control means if the abnormality detecting means detects an abnormality. 2. The method according to claim 1, wherein
It is a control device for vehicles of a statement.

The autonomous tracking control means may include an inter-vehicle distance detecting mechanism (23) for detecting an inter-vehicle distance from a preceding vehicle. The inter-vehicle distance detection mechanism can be realized by a distance measuring device such as an imaging device (30) for capturing an image of a preceding vehicle or a laser radar (23). According to the present invention, the control signal of the tracking control means using the preceding vehicle information is compared with the control signal of the autonomous tracking control means. Is detected. That is, in this case, since it can be determined that an abnormality has occurred in either the system of the preceding vehicle or the system of the host vehicle, the tracking control operation based on the preceding vehicle information is prohibited.

The invention according to claim 3 further includes an interruption detecting means (15, 23, 30, 24) for detecting that a third vehicle has interrupted between the preceding vehicle and the own vehicle.
The tracking suitability determining means determines that it is inappropriate to track the preceding vehicle by the control operation of the tracking control means if the interrupt detecting means detects the interrupt of the third vehicle (B3). , C10). The vehicle control device according to claim 1 or 2, wherein

The interrupt detecting means can be constituted by, for example, an inter-vehicle distance detecting mechanism (23), an image pickup device (30) and the like. That is, if the inter-vehicle distance changes suddenly, it can be considered that the third vehicle has entered the traveling lane of the own vehicle. Further, if it is detected by image recognition that a vehicle other than the preceding vehicle has entered the imaging range of the imaging device, the interruption of the third vehicle can be detected.

Further, the interruption detecting means includes a brake operation detecting mechanism (2) for detecting a brake operation by the driver.
4). That is, if the third vehicle cuts in front of the own vehicle, the driver will operate the brake to secure an appropriate inter-vehicle distance with the third vehicle, so The interruption of the third vehicle can be indirectly detected by detecting the brake operation of the driver.

According to the third aspect of the invention, when the interruption of the third vehicle is detected, the automatic tracking operation based on the preceding vehicle information is prohibited, so that the danger associated with the interruption of the third vehicle is reliably avoided. it can. When the interruption of the third vehicle is detected, the third vehicle may be autonomously tracked by the autonomous tracking control means.

According to a fourth aspect of the present invention, the information received by the receiving means from the preceding vehicle includes information on the traveling performance of the preceding vehicle, and the tracking suitability determining means receives the information by the receiving means. If the traveling performance of the preceding vehicle is superior to the traveling performance of the own vehicle based on the information, it is determined that it is inappropriate to track the preceding vehicle by the control operation of the tracking control means (D2). The control device for a vehicle according to any one of claims 1 to 3, wherein

[0016] The information on the traveling performance may include information indicating whether or not the vehicle attitude stabilizing system is operating. The information on the traveling performance may include information indicating the type of the vehicle attitude stabilizing system. According to the present invention, when the traveling performance of the preceding vehicle is superior to the traveling performance of the own vehicle, the automatic tracking operation based on the preceding vehicle information is prohibited, so that the automatic performance is ignored ignoring the traveling performance of the own vehicle. Tracking can be prevented from being performed. Thereby, the safety at the time of the automatic tracking operation can be improved.

[0017]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a block diagram showing a basic configuration of a vehicle control device according to one embodiment of the present invention. The vehicle control device is configured to be capable of operating in a “tracking mode” in which the own vehicle 200 is automatically driven by tracking the preceding vehicle 100.

The preceding vehicle 100 includes a position detector 1 such as a GPS receiver, a vehicle speed sensor 2, a transmitter 3, and a controller 4 for controlling these. The control unit 4
The position data of the preceding vehicle 100 given from the position detection unit 1 and the vehicle speed data outputted by the vehicle speed sensor 2 are given to the transmitter 3 and transmitted to other vehicles. Preceding vehicle 1
00 may be equipped with a vehicle attitude stabilizing system 5 called DYC or the like.
Causes the transmitter 3 to transmit information on the performance of the vehicle posture stabilization system 5 as information on the traveling performance of the preceding vehicle 100.

The vehicle control device of this embodiment mounted on the own vehicle 200 receives information from the preceding vehicle 100 and transmits information on the traveling of the own vehicle 200 to the following vehicle. Unit 11, a position detection unit 12 such as a GPS receiver, a vehicle speed sensor 13 for detecting the vehicle speed of the own vehicle 200, an acceleration detection unit 14 for detecting the acceleration of the own vehicle 200, And a main controller 15 provided. Further, the vehicle control device includes an electric power steering device (EP
S) A steering control unit 17 for realizing automatic steering by controlling 16; and an acceleration / deceleration control unit 20 for controlling acceleration / deceleration by controlling a throttle actuator 18 and a brake actuator 19 for changing the throttle opening of the engine. A tracking start switch 21 for setting a tracking mode for automatically tracking the preceding vehicle 100; and a sound generating unit 22 for generating an alarm sound and the like, all of which are connected to the main control unit 15. . In addition, the main control unit 15 outputs a laser laser 23 for detecting an inter-vehicle distance between the preceding vehicle 100 and the host vehicle 200 and a brake pedal switch 24 for detecting a driver's operation of a brake pedal. A signal is given. The output of the laser radar 23 is also input to the acceleration / deceleration control unit 20.

The position detector 12 detects the current position of the vehicle 200 and inputs position data representing the current position to the main controller 15. The vehicle speed sensor 13 is configured by, for example, a wheel speed sensor that outputs one pulse each time the wheel makes one rotation. The acceleration detection unit 14 may directly detect the acceleration and the deceleration by a G sensor or the like, or may calculate the acceleration and the deceleration of the vehicle based on a time change of the output of the vehicle speed sensor 13. Is also good.

When the tracking mode is set by the tracking start switch 21, the main control unit 15 transmits the information on the traveling of the preceding vehicle 100 received by the communication unit 11 (hereinafter referred to as “preceding vehicle information”). get. The preceding vehicle information includes the current position of the preceding vehicle 100, the steering angle,
Information such as vehicle speed and running performance is included. The main control unit 15 performs a tracking control plan for automatic driving that tracks the preceding vehicle 100 based on the preceding vehicle information and information related to the traveling of the own vehicle 200 (hereinafter, referred to as “own vehicle information”). Create Note that the own vehicle information includes the data provided from the position detection unit 12, the vehicle speed sensor 13, and the acceleration detection unit 14 and the running performance of the own vehicle stored in advance in a memory (not shown) inside the main control unit 15. Includes data to represent.

The tracking control plan created by the main control unit 15 is as follows:
Including a steering control plan and an acceleration / deceleration control plan, the steering control plan is given to the steering control unit 17, and the acceleration / deceleration control plan is given to the acceleration / deceleration control unit 20. These plans are based on the preceding vehicle 1
It is designed so that the own vehicle 200 follows the traveling locus of 00. That is, the distance between the preceding vehicle 10 and the
In order to track 0, the vehicle 200 is designed to arrive at the current position of the preceding vehicle 100 with a delay corresponding to the inter-vehicle distance.

The steering control unit 17 controls the electric power steering device 16 based on the steering control plan given from the main control unit 15, thereby realizing automatic steering.
The acceleration / deceleration control unit 20 controls the throttle actuator 18 based on the acceleration / deceleration control plan given from the main control unit 15.
Is controlled to adjust the throttle opening, and the brake actuator 19 is controlled to adjust the brake pressure.
Thereby, the speed of the own vehicle 200 is controlled, and the inter-vehicle distance is appropriately maintained. The inter-vehicle distance detected by the laser radar 23 is fed back for acceleration / deceleration control by the acceleration / deceleration control unit 20.

This vehicle control apparatus has an automatic tracking function based on the preceding vehicle information acquired from the preceding vehicle 100,
It has an autonomous tracking function that autonomously tracks the preceding vehicle 100 without depending on the preceding vehicle information. In this case, the main control unit 15 creates an autonomous tracking control plan for maintaining a constant inter-vehicle distance based mainly on the outputs of the vehicle speed sensor 13 and the laser radar 23. That is, in this case, the acceleration / deceleration control unit 20 is based on the inter-vehicle distance detected by the laser radar 23 and the autonomous tracking control plan (including appropriate inter-vehicle distance information) provided from the main control unit 15.
The throttle actuator 18 and the brake actuator 19 are controlled to accelerate and decelerate the vehicle.

FIG. 2 is a flowchart for explaining the operation of the above-described vehicle control device in the tracking mode. When the tracking mode is set by the tracking start switch 21, the main control unit 15 acquires preceding vehicle information via the communication unit 11 (step A1). Then, a tracking control plan including a steering control plan and an acceleration / deceleration control plan is created based on the preceding vehicle information (step A2).

Further, the main control unit 15 includes a vehicle speed sensor 13
An autonomous tracking control plan is created with reference to the vehicle speed data from the vehicle and the inter-vehicle distance data from the laser radar 23 (step A3). Next, the main control unit 15 determines whether there is any contradiction between the two created control plans (step A4). If there is a significant difference between the two control plans, the preceding vehicle 100 or the host vehicle 200
As a result, the tracking mode is canceled and the automatic tracking operation based on the preceding vehicle information is stopped (step A5). As a result, for example, the tracking control plan created based on the preceding vehicle information, even though the inter-vehicle distance detected by the laser radar 23 is less than the appropriate value and decreasing, causes the acceleration of the vehicle 200 to accelerate. In such a case, the automatic tracking operation using the preceding vehicle information is prohibited.

If there is no contradiction between the tracking control plan based on the preceding vehicle information and the autonomous tracking control plan, the control for the automatic tracking operation based on the preceding vehicle information is continued (step A6). The tracking control plan based on the preceding vehicle information,
If there is a conflict with the autonomous tracking control plan, the tracking control plan based on the preceding vehicle information may be ignored, and the autonomous tracking control plan may be adopted and the automatic tracking operation based on the autonomous tracking control may be continuously performed. .

As described above, according to this embodiment, if a failure occurs in the system of the preceding vehicle 100 or the own vehicle 200, the automatic tracking operation based on the preceding vehicle information is prohibited, thereby improving safety. be able to. FIG.
5 is a flowchart for explaining an operation of the vehicle control device according to the second embodiment of the present invention. In the description of this embodiment, reference will be made again to FIG.
Hereinafter, the operation will be described with reference to the flowchart of FIG.

In this embodiment, a third vehicle which does not have a function of transmitting information on traveling while the vehicle 100 is automatically tracking the preceding vehicle 100 is the same as the preceding vehicle 100 and the own vehicle 2.
When an interrupt occurs between 00 and 00, this is detected and the automatic tracking operation is prohibited. The details are described below. When the tracking mode is instructed by the tracking start switch 21, the main control unit 15 communicates with the preceding vehicle 1 via the communication unit 11.
The preceding vehicle information is acquired from 00 (step B1). Then, a tracking control plan is created, and the preceding vehicle 100 is automatically tracked by controlling the steering angle, throttle opening, and brake pressure of the steering mechanism via the steering control unit 17 and the acceleration / deceleration control unit 20 (step B2).

In step B3, it is determined whether a third vehicle has interrupted between the preceding vehicle 100 and the host vehicle 200. If such an interruption is detected, the tracking mode is released (step B4). ), Automatic tracking operation is prohibited. If no interruption of the third vehicle is detected,
Subsequently, the automatic tracking operation based on the preceding vehicle information is continued.

The output of the laser radar 23 may be used for detecting the interruption of the third vehicle. That is, if the third vehicle cuts in front of the own vehicle 200 due to a lane change or the like, the inter-vehicle distance detected by the laser radar 23 decreases instantaneously.
The interruption of the third vehicle can be detected. In addition to such a method, for example, as shown in FIG. 1, an interruption of the third vehicle can be detected by using an imaging device 30 such as a CCD camera. That is, if the image capturing apparatus 30 captures an image in front of the own vehicle 200 and recognizes the image of the vehicle in the image screen, an interruption of the third vehicle ahead of the own vehicle can be detected.

As described above, according to this embodiment, when the third vehicle interrupts between the preceding vehicle 100 and the host vehicle 200, the automatic tracking operation based on the preceding vehicle information is stopped. Is not affected by the behavior of the preceding vehicle 100. Thereby, the driver can drive the vehicle appropriately while paying attention to the behavior of the third vehicle.

After the interruption of the third vehicle is detected, autonomous tracking control for autonomously tracking the third vehicle is performed based on the output of the vehicle speed sensor 13 and the laser radar 23. Is also good. In this case, mainly, the throttle actuator 18 and the brake actuator 19 are automatically controlled in order to appropriately control the inter-vehicle distance.

FIG. 4 is a flowchart for explaining the operation of the vehicle control device according to the third embodiment of the present invention. In the description of this embodiment, reference is again made to FIG. Steps in which the same processes as those in FIG. 3 are performed are denoted by the same reference numerals as in FIG. In this embodiment, when the interruption of the third vehicle is detected (step B3), the control is switched to the autonomous tracking control based on the output of the laser radar 23 (step B10). Then, after that, when the third vehicle changes lanes again and returns to the state where the preceding vehicle 100 exists immediately before the own vehicle 200 again (step B11), the process returns to step B1 and returns to step B1. The automatic tracking operation based on the information is restarted.

More specifically, for example, the preceding vehicle 10
The information of the vehicle number of the preceding vehicle 100 is obtained by the communication with 0, and the information is stored in the memory of the main control unit 15. On the other hand, the license plate of the preceding vehicle is image-recognized from the image captured by the imaging device 30, and the vehicle number of the immediately preceding vehicle is detected. During the period in which the third vehicle is interrupting, since a vehicle number different from the vehicle number of the preceding vehicle 100 is detected, it can be detected based on this that the third vehicle is interrupting (step B3). (YES, step B11 YES). Then, when the third vehicle leaves the field of view of the imaging device 30, the license plate of the preceding vehicle 100 enters the field of view of the imaging device 30 again, and the vehicle number is image-recognized. As a result, it is detected that the interruption of the third vehicle has been eliminated (NO in step B11), and the automatic tracking operation based on the preceding vehicle information is restarted (step B1).

As described above, according to this embodiment, while avoiding the safety problem associated with the interruption of the third vehicle,
If the interruption is eliminated, the advanced automatic tracking operation using the preceding vehicle information can be automatically restarted. This makes it possible to realize a highly safe and easy-to-use automatic tracking operation system. FIG. 5 is a flowchart for explaining the operation of the vehicle control device according to the fourth embodiment of the present invention. In the description of this embodiment, reference is again made to FIG. In FIG. 5, steps in which the same processes as those in FIG. 3 are performed are denoted by the same reference numerals as in FIG.

In this embodiment, the interruption of the third vehicle is detected by another method. That is, the main controller 15 refers to the output signal from the brake pedal switch 24 and determines whether or not a brake operation has been performed (step C10). And when the brake is operated,
Assuming that the driver has performed the brake operation in order to avoid a dangerous situation such as a third vehicle being interrupted, the automatic tracking operation based on the preceding vehicle information is stopped (step B).
4). If there is no brake operation (N in step C10)
O), the automatic tracking operation based on the preceding vehicle information is continued.

Thus, according to this embodiment,
With a simple configuration using the output signal of the brake pedal switch 24, safety against interruption of the third vehicle is secured. Of course, the tracking mode is released not only when the third vehicle is interrupted, but also when the driver operates the brakes to avoid danger ahead, thus realizing a highly safe system. it can.

FIG. 6 is a flowchart for explaining the operation of the vehicle control device according to the fifth embodiment of the present invention. In the description of this embodiment, FIG. 1 described above is referred to again. In this embodiment, attention is paid to information on the traveling performance in the preceding vehicle information, and when the traveling performance of the preceding vehicle 100 is superior to the traveling performance of the own vehicle 200, the automatic tracking operation based on the preceding vehicle information is performed. Is banned. That is, for example, when the preceding vehicle 100 is provided with the vehicle posture stabilizing system 5 and the own vehicle 200 is not provided with such a system, the traveling performance of the own vehicle 200 is provided. Is inferior to the running performance of the preceding vehicle 100.

The main control unit 15 includes a tracking start switch 2
When the tracking mode is set by the control unit 1, the preceding vehicle information is acquired via the communication unit 11 (step D).
1). Then, information on the traveling performance is extracted from the preceding vehicle information, and based on the extracted information, it is determined whether or not the vehicle posture stabilizing system 5 is operating in the preceding vehicle 100 (step D2). When the vehicle posture stabilization system 5 is operating, the traveling performance of the host vehicle 200 is
It is determined that the sound is inferior to 00, and the sound generation unit 22 outputs a warning sound or a warning message by voice (step D3). Then, the main control unit 15 further gives a deceleration command to the acceleration / deceleration control unit 20 to secure a sufficient inter-vehicle distance and cancel the tracking mode (step D4).
The automatic tracking operation based on the preceding vehicle information is stopped.

If it is confirmed that the vehicle posture stabilizing system 5 is not operating in the preceding vehicle 100 (NO in step D2), the automatic tracking operation based on the preceding vehicle information is continued (step D5). As described above, according to this embodiment, when the traveling performance of the host vehicle is inferior to the traveling performance of the preceding vehicle, the automatic tracking operation is stopped. And the vehicle can run safely.

Although the five embodiments of the present invention have been described above, the present invention can be embodied in other forms. For example, two or more of the features described in the above five embodiments can be arbitrarily combined, whereby a more secure system can be constructed. Further, in the second and third embodiments, when the third vehicle is interrupted, the automatic tracking operation based on the preceding vehicle information is stopped. If the vehicle has a function of transmitting information on traveling, the tracking target may be switched to the third vehicle to continue the automatic tracking operation.

In the fifth embodiment, the preceding vehicle 100 on which the vehicle attitude stabilizing system 5 is mounted is
The case of tracking by the own vehicle 200 which does not have such a system is taken as an example, but both the preceding vehicle and the own vehicle are equipped with a vehicle attitude stabilizing system, and both Even in the case where there is a difference in performance, safety can be improved by the same processing as in the fifth embodiment.

In addition, various design changes can be made within the scope of the technical matters described in the claims.

[Brief description of the drawings]

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

FIG. 2 is a flowchart for explaining the operation of the vehicle control device according to the first embodiment of the present invention.

FIG. 3 is a flowchart illustrating an operation of a vehicle control device according to a second embodiment of the present invention.

FIG. 4 is a flowchart illustrating an operation of a vehicle control device according to a third embodiment of the present invention.

FIG. 5 is a flowchart illustrating an operation of a vehicle control device according to a fourth embodiment of the present invention.

FIG. 6 is a flowchart illustrating an operation of a vehicle control device according to a fifth embodiment of the present invention.

[Explanation of symbols]

 REFERENCE SIGNS LIST 100 preceding vehicle 200 own vehicle 1 position detection unit 2 vehicle speed sensor 3 transmitter 4 control unit 5 vehicle attitude stabilization system 11 communication unit 12 position detection unit 13 vehicle speed sensor 14 acceleration detection unit 15 main control unit 16 electric power steering device 17 steering Control unit 18 Throttle actuator 19 Brake actuator 20 Acceleration / deceleration control unit 21 Tracking start switch 22 Sound generation unit 23 Laser radar 24 Brake pedal switch 30 Imaging device

 ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference) LL01 LL04 LL07 LL09

Claims (4)

[Claims] 1. Receiving means for receiving information related to the traveling of a vehicle from a preceding vehicle, tracking control means for controlling a traveling actuator to track a preceding vehicle based on the information received by the receiving means, and tracking control. Tracking suitability judging means for judging whether the tracking of the preceding vehicle is appropriate by the control operation of the means, and the tracking suitability judging means is not capable of tracking the preceding vehicle by the control operation of the tracking control means. A vehicle control device, comprising: a tracking prohibition unit that prohibits a control operation by the tracking control unit in response to a determination that the tracking control unit is appropriate. 2. An autonomous tracking control means for performing autonomous tracking of a preceding vehicle by autonomously controlling a traveling actuator according to the behavior of a preceding vehicle without using information received by the receiving means; The control means and the autonomous tracking control means each compare control signals output respectively, and an abnormality detection means for detecting an abnormality based on the comparison result, the tracking suitability determination means, the abnormality detection means, 2. The vehicle control device according to claim 1, wherein if detected, the control operation of the tracking control means determines that it is inappropriate to track the preceding vehicle. 3. An apparatus according to claim 1, further comprising: an interruption detecting means for detecting that a third vehicle has interrupted between the preceding vehicle and the host vehicle. 2. The method according to claim 1, further comprising the step of determining that it is inappropriate to track the preceding vehicle by the control operation of the tracking control means when the detection is made.
Or the control device for a vehicle according to 2. 4. The information received by the receiving means from the preceding vehicle includes information on the traveling performance of the preceding vehicle, and the tracking suitability determining means determines whether or not the tracking is appropriate based on the information received by the receiving means. If the running performance of the vehicle is superior to the running performance of the own vehicle, it is determined that it is inappropriate to perform tracking of the preceding vehicle by the control operation of the tracking control means. Item 4. The vehicle control device according to any one of Items 1 to 3.