JP2000285395A - Vehicle travel controller - Google Patents

Vehicle travel controller

Info

Publication number
JP2000285395A
JP2000285395A JP11090102A JP9010299A JP2000285395A JP 2000285395 A JP2000285395 A JP 2000285395A JP 11090102 A JP11090102 A JP 11090102A JP 9010299 A JP9010299 A JP 9010299A JP 2000285395 A JP2000285395 A JP 2000285395A
Authority
JP
Japan
Prior art keywords
vehicle
merging
control
detecting
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP11090102A
Other languages
Japanese (ja)
Inventor
Takashi Ue
崇 宇恵
Yoshifusa Nakane
吉英 中根
Original Assignee
Mitsubishi Motors Corp
三菱自動車工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Motors Corp, 三菱自動車工業株式会社 filed Critical Mitsubishi Motors Corp
Priority to JP11090102A priority Critical patent/JP2000285395A/en
Publication of JP2000285395A publication Critical patent/JP2000285395A/en
Pending legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle travel controller capable of making a vehicle at a merging part travel smoothly. SOLUTION: In this vehicle travel controller, an inter-vehicle distance controlling means 11 usually performs inter-vehicle distance control in a controller 10. An merging area detecting means 12 detects whether a self-vehicle enters an merging area on the basis of information from a navigation device 4. An merging vehicle detecting means 13 detects the existence/absence of an merging vehicle. A relative speed detecting means 14 detects a relative speed to the self-vehicle when the merging vehicle exists. An merging controlling means 15 performs acceleration inhibition control or deceleration control on the basis of the relative speed detected by the means 14 when the means 12 detects that the self-vehicle enters the merging area and also, the means 13 detects that the merging vehicle exists.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION
【0001】[0001]
【発明の属する技術分野】本発明は、合流エリアにおけ
る車両の走行制御を好適に行い得る車両走行制御装置に
関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling control device capable of suitably controlling traveling of a vehicle in a merging area.
【0002】[0002]
【従来の技術】従来から、先行車がいるときには先行車
の走行速度に応じた車間距離となるように追従制御を行
い、先行車がいないときには設定車速での定速走行を行
うようにした車間距離制御装置が実用化されている。こ
のような装置を用いることにより、車両走行時のドライ
バーの負担が軽減される。
2. Description of the Related Art Conventionally, when a preceding vehicle is present, a following control is performed so as to have an inter-vehicle distance corresponding to the traveling speed of the preceding vehicle, and when there is no preceding vehicle, a constant speed running at a set vehicle speed is performed. Distance control devices have been put to practical use. By using such a device, the burden on the driver when the vehicle travels is reduced.
【0003】この種の装置を用いて先行車の追従制御を
行う場合、例えば自車又は先行車が車線変更して、自車
の前方に先行車がいなくなったときには、自車は設定車
速での定速走行に入り、順調な走行が続けられる。とこ
ろが、高速道路などにおいて、先行車を追従制御中にイ
ンターチェンジあるいはサービスエリアの合流部から合
流車が現れた場合、このまま先行車を追従制御すること
は車両走行上得策でないことがある。例えば、本線に入
ろうとしてきた合流車を避けるため先行車が車線変更を
行った場合、自車は新たに本線に入ってくる合流車との
距離を保つため、本来ならば減速が必要となることが多
い。それにも拘わらず、先行車が車線変更していなくな
るため、自車は設定車速まで加速するように動作して、
ドライバーはブレーキ操作を余儀なくされるという不都
合が生ずる。また、先行車を追従制御中に先行車と自車
の間に合流車が割り込んできた場合、ドライバーはブレ
ーキを操作して追従制御を解除し、その後、今度は本線
に移った合流車を先行車として、改めて車間距離制御を
設定しなければならず、煩わしい。
When the following control of a preceding vehicle is performed using this type of device, for example, when the own vehicle or the preceding vehicle changes lanes and there is no preceding vehicle in front of the own vehicle, the own vehicle is controlled at the set vehicle speed. Entering constant speed driving, smooth driving can be continued. However, on a highway or the like, if a merging vehicle appears from the junction of the interchange or the service area while following the preceding vehicle, the following control of the preceding vehicle may not be advantageous in terms of vehicle running. For example, if the preceding vehicle changes lanes in order to avoid a merging vehicle that is trying to enter the main line, deceleration is normally required to maintain the distance to the merging vehicle that newly enters the main line. There are many. Nevertheless, since the preceding vehicle is no longer changing lanes, the vehicle operates to accelerate to the set vehicle speed,
There is a disadvantage that the driver is forced to operate the brake. Also, if a merging vehicle interrupts between the preceding vehicle and the vehicle during the following control of the preceding vehicle, the driver operates the brake to release the following control, and then the merging vehicle that has moved to the main line As a car, the inter-vehicle distance control must be set again, which is troublesome.
【0004】そこで、合流部における車両の走行制御を
好適に行うため、特開平7−334790号公報には合
流車予見装置が提案されている。この装置は、合流部に
接近した際の先行車の挙動から合流部における合流車の
存否を予見し、これにより自車の加減速制御を行おうと
するものである。この装置には先行車の挙動を監視する
先行車監視手段が設けられている。そして、例えば、合
流部に接近した際に先行車が加速した場合には、先行車
との車間距離が広がるように車速制御を行って合流車を
進入させる。また、合流部に接近した際に先行車が車線
変更した場合には、加速を禁止して先行車の車線変更に
より空いた場所に合流車を進入させるようにする。
[0004] In order to appropriately control the traveling of the vehicle at the junction, Japanese Unexamined Patent Publication No. 7-334790 proposes a junction vehicle preview device. This device predicts the presence or absence of a merging vehicle at a merging portion from the behavior of a preceding vehicle when approaching the merging portion, and attempts to perform acceleration / deceleration control of the own vehicle. This device is provided with preceding vehicle monitoring means for monitoring the behavior of the preceding vehicle. Then, for example, when the preceding vehicle accelerates when approaching the junction, the vehicle speed is controlled so as to increase the inter-vehicle distance with the preceding vehicle, and the junction vehicle is entered. If the preceding vehicle changes lanes when approaching the junction, acceleration is prohibited and the merging vehicle is allowed to enter a vacant place due to the lane change of the preceding vehicle.
【0005】[0005]
【発明が解決しようとする課題】しかしながら上記装置
は、合流車を直接監視して制御するものでないため、合
流部における車両の走行制御を精度良く行うことができ
ない場合がある。例えば、合流部に接近した際に先行車
が加速せず定速走行を行っているときに、先行車と自車
の間に合流車が割り込んでくる場合がある。この場合、
先行車の挙動には変化がないので、自車は先行車の追従
制御を続行することになる。このため、割り込んできた
合流車に自車が急接近してしまい、ドライバーは危険を
避けるためブレーキ操作を余儀なくされる。また、先行
車は合流車があるかどうかに拘らず合流部に接近した際
に車線変更を行うことはよくあることであり、先行車が
車線変更したことをもって自車の加速を禁止すること
は、実際に合流車がなかった場合には不要な制御とな
り、車両の走行上好ましくない。このように先行車の挙
動は必ずしも合流車の進入とリンクしている訳ではない
ので、これを基に合流車の存否を予見して行う制御は精
度に欠け、車両の円滑な走行が妨げられるおそれがあ
る。
However, since the above-mentioned device does not directly monitor and control the merging vehicle, it may not be possible to accurately control the traveling of the vehicle at the merging portion. For example, when the preceding vehicle is traveling at a constant speed without accelerating when approaching the junction, the merging vehicle may intervene between the preceding vehicle and the host vehicle. in this case,
Since there is no change in the behavior of the preceding vehicle, the own vehicle continues to follow the preceding vehicle. For this reason, the own vehicle suddenly approaches the merged vehicle that has been interrupted, and the driver is forced to operate the brake to avoid danger. In addition, it is common for the preceding vehicle to change lanes when approaching the junction, regardless of whether or not there is a merging vehicle. If no merging vehicle actually exists, unnecessary control is performed, which is not preferable for running the vehicle. As described above, since the behavior of the preceding vehicle is not necessarily linked to the entry of the merging vehicle, the control for predicting the presence or absence of the merging vehicle based on this is lacking in accuracy and hindering smooth running of the vehicle. There is a risk.
【0006】従って本発明の目的は、合流部における車
両の走行を円滑に行い得る車両走行制御装置を提供する
ことにある。
SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a vehicle traveling control device capable of smoothly traveling a vehicle at a junction.
【0007】[0007]
【課題を解決するための手段】上記目的は、先行車がい
るときには先行車の走行速度に応じた車間距離となるよ
うに追従制御を行い、先行車がいないときには設定車速
での定速走行制御を行う車間距離制御手段と、ナビゲー
ション装置からの情報に基づいて自車が合流エリアに入
ったかどうかを検出する合流エリア検出手段と、合流車
の有無を検出する合流車検出手段と、合流車と自車の相
対速度を検出する相対速度検出手段と、前記合流エリア
検出手段により自車が合流エリアに入ったことが検出さ
れ、かつ前記合流車検出手段により合流車有りが検出さ
れた場合に、前記相対速度検出手段により検出された相
対速度に基づいて加速禁止制御又は減速制御を行う合流
制御手段とを備えた車両走行制御装置により、達成され
る。
SUMMARY OF THE INVENTION It is an object of the present invention to perform follow-up control so that an inter-vehicle distance corresponding to the traveling speed of a preceding vehicle is provided when there is a preceding vehicle, and to perform constant speed traveling control at a set vehicle speed when there is no preceding vehicle. Inter-vehicle distance controlling means, merging area detecting means for detecting whether or not the vehicle has entered the merging area based on information from the navigation device, merging car detecting means for detecting the presence or absence of a merging car, A relative speed detecting means for detecting a relative speed of the own vehicle, and when the merging area detecting means detects that the own vehicle has entered the merging area, and when the merging vehicle detecting means detects the presence of the merging vehicle, The present invention is attained by a vehicle traveling control device including: a merging control unit that performs acceleration prohibition control or deceleration control based on the relative speed detected by the relative speed detection unit.
【0008】ここで合流エリアとは、高速道路のインタ
ーチェンジやサービスエリア等の合流部に限らず、一般
の道路における合流部あるいは登板車線終了時の車線合
流部等も含むものである。また、相対速度とは広い概念
を表し、典型的には合流車に対する自車の相対速度(自
車車速/合流車車速)又は自車に対する合流車の相対速
度(合流車車速/自車車速)を表すが、これらに限ら
ず、両車の速度差のように相対的な速度が示されるもの
はすべて含むものである。例えば、この相対速度として
合流車に対する自車の相対速度を用いるときは、上記合
流制御手段はこの相対速度に所定値を設定し、相対速度
がこの所定値以下のときは加速禁止制御を行い、この所
定値を超えるときは減速制御を行うように合流制御を行
う。
[0008] Here, the merging area is not limited to a merging portion such as an interchange on an expressway or a service area, but also includes a merging portion on a general road or a lane merging portion at the end of a climbing lane. Further, the relative speed represents a broad concept, and typically, the relative speed of the own vehicle with respect to the merging vehicle (own vehicle speed / merging vehicle speed) or the relative speed of the merging vehicle with respect to own vehicle (merging vehicle speed / own vehicle speed). However, the present invention is not limited to these, and includes all those indicating a relative speed such as a speed difference between the two vehicles. For example, when using the relative speed of the own vehicle with respect to the merging vehicle as the relative speed, the merging control means sets a predetermined value to the relative speed, and performs acceleration prohibition control when the relative speed is equal to or less than the predetermined value, When the predetermined value is exceeded, the merge control is performed so as to perform the deceleration control.
【0009】[0009]
【発明の実施の形態】図1は、本発明に係る車両走行制
御装置の一実施例を示すブロック構成図である。図のよ
うに、コントローラ10は本装置における各種検出・制
御を行うものであり、車間距離制御手段11、合流エリ
ア検出手段12、合流車検出手段13、合流車との相対
速度検出手段14、及び合流制御手段15を備える。コ
ントローラ10は、レーダー1、操作スイッチ2、車速
センサ3、ナビゲーション装置4、カメラ5などから各
種信号を入力し、これらを処理して各種制御信号をそれ
ぞれエンジン7、自動変速機(A/T)8、表示装置9
に出力する。
FIG. 1 is a block diagram showing one embodiment of a vehicle traveling control device according to the present invention. As shown in the figure, a controller 10 performs various detections and controls in the present apparatus, and includes an inter-vehicle distance control unit 11, a merging area detecting unit 12, a merging vehicle detecting unit 13, a relative speed detecting unit 14 for merging vehicles, and A merging control means 15 is provided. The controller 10 receives various signals from the radar 1, the operation switch 2, the vehicle speed sensor 3, the navigation device 4, the camera 5, and the like, processes the signals, and outputs various control signals to the engine 7, the automatic transmission (A / T), respectively. 8, display device 9
Output to
【0010】車間距離制御手段11は、先行車がいると
きには先行車の走行速度に応じた車間距離となるように
追従制御を行い、先行車がいないときには設定車速での
定速走行制御を行うものであり、レーダー1又はカメラ
5から得た先行車有無及び先行車までの車間距離情報と
車速センサ3から得た車速情報に基づいてエンジン7及
びA/T8を制御する。合流エリア検出手段12は、ナ
ビゲーション装置4からの情報に基づいて、インターチ
ェンジやサービスエリア等の合流エリアに自車が接近し
たかどうかを検出する。合流車検出手段13は、レーダ
ー1あるいはカメラ5からの情報に基づいて合流車の有
無を検出する。相対速度検出手段14は、レーダー1か
らの情報に基づいて合流車と自車の相対速度を検出す
る。合流制御手段15は、合流エリア検出手段12によ
り自車が合流エリアに入ったことが検出され、かつ合流
車検出手段13により合流車有りが検出された場合に、
相対速度検出手段14により検出された相対速度に基づ
いて加速禁止又は減速の合流制御を行う。合流制御の詳
細は後述する。
The inter-vehicle distance control means 11 performs follow-up control so that the inter-vehicle distance is in accordance with the traveling speed of the preceding vehicle when there is a preceding vehicle, and performs constant speed traveling control at a set vehicle speed when there is no preceding vehicle. The engine 7 and the A / T 8 are controlled based on the presence or absence of the preceding vehicle obtained from the radar 1 or the camera 5, the inter-vehicle distance information to the preceding vehicle, and the vehicle speed information obtained from the vehicle speed sensor 3. The merging area detecting means 12 detects whether or not the own vehicle approaches a merging area such as an interchange or a service area based on information from the navigation device 4. The merging vehicle detection means 13 detects the presence or absence of a merging vehicle based on information from the radar 1 or the camera 5. The relative speed detecting means 14 detects a relative speed between the merging vehicle and the own vehicle based on information from the radar 1. The merging control means 15 is configured such that, when the merging area detecting means 12 detects that the own vehicle has entered the merging area and the merging vehicle detecting means 13 detects the presence of the merging vehicle,
Based on the relative speed detected by the relative speed detecting means 14, the control of merging of acceleration inhibition or deceleration is performed. Details of the merging control will be described later.
【0011】図2(a)、(b)は、本実施例における
動作の一例を示すフロー図である。本実施例では、同図
(a)に示すように、通常は車間距離制御を行っており
(ステップ21)、先行車がいるときには先行車の走行
速度に応じた車間距離となるように追従制御を行い、先
行車がいないときには設定車速での定速走行制御を行
う。このような状況において、合流エリア検出手段12
は、ナビゲーション装置4からの情報に基づいてインタ
ーチェンジ(IC)やサービスエリア(SA)等の合流
エリアに自車が入ったかどうかを判断する(ステップ2
2)。その結果、自車が合流エリアに入ったことが検出
されないときには、ステップ21の車間距離制御に戻
る。合流エリアに入ったことが検出されたときには、レ
ーダー1やカメラ5からの情報に基づいて合流車の有無
を検出する(ステップ23)。そして、合流車有りが検
出されないときには、ステップ21の車間距離制御に戻
る。
FIGS. 2A and 2B are flowcharts showing an example of the operation in the present embodiment. In the present embodiment, as shown in FIG. 3A, the following distance control is normally performed (step 21), and when there is a preceding vehicle, the following control is performed so that the following distance is set according to the traveling speed of the preceding vehicle. Is performed, and when there is no preceding vehicle, constant speed running control at the set vehicle speed is performed. In such a situation, the merging area detecting means 12
Determines whether the vehicle has entered a confluence area such as an interchange (IC) or a service area (SA) based on information from the navigation device 4 (step 2).
2). As a result, when it is not detected that the own vehicle has entered the merging area, the process returns to the inter-vehicle distance control in step 21. When it is detected that the vehicle has entered the merging area, the presence or absence of a merging vehicle is detected based on information from the radar 1 and the camera 5 (step 23). When the presence of the merging vehicle is not detected, the process returns to the inter-vehicle distance control in step 21.
【0012】一方、合流車有りが検出されたときには、
合流車に対する自車の相対速度(自車車速/合流車車
速)を求め、それが所定値以下かどうかを判断する(ス
テップ24)。その結果、自車の相対速度が所定値以下
であるときは加速禁止制御を行い(ステップ25)、所
定値を超えているときは減速制御を行う(ステップ2
6)。例えば、いま、合流車に対する自車の相対速度の
所定値が「1.1」と設定されているとする。この場
合、インターチェンジから入ってきた前方の合流車に対
して自車の相対速度が所定値以下の「1.05」と検出
されたときは、加速禁止制御が行われる。これは、前方
を走行中の合流車の車速がすでに自車の車速に近くなっ
ており、しかも合流車線で加速中であるので、自車を加
速禁止とするだけで、合流車は本線走行車線にスムーズ
に合流できるからである。これに対して、合流車に対す
る自車の相対速度が所定値を超える「1.15」と検出
されたときは、減速制御が行われる。これは、前方を走
行中の合流車の車速が自車の車速よりもかなり遅いの
で、自車を減速制御しないと合流車に接近しすぎて危険
だからである。
On the other hand, when the presence of a merging vehicle is detected,
The relative speed of the own vehicle with respect to the merging vehicle (vehicle vehicle speed / merging vehicle speed) is determined, and it is determined whether or not it is equal to or less than a predetermined value (step 24). As a result, when the relative speed of the own vehicle is equal to or less than the predetermined value, acceleration prohibition control is performed (step 25), and when the relative speed exceeds the predetermined value, deceleration control is performed (step 2).
6). For example, it is assumed that a predetermined value of the relative speed of the own vehicle to the merging vehicle is set to “1.1”. In this case, when the relative speed of the own vehicle is detected as “1.05” which is equal to or less than a predetermined value with respect to the merging vehicle entering from the interchange, acceleration prohibition control is performed. This is because the speed of the merging vehicle traveling ahead is already close to the speed of the own vehicle, and the vehicle is accelerating in the merging lane. This is because they can merge smoothly. On the other hand, when the relative speed of the own vehicle to the merging vehicle is detected as “1.15” exceeding the predetermined value, the deceleration control is performed. This is because the speed of the merging vehicle traveling in front is considerably slower than the speed of the own vehicle, and unless the own vehicle is decelerated, it is dangerous to approach the merging vehicle too much.
【0013】この加速禁止や減速の合流制御は、コント
ローラ10によりエンジン7及びA/T8を制御して行
う。なお、図示はしていないが、このような場合に表示
装置9に「加速禁止制御中」、「減速制御中」などと表
示してドライバーに情報提供を行うことができる。この
情報提供は音声で行うこともでき、また表示と音声の両
方で行ってもよい。このように本実施例では、自車が合
流エリアに入って合流車を検出したときに、合流車と自
車の相対速度に基づいて自車を加速禁止又は減速する合
流制御を行うので、ドライバーは車両の円滑な走行を続
けることができる。
The merging control of acceleration inhibition and deceleration is performed by controlling the engine 7 and the A / T 8 by the controller 10. Although not shown, in such a case, information such as "acceleration inhibition control" or "deceleration control in progress" can be displayed on the display device 9 to provide information to the driver. This information provision may be performed by voice, or may be performed by both display and voice. As described above, in the present embodiment, when the own vehicle enters the merging area and detects the merging vehicle, the merging control for prohibiting or decelerating the own vehicle based on the relative speed between the merging vehicle and the own vehicle is performed. Can keep the vehicle running smoothly.
【0014】また本実施例では、同図(b)に示すよう
に、合流制御中にターンシグナル(TS)の右方向への
操作あるいはドライバーによる加速操作があったかどう
かを判断する(ステップ27)。そして、いずれの操作
もないと判断されたときにはステップ22へ戻る。ま
た、これらの操作のうち少なくとも一方があったと判断
されたときは、先の加速禁止又は減速の合流制御が解除
される(ステップ28)。これは、ターンシグナルの右
方向への操作があったときは、合流車を避けるためにド
ライバーが車線変更を行うというサインなので、上記合
流制御は必要ないし、また、ドライバーによる加速操作
が行われたときは、合流車の本線への合流前にその地点
を通過しようというドライバーの意志の現れであり、こ
の場合も上記のような合流制御は必要ないからである。
合流制御が解除された後は、ステップ21の車間距離制
御に復帰する。
In this embodiment, as shown in FIG. 2B, it is determined whether or not the turn signal (TS) has been operated to the right or the driver has performed an acceleration operation during the merging control (step 27). When it is determined that there is no operation, the process returns to step S22. If it is determined that at least one of these operations has been performed, the preceding control of the acceleration inhibition or deceleration is released (step 28). This is a sign that when the turn signal is operated to the right, the driver changes lanes in order to avoid the merging vehicle, so the merging control is not necessary, and the driver performed acceleration operation. Sometimes, the driver's will to pass the point before the merging vehicle joins the main line is manifested, and the merging control as described above is not necessary in this case as well.
After the merging control is released, the process returns to the inter-vehicle distance control in step 21.
【0015】ここで、ターンシグナルの右方向への操作
の有無あるいはドライバーによる加速操作の有無の判断
は、操作スイッチ2からターンシグナル信号、あるいは
アクセルペダル、アクセルスイッチの信号をコントロー
ラ10に入力することにより行う。このように本発明で
は、合流車を直接検出し、合流車と自車の相対速度に基
づいて加速禁止又は減速を行うので、ドライバーによる
不要なブレーキ操作を避けることができ、精度のよい合
流制御が可能となる。また、ドライバーのターンシグナ
ル操作や加速操作があったときは合流制御を解除するの
で、速やかに通常の車間距離制御に復帰可能となる。
Here, the determination as to whether the turn signal is operated to the right or whether the driver performs an acceleration operation is performed by inputting a turn signal signal from the operation switch 2 or a signal of an accelerator pedal or an accelerator switch to the controller 10. Performed by As described above, according to the present invention, the merging vehicle is directly detected, and acceleration is prohibited or decelerated based on the relative speed between the merging vehicle and the own vehicle. Therefore, unnecessary braking operation by the driver can be avoided, and accurate merging control can be performed. Becomes possible. Also, when the driver performs a turn signal operation or an acceleration operation, the merging control is released, so that it is possible to quickly return to the normal inter-vehicle distance control.
【0016】[0016]
【発明の効果】本発明によれば、合流部における車両の
走行を円滑に行うことのできる車両走行制御装置を得る
ことができる。
According to the present invention, it is possible to obtain a vehicle traveling control device capable of smoothly traveling the vehicle at the junction.
【図面の簡単な説明】[Brief description of the drawings]
【図1】本発明に係る車両走行制御装置の一実施例を示
すブロック構成図である。
FIG. 1 is a block diagram showing an embodiment of a vehicle travel control device according to the present invention.
【図2】(a)、(b)は本実施例における動作の一例
を示すフロー図である。
FIGS. 2A and 2B are flowcharts showing an example of an operation in the present embodiment.
【符号の説明】[Explanation of symbols]
1 レーダー 2 操作スイッチ 3 車速センサ 4 ナビゲーション装置 5 カメラ 7 エンジン 8 自動変速機(A/T) 9 表示装置 10 コントローラ 11 車間距離制御手段 12 合流エリア検出手段 13 合流車検出手段 14 相対速度検出手段 15 合流制御手段 DESCRIPTION OF SYMBOLS 1 Radar 2 Operation switch 3 Vehicle speed sensor 4 Navigation device 5 Camera 7 Engine 8 Automatic transmission (A / T) 9 Display device 10 Controller 11 Inter-vehicle distance control means 12 Merging area detecting means 13 Merging vehicle detecting means 14 Relative speed detecting means 15 Merging control means
───────────────────────────────────────────────────── フロントページの続き Fターム(参考) 3D044 AA25 AA45 AC26 AC31 AC55 AC56 AC59 AD01 AD16 AE04 3G093 AA01 AA05 BA23 CB10 DB00 DB05 DB16 DB18 EA01 EB03 FB02 FB05 5H180 AA01 CC04 CC14 FF03 FF21 LL01 LL02 LL04 LL09  ──────────────────────────────────────────────────続 き Continued on the front page F term (reference)

Claims (1)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 先行車がいるときには先行車の走行速度
    に応じた車間距離となるように追従制御を行い、先行車
    がいないときには設定車速での定速走行制御を行う車間
    距離制御手段と、ナビゲーション装置からの情報に基づ
    いて自車が合流エリアに入ったかどうかを検出する合流
    エリア検出手段と、合流車の有無を検出する合流車検出
    手段と、合流車と自車の相対速度を検出する相対速度検
    出手段と、前記合流エリア検出手段により自車が合流エ
    リアに入ったことが検出され、かつ前記合流車検出手段
    により合流車有りが検出された場合に、前記相対速度検
    出手段により検出された相対速度に基づいて加速禁止制
    御又は減速制御を行う合流制御手段とを備えたことを特
    徴とする車両走行制御装置。
    An inter-vehicle distance control means for performing follow-up control so as to have an inter-vehicle distance corresponding to the traveling speed of the preceding vehicle when there is a preceding vehicle, and performing constant speed traveling control at a set vehicle speed when there is no preceding vehicle; Merging area detecting means for detecting whether the vehicle has entered the merging area based on information from the navigation device, merging vehicle detecting means for detecting the presence or absence of the merging vehicle, and detecting the relative speed between the merging vehicle and the vehicle. When the relative speed detecting means and the merging area detecting means detect that the vehicle has entered the merging area, and when the merging vehicle detecting means detects the presence of the merging vehicle, the relative speed detecting means detects the vehicle. A merging control unit for performing acceleration prohibition control or deceleration control based on the relative speed.
JP11090102A 1999-03-30 1999-03-30 Vehicle travel controller Pending JP2000285395A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP11090102A JP2000285395A (en) 1999-03-30 1999-03-30 Vehicle travel controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP11090102A JP2000285395A (en) 1999-03-30 1999-03-30 Vehicle travel controller

Publications (1)

Publication Number Publication Date
JP2000285395A true JP2000285395A (en) 2000-10-13

Family

ID=13989167

Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
JP (1) JP2000285395A (en)

Cited By (16)

* Cited by examiner, † Cited by third party
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JP2002163779A (en) * 2000-11-27 2002-06-07 Natl Inst For Land & Infrastructure Management Mlit Method and device for controlling stoppage of plural vehicles
JP2005352636A (en) * 2004-06-09 2005-12-22 Alpine Electronics Inc On-vehicle alarm generation device
KR100728089B1 (en) * 2005-06-16 2007-06-14 미츠비시 후소 트럭 앤드 버스 코포레이션 Relative velocity calculating device and inter-vehicle distance controlling device
JP2008052399A (en) * 2006-08-23 2008-03-06 Alpine Electronics Inc Surround monitor system
JP2009107451A (en) * 2007-10-29 2009-05-21 Toyota Motor Corp Vehicle traveling control device
JP2015066962A (en) * 2013-09-26 2015-04-13 日産自動車株式会社 Drive assist apparatus
JP2016533289A (en) * 2013-10-03 2016-10-27 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング Adaptive cruise control with on-ramp detection
CN107161644A (en) * 2017-06-13 2017-09-15 江苏振邦医用智能装备有限公司 The control method of intelligent carriage logistics system
JP2018036861A (en) * 2016-08-31 2018-03-08 株式会社デンソー Confluence support device
US10081357B2 (en) 2016-06-23 2018-09-25 Honda Motor Co., Ltd. Vehicular communications network and methods of use and manufacture thereof
JPWO2017158731A1 (en) * 2016-03-15 2018-10-18 本田技研工業株式会社 Vehicle control system, vehicle control method, and vehicle control program
US10286913B2 (en) 2016-06-23 2019-05-14 Honda Motor Co., Ltd. System and method for merge assist using vehicular communication
US10332403B2 (en) 2017-01-04 2019-06-25 Honda Motor Co., Ltd. System and method for vehicle congestion estimation
US10449962B2 (en) 2016-06-23 2019-10-22 Honda Motor Co., Ltd. System and method for vehicle control using vehicular communication
US10625742B2 (en) 2016-06-23 2020-04-21 Honda Motor Co., Ltd. System and method for vehicle control in tailgating situations
US10737667B2 (en) 2016-06-23 2020-08-11 Honda Motor Co., Ltd. System and method for vehicle control in tailgating situations

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002163779A (en) * 2000-11-27 2002-06-07 Natl Inst For Land & Infrastructure Management Mlit Method and device for controlling stoppage of plural vehicles
JP2005352636A (en) * 2004-06-09 2005-12-22 Alpine Electronics Inc On-vehicle alarm generation device
KR100728089B1 (en) * 2005-06-16 2007-06-14 미츠비시 후소 트럭 앤드 버스 코포레이션 Relative velocity calculating device and inter-vehicle distance controlling device
JP2008052399A (en) * 2006-08-23 2008-03-06 Alpine Electronics Inc Surround monitor system
JP2009107451A (en) * 2007-10-29 2009-05-21 Toyota Motor Corp Vehicle traveling control device
JP2015066962A (en) * 2013-09-26 2015-04-13 日産自動車株式会社 Drive assist apparatus
JP2016533289A (en) * 2013-10-03 2016-10-27 ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング Adaptive cruise control with on-ramp detection
JPWO2017158731A1 (en) * 2016-03-15 2018-10-18 本田技研工業株式会社 Vehicle control system, vehicle control method, and vehicle control program
US10286913B2 (en) 2016-06-23 2019-05-14 Honda Motor Co., Ltd. System and method for merge assist using vehicular communication
US10737667B2 (en) 2016-06-23 2020-08-11 Honda Motor Co., Ltd. System and method for vehicle control in tailgating situations
US10625742B2 (en) 2016-06-23 2020-04-21 Honda Motor Co., Ltd. System and method for vehicle control in tailgating situations
US10449962B2 (en) 2016-06-23 2019-10-22 Honda Motor Co., Ltd. System and method for vehicle control using vehicular communication
US10081357B2 (en) 2016-06-23 2018-09-25 Honda Motor Co., Ltd. Vehicular communications network and methods of use and manufacture thereof
US11161503B2 (en) 2016-06-23 2021-11-02 Honda Motor Co., Ltd. Vehicular communications network and methods of use and manufacture thereof
JP2018036861A (en) * 2016-08-31 2018-03-08 株式会社デンソー Confluence support device
US10332403B2 (en) 2017-01-04 2019-06-25 Honda Motor Co., Ltd. System and method for vehicle congestion estimation
CN107161644B (en) * 2017-06-13 2018-11-20 江苏振邦医用智能装备有限公司 The control method of intelligent carriage logistics system
CN107161644A (en) * 2017-06-13 2017-09-15 江苏振邦医用智能装备有限公司 The control method of intelligent carriage logistics system

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