JP2002046501A - Running control device for automobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a follow-up running control system to enable easy variation of a follow-up target vehicle by designating a plurality of preceding vehicles capable of being detected by a distance measuring device at a display device and deciding the follow-up target vehicle by selecting from the vehicles by a drive during starting of follow-up running control and enabling easy variation of the follow-up target vehicle by indicating other preceding vehicle when the follow-up target vehicle is not proper. SOLUTION: In a follow-up running control system provided with a distance measuring device 101, a photographing device 102, a cruise controller 103, a display device 111, and an operation command input device 113, data of the distance measuring device 101 and a photograph image by the photographing device 102 are synthesized. Information on a running vehicle capable of effecting follow-up during cruise control operation is displayed and a follow-up target vehicle deciding device 110 is provided to decide the follow-up target vehicle selected according to a command from an operation command input device 113.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to speed control of a motor vehicle, and more particularly to cruise control control for following a target vehicle while maintaining a constant vehicle speed or inter-vehicle distance.

[0002]

2. Description of the Related Art As disclosed in Japanese Patent Application Laid-Open No. 4-214937, a conventional vehicle follow-up running control device includes an image sensor, an image display device, a window setting section, and an image tracking instruction switch. . If the driver wants to follow the vehicle, the driver operates the window setting unit to set the image tracking window, and then turns on the image tracking instruction switch to measure the distance between the host vehicle and the preceding vehicle. While following the vehicle, the vehicle follows.

Further, as disclosed in Japanese Patent Application Laid-Open No. 6-255399, a vehicle display device estimates a traveling direction of a host vehicle and detects a preceding vehicle in the traveling direction.
At the time of follow-up type auto cruise control, the preceding vehicle to be followed by the own vehicle is automatically determined, a mark is displayed on the windshield at a position overlapping with the preceding vehicle, and the follow-up traveling is performed.

[0004]

SUMMARY OF THE INVENTION The above-mentioned Japanese Patent Application Laid-Open No. 4-214 is disclosed.
The problem with the prior art exemplified in Japanese Patent Publication No. 937 is that the driver needs to keep watching the image display device during the driving operation, that is, the situation where the following running has not been started, and the following running for the vehicle can be safely performed. It is hard to say that the control device is being operated.

On the other hand, in the prior art exemplified in the above-mentioned Japanese Patent Application Laid-Open No. 6-255399, when the automatically determined following target vehicle is not appropriate, for example, when a preceding vehicle traveling on the next lane is indicated, To change the following target vehicle, it was necessary to cancel the auto cruise once and reset it, or to drive without using the auto cruise thereafter.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems. If there are a plurality of preceding vehicles capable of following the vehicle, the preceding vehicles are presented, and the driver should set the following as a target. It is an object of the present invention to provide a travel control device that can determine a follow-up target vehicle during auto cruise by selecting a vehicle.

Another object of the present invention is to indicate another preceding vehicle when the selected following vehicle is not appropriate and another selectable traveling vehicle is displayed. Accordingly, it is an object of the present invention to provide a travel control device capable of easily changing the following target vehicle.

[0008]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a distance measuring unit for measuring a distance to an object located in front of a host vehicle, and a tracking unit for measuring a distance measured by the distance measuring unit. A cruise controller for controlling a drive mechanism of the own vehicle so as to drive the vehicle while maintaining a constant inter-vehicle distance from a target vehicle, and presenting to the driver one or more preceding vehicles that can follow the vehicle. Presenting means, an instruction inputting means for receiving an instruction from a driver for selecting one of the presented followable preceding vehicles as the following target vehicle, and the distance measuring device measuring the distance. Among the objects, an object that satisfies a predetermined condition is specified as the preceding vehicle that can be followed, and the presenting unit is controlled so as to present these preceding vehicles. And a follow-up target vehicle determining means for controlling the cruise controller to operate a vehicle which is selected in accordance with an instruction unit receives as the follow-up target vehicle.

In the present invention, the following target vehicle determining means causes the display section to display an image photographed by the photographing means, and generates an image of a mark for indicating the preceding vehicle that can follow the vehicle. May be displayed so as to correspond to each other in a photographing area where each of the following vehicles that can be followed in the image displayed on the display unit.

[0010] For example, the following target vehicle determining means generates a mark indicating the selected following target vehicle, which can be distinguished from a mark for indicating the following vehicle that can follow, and displays the mark on the display. The image may be displayed in association with an image area in which the following target vehicle is included in the image displayed on the section.

The mark generated by the following target vehicle determining means may be a mark having a predetermined shape, a symbol,
It may be created using at least one of letters and numbers.

The following target vehicle determining means may display the generated mark so as to be superimposed on an image area on a display screen of the display unit, in which a vehicle corresponding to each of the marks is shown. good.

Further, among the marks generated by the following target vehicle determining means, at least the color of the mark indicating the following target vehicle may have a complementary color relationship with its background color.

Further, among the marks generated by the following target vehicle determining means, at least the mark indicating the following target vehicle has an enclosing portion surrounding the mark, and the color of the mark body and the color of the enclosing portion are included. The color may be configured to have a complementary color relationship.

Further, when the mark generated by the following target vehicle determining means is a number, the number corresponding to the selected following target vehicle may be set to one.

Further, in the present invention, the vehicle further comprises imaging means for photographing the destination of the vehicle in the traveling direction, the presenting means comprises a display unit having a two-dimensional display screen, and the following target vehicle determining means comprises: Based on the data from the measurement unit and the data from the imaging unit, at least an image for indicating the followable preceding vehicle is generated and displayed on the display unit, and the instruction input unit includes: A configuration may be adopted in which an instruction to select one of the following vehicles that can be followed shown on the display unit as the following target vehicle is received.

The selected following target vehicle is, for example,
It is displayed in a different color so as to be distinguishable from other following vehicles that can be followed.

Further, the color of the following target vehicle may be displayed so as to have a complementary color relationship with its background color.

Further, the selected following target vehicle may be blinked so as to be distinguishable from other following vehicles that can follow.

In the above-mentioned present invention, the presenting means may further include information on a relative positional relationship between each of the followable traveling vehicles and the own vehicle acquired by the distance measuring means. Each of which has a plurality of display members, wherein the instruction input means receives an instruction for selecting one of the display members on which the information is presented, and the following target vehicle determination means May be configured to select, as the following target vehicle, a followable traveling vehicle corresponding to one display member selected by the instruction input unit.

Each of the plurality of display members is provided, for example, in correspondence with a predetermined angle range of a relative angle between the preceding vehicle and the own vehicle measured by the distance measuring means, and is provided within each angle range. It shall be configured to include at least a light emitting member that is turned on when there is a vehicle that can follow.

Further, the instruction input means may select one of the display members from which the light emitting section emits light each time the operation is performed.

Further, the instruction input means may be used also as a blinker switch provided in the host vehicle.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a follow-up traveling control system (traveling control device) according to the present invention will be described with reference to the drawings.

As shown in FIG. 1, the following cruise control system of this embodiment includes a distance measuring device 101 for measuring a distance to an object located in front of the host vehicle and an imaging device 102 for photographing the front of the host vehicle. A cruise controller 103 having a function of controlling a drive mechanism of the own vehicle so as to travel while maintaining a constant vehicle speed or inter-vehicle distance, and a display device for displaying an input image, internal information of the cruise controller 103, and an output command value 111 and an operation command input device 113 for the driver to input an operation command to the system.

The distance measuring device 101 is realized by, for example, a radio wave radar device or a laser radar device.
The imaging device 102 is realized by, for example, a CCD camera. Further, the operation command input device 113 includes a normal switch, a touch panel provided on the display device 111, an operation button provided as software on an image, or a microphone for receiving a voice command and a voice command analysis device. Is achieved.

The running control system according to the present embodiment further includes a following target vehicle determining device 110 which is one of the characteristic structures of the present invention. Tracking target vehicle determination device 110
Is a vehicle (hereinafter, referred to as a tracking target) when the cruise controller 103 operates a control function (hereinafter, referred to as a “tracking control function”) that causes the cruise controller 103 to run while maintaining a constant inter-vehicle distance in response to a selection command from the driver. Follow target vehicle)
Is determined.

The tracking target vehicle determining device 110 is, for example,
According to data from the distance measurement device 101 and the imaging device 102, an image generation unit 1103 that generates an image or the like for presenting a followable vehicle, and one of the presented followable vehicles is operated. A vehicle selector 1101 for selecting a target vehicle to be followed in accordance with a command from the command input device 113 regarding the selection of a target vehicle to be followed, and a controller for controlling the cruise controller 103 so that the selected vehicle becomes the target vehicle to be followed. 1102.

Here, the trackable vehicle is a trackable vehicle that is preset with respect to an inter-vehicle distance, a relative speed, a relative angle, and the like with respect to each of the objects whose distances are measured by the distance measuring device 101. The selection is made by determining whether the vehicle satisfies the satisfactory conditions.

When displaying the following vehicle and the target vehicle that can be followed, the data of the distance measuring device 101 and the image captured by the image capturing device 102 are combined and displayed so that the two can be easily identified. It is displayed on the device 111.

In the present embodiment, the display device 1 shown in FIG.
As shown in FIG. 11, a mark (frame in this example) 90 for identifying a vehicle that can follow the vehicle by superimposing it on an image of the background or the preceding vehicles 901a and 902a captured by the imaging device 102.
1, 902 are displayed. Further, a frame 901 indicating a target vehicle to be followed during the following traveling is displayed by changing a color or the like so as to be distinguishable from other frames 902. The method of presenting these vehicles that can be followed and the method of displaying the target vehicle to be followed will be described in detail below.

The travel control system according to this embodiment further includes a throttle controller 104 for controlling a throttle actuator 105 for operating a throttle based on a command value from the cruise controller 103.
And a transmission controller 107 for controlling a shift operation of the transmission 106 and a brake controller 108 for controlling a brake actuator 109 for operating a brake.

Next, among the operations of the following cruise control system according to the present embodiment, the schematic operation of following cruise control will be described.
This will be described with reference to the state transition diagram of FIG. 2 and the flowchart of the process of changing the state of FIG.

In the following running control of the present embodiment, the running state of the vehicle is divided into three states: a normal running 201, a constant vehicle speed control 202, and a following running control 203. When the cruise control is set from the state of the normal traveling 201, a transition is made to the constant vehicle speed control 202, which controls the vehicle to run with the vehicle speed kept constant by the processing 301 in FIG. Further, in the process 302, a following vehicle that meets a predetermined condition and can be followed is presented to the driver.

In step 303, a target vehicle whose inter-vehicle distance D (t) is smaller than the target inter-vehicle distance Dr (vo) determined by the own vehicle speed Vo is selected from one of the presented traveling vehicles that can be followed. When specified by the driver
The state transits from the state of the vehicle speed constant control 202 to the state of the follow-up traveling control 203, and executes the follow-up traveling control processing 305. Target inter-vehicle distance Dr (v) in which inter-vehicle distance D (t) is determined by own vehicle speed
o) If it is larger, the process 304 is executed in the state of the constant vehicle speed control 202. Vehicle speed constant control processing 304
Then, a calculation is performed to control the throttle opening so that the vehicle speed becomes a value determined by the driver.

The contents of the following running control process 305 in FIG. 3 will be described with reference to FIGS.

FIG. 4 is a conceptual diagram of a control system using the predicted inter-vehicle distances Da, Dn, and Dd between the following vehicle and the host vehicle. Now, the inter-vehicle distance D is oscillating around the target inter-vehicle distance Dr, which is the current inter-vehicle distance D (time = T1) with respect to the target inter-vehicle distance Dr with the following target vehicle, and the deviation is ΔD.

In this example, in the processing described later, the current time (time = T
The inter-vehicle distance Da at time T2 when the host vehicle is accelerated at the time point 1) is predicted using a vehicle model. Similarly, the inter-vehicle distance Dd at time T2 when the deceleration control is performed and the inter-vehicle distance D at time T2 when the vehicle travels as it is.
Predict n. The predicted values are as shown in FIG. In this example, the travel control is performed by executing a process of taking a value closest to the target inter-vehicle distance Dr from among these three predicted values Da, Dn, and Dd.

A routine for generating a throttle command signal output to control the speed of the vehicle in the follow-up running control of this embodiment will be described with reference to the flowchart of FIG.

First, in process 501, the distance measuring device 10
1, the inter-vehicle distance D between the vehicle running ahead and the host vehicle is measured. As a specific measuring method, for example,
As described in JP-A-8-27678, a radio wave radar that radiates radio waves in the traveling direction and measures the relative speed and the inter-vehicle distance from the Doppler frequency superimposed on the returned reflected waves, As described in JP-A-203524, there is a method of outputting a laser beam and using a pulse-type laser radar for measuring the distance between vehicles from the time until reflected light returns.

In step 510, it is determined whether or not the inter-vehicle distance D has been measured. If the inter-vehicle distance D has been measured normally, the process branches to step 502. If the measurement has failed, the process branches to processing 511, and the previous predicted inter-vehicle distance is used as the value of the inter-vehicle distance D.

FIG. 6 shows an example in which the preceding predicted inter-vehicle distance is used as the value of the inter-vehicle distance D. At time T1, the result of the operation:
A deceleration signal was being output. At time T2, the following distance D
If the measurement fails, but instead fails at time T1
T2 + Tc using the predicted inter-vehicle distance Dd ′ calculated in
, The predicted inter-vehicle distances Da, Dn, and Dd are calculated. Then, an acceleration signal is output so that the predicted inter-vehicle distance Da closest to the target inter-vehicle distance Dr is obtained. However, the predicted inter-vehicle distance D
Since d ′ is calculated using the vehicle model of FIG. 4,
As shown in FIG. 4, there is an error De with the inter-vehicle distance D (time = T2) when the measurement is successful.

Therefore, it is not preferable to use the predicted inter-vehicle distance continuously, since errors are accumulated. The number of continuous use of the predicted inter-vehicle distance is, for example, up to three times. If the measurement of the inter-vehicle distance D has failed three or more consecutive times, the following travel control mode 203 is temporarily stopped, and the vehicle is driven in the constant vehicle speed control mode 202 until the inter-vehicle distance D is successfully measured.

The process 502 is necessary only when the pulse-type radar device is used and only the distance between vehicles can be measured. If the relative vehicle speed can be measured as in a CW system such as a radio wave radar device, the process 502 may be omitted. For example, the relative speed Vr can be approximated by dividing the difference between the inter-vehicle distance D 'one sample cycle ago and the current inter-vehicle distance D by one sample cycle.

In step 503, an expected inter-vehicle distance Da when the acceleration signal is output is calculated. + Α corresponding to the acceleration is input to the vehicle model that is held in advance, and the inter-vehicle distance Da at time T2 is predicted. In the process 504, a future inter-vehicle distance Dd when the deceleration signal is output is predicted. In the same manner as in the process 503, -α corresponding to the deceleration signal is input and the calculation is performed. In the process 505, a future inter-vehicle distance Dn is predicted when no acceleration / deceleration signal is output.

The predicted inter-vehicle distances Da, D thus obtained
Among the n and Db, the one having the value closest to the target inter-vehicle distance Dr is searched by the processing 506 and the processing 507. If the predicted inter-vehicle distance Da is closest to the target inter-vehicle distance Dr when the acceleration signal is output, the processing proceeds from processing 506 to processing 508,
Otherwise, the process branches to process 507. In step 508, a signal is output to the throttle controller 104 so as to increase the throttle opening by Δθ, and the process ends.

In the process 507, the process branches to a process 512 when the predicted inter-vehicle distance Dd when the deceleration signal is output is closest to the target inter-vehicle distance Dr. If acceleration / deceleration is not required and the current throttle opening is maintained, the process is terminated. In processing 512, the predicted inter-vehicle distance Dd is compared with the inter-vehicle distance Dc at which the auto cruise is canceled, and Dc ≦ D
If d, the process proceeds to step 509, and if Dc> Dd, the process 51.
Branch to 3. In process 509, the throttle opening is set to Δθ
A signal is output to the throttle controller 104 so as to close, and the process is terminated.

In process 513, the throttle opening is fully closed (Δ
θmin) so that the throttle controller 104
Output the signal. FIG. 7 shows an example of the predicted inter-vehicle distance when branching to the process 513. From the inter-vehicle distance D at time T10 (time = T10), the predicted inter-vehicle distances Da, Dn, and Dd at time T10 + Tc are calculated. In this example, if the acceleration signal is output, the predicted inter-vehicle distance Da becomes zero, meaning that the vehicle collides with the preceding vehicle. Even if the deceleration signal is output, the predicted inter-vehicle distance Dd <Dc remains extremely dangerous. At this time, by fully closing the throttle opening, a strong engine brake is applied and deceleration is performed to prevent a rear-end collision. The inter-vehicle distance Dc at which the throttle opening is fully closed is set for each vehicle.

In the following running control that operates as described above, the following target vehicle is selected by the driver. In the present embodiment, the target vehicle determination device 110 (see FIG. 1) presents a followable vehicle (process 302 in FIG. 3).
Is performed through the display device 111, and the target vehicle to be followed according to the selection operation is determined via the operation command input device 113 by the driver (process 303 in FIG. 3).

An example of a method of presenting a followable vehicle will be described with reference to FIGS.

Data obtained from the distance measuring device (hereinafter referred to as a radar device) 101 is
Reference numeral 1 denotes a plurality of sets of data in which a distance D with respect to the radar apparatus 101 as an origin, a relative speed Vr, and an angle θ are set as a set within a scan search range. Generally, the distance D is in the range of 0 to 120 m, and the radar device 101 attached to the host vehicle
The distance due to the difference in the mounting position between the camera and the imaging device 102 is sufficiently smaller than the distance D, and is considered to be substantially the same place. Therefore, the positional relationship between the photoelectric conversion device 802 and the optical member (such as a lens) 801 for forming an image on the device 802 provided in the imaging device 102 and the preceding vehicle 803 is as shown in FIG. In this example, the preceding vehicle 8
03 is a distance D from the optical member 801 of the imaging device 102;
It is assumed that it exists at the position of the angle θ.

The width W of the preceding vehicle 803 (usually 1.7 to
3.5 m) is projected with a width w ′ on the photoelectric conversion device 802 attached to the imaging device 102. w '
Is related to W in Equation 1 below.

W ′ = f × W / D (1) where f is the focal length of the optical member 801. on the other hand,
The size of one pixel of the photoelectric conversion device 802 is x × y
(Both 1 × 20 μm in both vertical x and horizontal y), w ′
Is converted to the number of pixels k by the following equation 2.

K = w '/ y (Equation 2) The control unit 11 of the following target vehicle determining apparatus 110 according to the present embodiment.
02 and the image generation unit 1103, as shown in FIG.
A square frame 901 having one side of the pixel number k is generated as a mark or a symbol corresponding to a vehicle that can be followed, and is displayed on the display screen 111a of the display device 111.

Note that, for the sake of explanation, a photographed image of a vehicle that can follow and a target vehicle to be followed corresponding to this frame is not shown. However, when actually used, it is shown in FIG. And a frame is superimposed on the captured image.

The center of the square frame 901 is displayed on the display screen 111a so that the position of the corresponding vehicle is shown on the screen.
Draw at the upper position (a / 2 + h, b / 2). Where a,
b is the width and height of the display screen 111a, and h is calculated by the following equation (3).

H = f × tan θ / y (Equation 3) Similarly, frames 902 corresponding to a plurality of sets of data obtained from the radar device 101 are displayed on the display device 111. Each displayed frame has an enclosing portion so that it can always be distinguished from a background road or scenery, and has, for example, a triple structure. The colors of the inner frame 904 and the outer frame 906 are
It is colored so as to have a complementary color relationship with the color of the middle frame 905, and is configured so that the driver can easily identify it.

Further, instead of displaying the frames 901 and 902, as shown in FIG. 10, (a / 2 + h, b / 2)
Numerals 1011 and 1012 in sizes that are easy to identify
May be displayed. In addition, characters or other symbols may be used instead of numbers. Marks such as numbers, characters, symbols, and the like to be displayed are complementary colors of colors at the display positions. Also, a numeral or character to be displayed is provided with an enclosing portion so that the number or character to be displayed and the background always have a complementary color relationship. As shown in FIG. 10, the numeral 1001 and the enclosing portion 1002 are in a complementary color relationship. And

Thus, the mark corresponding to the preceding vehicle,
By setting the numbers, characters, and symbols as triple frames and surrounding characters having a complementary color relationship, good visibility is ensured regardless of the background.

As described above, by superimposing the data from the distance measuring device 101 on the data of the image pickup device 102, the data captured by the distance measuring device 101 can be displayed on the display device 11.
1 can be displayed intuitively.

In the present embodiment, the driver selects a target vehicle to be followed from the following vehicles displayed by the above-described method using the operation command input device 113. The operation command input device 113 includes, for example, a switch panel member such as a touch panel provided on the display screen 111a of the display device 111 and capable of seeing through the display screen 111a.

For example, as shown in FIG.
In the case where the captured object captured in the above is surrounded by the frames 901 and 902, the driver is displayed at the start of the following running, that is, at the time of transition from the constant vehicle speed control state 202 to the following running state 203 in FIG. A target vehicle to be followed is selected from the frames 901 and 902 by operating a switch at a predetermined position on the touch panel by a finger, thereby selecting a target vehicle to be followed.

The vehicle selection unit 1101 of the follow target vehicle determination device 110 determines the vehicle or the like designated by the driver from the coordinates of the designated switch panel member, and the control unit 1102
Control is performed such that the determined captured object is started to follow up as a follow-up target vehicle.

When the following running is started, it is preferable that the color of the frame 901 surrounding the following target vehicle be different from the color of the frame 902 surrounding other captured objects, for example, as shown in FIG. When the captured object of the radar device 101 is indicated by a numeral as shown in FIG. 10, it is preferable that the numeral indicating the target vehicle to be followed is set to, for example, "1".

In the case where a numeral is displayed,
A configuration may be employed in which a voice input device is used as the operation command input means, and a number indicating the vehicle to be followed is input by voice from among the displayed numbers, thereby selecting the target vehicle to be followed.

While the vehicle is following, the target vehicle is always running on the display device 111. For example, as shown in FIG. 11, the target vehicle changes lanes and travels in the lane 1107 of the own vehicle. When the vehicle no longer moves, it is necessary to newly instruct the following target vehicle or to shift from the following traveling control state 203 to the constant vehicle speed control state 202.

In the present embodiment, the driver performs the following travel control by instructing any of the captured objects 1105 and 1106 other than the currently shown following target vehicle, or by instructing the following target vehicle 1104 again. It is possible to cancel and set the vehicle speed constant control state 202. Of course, an instruction may be issued to cancel the following traveling control state and return to the normal traveling state 201.

Here, since the following vehicle 1104 is traveling on another lane 1108, it is out of the condition as a vehicle capable of following. In the present embodiment, when a vehicle that cannot follow the vehicle is selected as described above, the vehicle is controlled to transition from the following traveling control state 203 to the constant vehicle speed control state 202.

Next, a second embodiment of the following running control system to which the present invention is applied will be described with reference to FIGS. This embodiment has a configuration in which the imaging device 102 included in the first embodiment is not used.
The present embodiment is different from the first embodiment in a method of presenting a vehicle that can be followed and a method of displaying a selected target vehicle to be followed, but has the same functions in other configurations. In the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 12, the following running control system of this embodiment comprises a distance measuring device 101 for measuring the distance to an object located in front of the host vehicle, a cruise controller 103 having a following running function, A display device 111 for displaying the input composite image, the internal information of the cruise controller 103 and an output command value, and an operation command input device 113 for inputting an operation command for the system.
And displaying information on the traveling vehicle that can follow during the cruise control operation by generating a composite image based on the data of the distance measurement device 101,
A tracking target vehicle determination device 110 that determines a tracking target vehicle selected in response to a command from the operation command input device 113.

The follow-up traveling control system according to the present embodiment further controls a throttle controller 104 for controlling a throttle actuator 105 for operating a throttle and a shift operation of a transmission 106 based on a command value of a cruise controller 103, respectively. Brake controller 1 for controlling transmission controller 107 and brake actuator 109 for operating the brake
08.

The tracking target vehicle determining device 110 converts the supplementary object 1201 whose distance has been measured by the distance measuring device 101 with the traveling direction of the own vehicle 1200 upward based on the data from the distance measuring device 101 to the own vehicle. A composite image shown on a two-dimensional plane is generated so that the relative positional relationship with 1200 can be determined, and is displayed on the display screen of the display device 111.

Among the captured objects displayed on the display device 111, the captured object that can be followed and the captured object that cannot be followed include:
It is displayed in a different color so that it can be identified.

At the start of the following running, that is, at the time of transition from the constant vehicle speed control state 202 to the following running state 203 in FIG.
By operating the operation command input device 113 composed of a touch panel or the like from among 01 to 1203, a target vehicle to be followed is selected. As shown in FIG. 13, for example, the selected following target vehicle is a symbol 13 indicating another vehicle that is not selected.
01 and 1303 with a symbol 1302 of a different color.

The symbols 1401 to 1403 indicating the captured objects that can be followed are blinking as shown in FIG. 14, and when the driver selects the following vehicle, the symbol 1402 corresponding to the following target vehicle is selected. Is stopped and the color is changed to the color of the other symbols 1401 and 1402 and displayed. Further, the blinking cycle of the following vehicle and the other vehicle may be merely changed to an identifiable degree.

The symbol 130 indicating the target vehicle to be followed
It is desirable that the colors 2, 1402 have a complementary color relationship with the background color.

Further, it is also possible to display the supplementary objects that can be followed with the recommended ranking. The ranking is, for example, the following three items: (1) inter-vehicle distance, (2) absolute value of relative speed, (3)
Evaluate the angle made with the measured object, the inter-vehicle distance is shorter,
Priorities are given as it is desirable that the absolute value of the relative speed is smaller and the angle between the host vehicle and the measured object is smaller.

According to the present embodiment, a synthesized image is generated based on the data of the distance measuring device 101 without using an image pickup device, and a followable vehicle is presented. It can be displayed on the display screen of the display device 111 so that it can be distinguished from other vehicles.

In this embodiment, the case where the target vehicle to be followed is specified by using the operation command input device 113 constituted by a touch panel or the like is taken as an example. However, the configuration of the operation command input device 113 according to the present invention is described. Is not limited to this. Instead of the touch panel, for example, an operation switch may be provided near the turn signal. In this case, every time the operation switch is operated, in a predetermined order,
It is configured so that each of the presented vehicles that can be followed is designated, and when a desired vehicle is designated, the vehicle can be designated as a following target vehicle, for example, by operating the vehicle twice consecutively. It has a configuration.

Next, a third embodiment of the following running control system to which the present invention is applied will be described with reference to FIGS. This embodiment generates a composite image using a navigation device and map data instead of using the imaging device 102 included in the first embodiment, presents a vehicle that can follow, and selects a following target vehicle that has been selected. Is displayed. Other configurations have the same functions as those of the first embodiment. In the present embodiment, the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 15, the following cruise control system of this embodiment comprises a distance measuring device 101 for measuring the distance to an object located in front of the host vehicle, and a map data 150.
2, a cruise controller 103 having a follow-up running function, a display device 111 for displaying an input composite image, internal information of the cruise controller 103, and an output command value, and inputting an operation command to the system. And an operation command input device 113 for generating a composite image based on data of the distance measuring device 101 and the navigation device 1501 to display information on a traveling vehicle that can be followed during a cruise control operation. 113
And a tracking target vehicle determination device 110 that determines a tracking target vehicle selected in response to a command from the vehicle. Here, the operation command input device 113 is made of, for example, a transparent member, and is made up of a switch panel mounted on the display screen of the display device 111.

The following running control system according to the present embodiment further controls a throttle controller 104 for controlling a throttle actuator 105 for operating a throttle and a shift operation of a transmission 106 based on a command value of the cruise controller 103, respectively. Brake controller 1 for controlling transmission controller 107 and brake actuator 109 for operating the brake
08.

A method of superimposing data from the distance measuring device 101 and the navigation device 1501 in the tracking target vehicle determining device 110 will be described with reference to FIG. In FIG. 16A, it is assumed that captured objects 1601 to 1614 are captured by the distance measuring device 101. Dotted lines 1615 to 1617 indicate road edge information obtained from the navigation device 1501,
Reference numeral 18 denotes a boundary line indicating the supplementary range limit of the distance measuring device 101.

The tracking target determination device 110 of the present embodiment
From the data as shown in FIG.
Of the objects supplemented by 01, which is a followable vehicle is specified by the following determination method.

That is, the captured objects 1601 to 1612 exist inside the road edge, and the map data 150-1
2 shows that it is a building. On the road are a captured object 1613 and a captured object 1614. Therefore,
If you do not display supplementary objects other than vehicles that can follow,
The captured objects to be displayed are the objects 1613 and 1614.

In the present embodiment, these are shown on the display device 111 as shown in FIG. Of course, the determination as to whether or not the vehicle is capable of following here is also made by, for example, the own vehicle 1.
The determination may be made by checking whether the inter-vehicle distance, the relative speed, the relative angle, or the like from the vehicle 200 falls within a predetermined range.

Further, as shown in a plan view from above the own vehicle as shown in FIG. 16, the driver may not be intuitive. For this reason, for example, an image corresponding to an image viewed from the position of the driver based on the road configuration information and the building information stored in the map 1502 as shown in FIG. The information may be displayed on the display device 111.

Next, a fourth embodiment of the following running control system to which the present invention is applied will be described with reference to FIGS. In the present embodiment, in place of the display device 111 capable of displaying images as in the first to third embodiments, a vehicle that can follow the vehicle is presented with a simpler configuration, and the operation of selecting the target vehicle to follow is performed. It is intended to provide a display device having a function of receiving the display device.

FIG. 18 shows an example of an overview of a display device having a selection function according to the present embodiment. The display device of this example has 13 light emitting devices 1901-1913 each having a light emitting member.
Lamp units, switches 1801 to 1813 arranged corresponding to the respective lamp units, and an ICC switch 1917 for operating the cruise control function.
And a display section 19 showing the distance between the vehicle and the following target vehicle.
18.

Each of the ramps 1901 to 1913 corresponds to angle data measured by the distance measuring device 101. Each ramp is graduated once and ramp 190
1 is controlled to be turned on when the object to be measured is located at a position 6 degrees to the left and 6 degrees to the right from the traveling direction of the vehicle. In the present embodiment, such a display device 111
The vehicle that can be followed is presented. In FIG. 18, 5 degrees left (ramp 1902), 4 degrees (ramp 1903), 0
Degree (ramp 1907), right one degree (ramp 1908)
An example is shown in which a followable vehicle exists.

In the present embodiment, the angle range is set to 1 degree, but other angle ranges such as 0 to left 1.5 degrees, left 1.5 to left 3.0 degrees,... Is set,
Of course it doesn't matter. Further, in the present embodiment, the preceding vehicle that can be followed based on the angle information is presented. However, information related to other relative positional relationships with the preceding vehicle other than the angle information, such as inter-vehicle distance information or relative speed information. May be used.

In this embodiment, when selecting the target vehicle to be followed, the switches 1801 to 181 are selected.
Select by pressing any one of 3 In the example of FIG. 18, when the switch 1808 is continuously pressed after the ICC switch 1917 is pressed, the color of the lamp unit 1908 immediately above the switch 1908 changes, and the following running is started. The following running is displayed on the display unit 1918. In the case of FIG. 18, it is 53 m.

FIG. 19 shows another example of the display device having the selection function according to the present embodiment. The device of this example is different from the device of FIG. 18 in that selection switches 192 are used instead of switches 1801 to 1813 for selecting a target vehicle to follow.
0 is provided. Other configurations are the same as those of the apparatus in FIG.

Each time the selection switch 1920 is operated,
The lamps that are lit in a predetermined order are sequentially selected. In this example, when the selection switch 1920 is pressed after the ICC switch 1917 is pressed,
The color of the lamp unit 1908 on the leftmost side, which is lit with the DUT present, changes. Then, following the target object is set as a target vehicle to be followed to start following. If you want to change the following vehicle, press the switch 1920 again.
The color of the lit lamp sequentially changes with the object to be measured on the right side.

In the example of FIG. 19, the selection switch 1920 is set to 4
When pressed once, the color of the lamp portion indicating the object to be measured right once changes. At this time, the distance to the object to be measured existing at one degree to the right is 53 m.

Note that the selection switch 1920 is set to the display device 1
Instead of providing on 11
The function of the selection switch 1920 may be substituted for another hardware switch used in the operation of the vehicle.

According to the present embodiment, by using a display device having a function of selecting a target traveling vehicle to be followed and having a simpler configuration, the cost of the following traveling control system can be reduced.

[0098]

According to the present invention, when there are a plurality of preceding vehicles capable of following the vehicle, the preceding vehicles are clearly indicated on the display device, and the driver selects the vehicle to be followed from among them, so that the target vehicle to be followed is determined. A travel control system that can be determined can be provided.

Further, according to the present invention, when the selected following vehicle is not appropriate and another traveling vehicle that can be selected is displayed, another preceding vehicle is indicated. It is possible to provide a traveling control system that can easily change the following target vehicle.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a following traveling control system according to a first embodiment.

FIG. 2 is a state transition diagram in the cruise controller.

FIG. 3 is a flowchart illustrating a process of changing a traveling state.

FIG. 4 is an explanatory diagram illustrating the concept of a predicted inter-vehicle distance control method.

FIG. 5 is a flowchart illustrating a process of generating an acceleration / deceleration signal.

FIG. 6 is an explanatory diagram showing an example of a predicted inter-vehicle distance control method.

FIG. 7 is an explanatory diagram showing another example of the predicted inter-vehicle distance control method.

FIG. 8 is an explanatory diagram showing a display principle of a trackable vehicle.

FIG. 9 is an explanatory diagram showing a display example of a frame of a trackable vehicle in the first embodiment.

FIG. 10 is an explanatory diagram showing a display example of numbers of vehicles that can be followed in the first embodiment.

FIG. 11 is an explanatory diagram showing another example of the frame of the trackable vehicle in the first embodiment.

FIG. 12 is a block diagram showing a configuration of a follow-up traveling control system according to a second embodiment.

FIG. 13 is an explanatory diagram showing a display example of a trackable vehicle in the second embodiment.

FIG. 14 is an explanatory diagram showing another display example of a trackable vehicle in the second embodiment.

FIG. 15 is a block diagram showing a configuration of a follow-up traveling control system according to a third embodiment.

FIG. 16 (a) is an explanatory view showing a vehicle captured by a distance measuring device. FIG. 16B is an explanatory diagram illustrating a display example of a followable vehicle according to the third embodiment.

FIG. 17 is an explanatory diagram showing another display example of a trackable vehicle in the third embodiment.

FIG. 18 is an explanatory diagram illustrating an example of a display device of a trackable vehicle according to a fourth embodiment.

FIG. 19 is an explanatory view showing another example of the display device of the trackable vehicle in the fourth embodiment.

[Explanation of symbols]

101: distance measuring device, 102: imaging device, 103: cruise controller, 110: tracking target vehicle determining device,
111: display device, 113: operation command input device, 801
… Optical member (lens) 802… photoelectric conversion device 9
01, 1104: frame indicating the target vehicle to follow, 1011: numeral indicating the target vehicle, 1501: navigation device, 1502: map data.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Mitsuo Kayano 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture Inside Hitachi Research Laboratory, Hitachi, Ltd. (72) Kozo Nakamura 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture No. 1 F term in Hitachi Research Laboratory, Hitachi, Ltd. (Reference) 3D044 AA01 AA21 AA25 AA38 AB01 AC21 AC26 AC59 AD01 AD16 AD21 AE03 AE19 BA16 BA19 BB01 BC01 BD01 3G093 AA01 BA07 BA15 BA23 CB10 DB16 EA01 EB03 ACO03 CC04 CC12 CC14 LL09

Claims (6)

[Claims] A vehicle travels while maintaining a constant inter-vehicle distance from a target vehicle to be followed, which is measured by the distance measuring unit, which measures a distance to an object located in front of the host vehicle. A cruise controller for controlling a drive mechanism of the host vehicle so as to perform at least one following vehicle that can follow the vehicle. Instruction input means for receiving an instruction from a driver for selecting one of the vehicles as the target vehicle to be followed, and an object that meets a predetermined condition among the objects whose distance has been measured by the distance measuring device. The presenting device is identified as possible preceding vehicles, the presenting device is controlled so as to present these vehicles, and the vehicle selected according to the instruction received by the instruction inputting device is added. Running control apparatus characterized by having a follow-up target vehicle determining means for controlling the cruise controller to operate as a target vehicle. 2. The vehicle according to claim 1, wherein the instruction input means further receives an instruction for changing the selected follow-up target vehicle, and the follow-up target vehicle determining means responds to the received change instruction. A cruise control device, wherein the cruise controller is controlled so that a new vehicle selected accordingly is set as the following target vehicle. 3. The travel control device according to claim 1, wherein the presenting means presents the selected following target vehicle and another following vehicle in different ways so as to be distinguishable. 4. The vehicle according to claim 1, further comprising: an image pickup means for taking an image of a destination in the traveling direction of the own vehicle; wherein the presenting means includes a display unit having a two-dimensional display screen; Based on the data from the measuring unit and the data from the imaging unit, at least an image for indicating the followable preceding vehicle is generated and displayed on the display unit, and the instruction input unit includes: A travel control device, which receives an instruction for selecting one of the following vehicles that can be followed shown on a display unit as the following target vehicle. 5. The vehicle according to claim 1, wherein the presenting means includes a display unit having a two-dimensional display screen, and the following target vehicle determining means is configured to follow the preceding vehicle based on data from the distance measuring unit. And displaying the image on the display unit. The instruction input unit selects one of the followable preceding vehicles displayed on the display unit as the follow target vehicle. A travel control device, which receives an instruction for the vehicle. 6. The vehicle according to claim 1, wherein said presenting means includes information about a relative positional relationship between each of said followable traveling vehicles and the host vehicle acquired by said distance measuring means. A plurality of display members for presenting each of the display members, wherein the instruction input means receives an instruction for selecting one of the display members on which the information is presented, and the follow target vehicle determination means A travel control device that selects, as the follow-up target vehicle, a travelable travel vehicle corresponding to one display member selected by the instruction input unit.