JP2002316552A - Running control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly control a car speed, by performing inter-vehicle distance control relating to a virtual preceding vehicle even in the case of undesirable behavior in the preceding vehicle. SOLUTION: An inter-vehicle distance to a preceding ahead vehicle is detected by a laser means 2, a virtual preceding vehicle of an equal car speed to the preceding ahead vehicle is set by a controller 3, smaller one of the target acceleration candidacy relating to a preceding vehicle and that relating to the virtual preceding vehicle is set to the target acceleration, the car speed of a vehicle 1 is controlled, even in the case of undesirable behavior in the preceding vehicle, inter-vehicle distance control relating to the virtual preceding vehicle is performed, and the car speed is smoothly controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle travel control device provided with an inter-vehicle distance control means for deriving an inter-vehicle distance with a preceding vehicle and maintaining a predetermined inter-vehicle distance with the preceding vehicle.

[0002]

2. Description of the Related Art Conventionally, a vehicle has a detecting means for detecting an inter-vehicle distance from a preceding vehicle, and a driving control having an inter-vehicle distance controlling means for automatically controlling a vehicle speed so as to maintain the inter-vehicle distance in a predetermined state. Equipment is being developed.

[0003]

In the conventional traveling control device, the traveling state of the preceding vehicle reflects the traveling state of the own vehicle, so that the traveling state of the preceding vehicle frequently repeats acceleration and deceleration. However, the vehicle may follow the behavior of the preceding vehicle and repeat fine acceleration and deceleration, and the ride comfort may be degraded.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and has been made in consideration of the above situation, and is intended to be used for traveling of a vehicle provided with inter-vehicle distance control means capable of performing smooth inter-vehicle distance control without reflecting undesirable behavior of a preceding vehicle. It is an object to provide a control device.

[0005]

In order to achieve the above object, according to the present invention, a detecting means detects an inter-vehicle distance to a preceding vehicle, and a virtual preceding vehicle setting means detects a virtual preceding vehicle having the same vehicle speed as the preceding vehicle. By setting the smaller of the target acceleration candidate for the preceding vehicle and the target acceleration candidate for the virtual preceding vehicle as the target acceleration and controlling the vehicle speed of the own vehicle, even if the preceding vehicle has unfavorable behavior The inter-vehicle distance control for the virtual preceding vehicle is performed to smoothly control the vehicle speed.

[0006] In this case, it is preferable that the virtual preceding vehicle is set at a rear position in a state where predetermined inter-vehicle distance control is performed on the preceding preceding vehicle. In addition, it is preferable that the detection means use radar means (for example, radio wave radar). By using radio wave radar, the radio wave passes under the floor of the preceding vehicle, so that the detection means is provided at a position where the preceding vehicle cannot be seen. Also, the preceding vehicle and the inter-vehicle distance to the preceding vehicle can be detected.

In the case where the detecting means can be provided at a position where the preceding vehicle can be seen, a laser means or a photographing means such as a camera can be applied as the detecting means. The inter-vehicle distance control means detects the inter-vehicle distance with the preceding vehicle by the detection means, and controls the engine and the transmission based on the inter-vehicle distance information (inter-vehicle distance / relative speed) and the vehicle state and driving operation state. Means for controlling the vehicle speed or the like is applied.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic configuration of a vehicle provided with a travel control device according to an embodiment of the present invention, FIG. 2 is a concept for explaining a virtual preceding vehicle setting, and FIG. The flowchart of control is shown.

As shown in FIG. 1, a vehicle 1, which is a host vehicle, is provided with radar means 2 (for example, a laser radar or a radio wave radar) for detecting a preceding vehicle and a preceding vehicle traveling ahead of the preceding vehicle. The vehicle 1 is provided with a steering wheel angle sensor 8. Radar means 2
And the detection information of the steering wheel angle sensor 8 are input to the controller 3. Further, information from the vehicle speed sensor 4 is input to the controller 3.

By operating a switch 7 provided on a lever or the like, the controller 3 recognizes a preceding vehicle and a preceding vehicle existing on the course of the own vehicle 1 from the surrounding road environment, and also detects the preceding vehicle and the preceding vehicle. Recognize the inter-vehicle distance to the preceding vehicle (detection means). Then, the controller 3 controls the throttle opening so as to maintain (follow) the inter-vehicle time with the preceding vehicle (corresponding to the inter-vehicle distance corresponding to the vehicle speed) based on the inter-vehicle distance with the preceding vehicle. Engine 5
And the shift on the engine 5 side and the operation of the brake actuator 6 to control the vehicle speed.

The controller 3 sets a virtual preceding vehicle behind the preceding vehicle (virtual preceding vehicle setting means), and based on the inter-vehicle distance with the virtual preceding vehicle, the inter-vehicle time with the virtual preceding vehicle (according to the vehicle speed). Controlling the output of the engine 5 and controlling the shift on the engine 5 side by controlling the throttle opening and the like so as to keep (corresponding to the inter-vehicle distance) a predetermined state (to follow up), and also control the operation of the brake actuator 6 To control the vehicle speed.

The controller 3 has a function of calculating a target acceleration candidate for following a preceding vehicle (preceding vehicle target acceleration candidate calculating means) and a function of calculating a target acceleration candidate for following a virtual preceding vehicle ( Virtual preceding vehicle target acceleration candidate calculating means), and the smaller of the preceding vehicle target acceleration candidate calculated by the preceding vehicle target acceleration candidate calculating means and the virtual preceding vehicle target acceleration candidate calculated by the virtual preceding vehicle target acceleration candidate calculating means. A function of selecting and setting a target acceleration (target acceleration setting means) is provided. Then, the vehicle speed of the vehicle 1 is controlled based on the target acceleration set by the target acceleration setting means (control means).

Therefore, even when the preceding vehicle has an unfavorable behavior such as frequent acceleration / deceleration, the vehicle speed can be controlled smoothly by controlling the inter-vehicle distance with respect to the virtual preceding vehicle. Deterioration can be eliminated.

The setting of the virtual preceding vehicle will be described with reference to FIG. FIG. 2 shows a case where the preceding vehicle approaches the preceding vehicle and the virtual preceding vehicle is located behind the preceding vehicle, but the position of the virtual preceding vehicle depends on the behavior of the preceding vehicle. It changes to an arbitrary position with respect to the preceding vehicle.

When the vehicle 1 having the vehicle speed VS is performing the inter-vehicle distance control at the inter-vehicle time ht, the leading vehicle 2 is positioned behind the preceding vehicle 21.
A virtual preceding vehicle 22 having the same vehicle speed as that of the first preceding vehicle 1
1 vehicle speed VP2 = vehicle speed VP0 of virtual preceding vehicle 22). The inter-vehicle distance between the preceding preceding vehicle 21 and the virtual preceding vehicle 22 is the virtual preceding vehicle 22.
When the vehicle speed is VP0, the inter-vehicle distance (ht ×
(VP0: predetermined inter-vehicle distance). When the preceding vehicle 23 is extremely close to the preceding vehicle 21 at the vehicle speed VP1, the virtual preceding vehicle 22 is positioned behind the preceding vehicle 23.

The setting of the virtual preceding vehicle 22 is based on the preceding preceding vehicle 2
Not only at a position at which a predetermined inter-vehicle distance (ht × VP0) is set with respect to the vehicle 1 but also at a fixed distance behind the preceding vehicle 21 irrespective of the vehicle speed, the vehicle speed is divided into a plurality of stages and the vehicle speed is adjusted according to each vehicle speed. It is possible to set a constant stepwise distance.

The situation of the following distance control will be described with reference to FIG.

In step S1, it is determined whether the preceding vehicle 23 has been detected. If it is determined that the preceding vehicle 23 has been detected, it is determined in step S2 whether the preceding vehicle 21 has been detected. If it is determined in step S2 that the preceding vehicle 21 has been detected, a virtual preceding vehicle 22 is set behind the preceding vehicle 21 in step S3 at the same vehicle speed as the preceding vehicle 21 and maintaining a predetermined inter-vehicle distance. . If it is determined in step S1 that the preceding vehicle 23 has not been detected, the process directly returns.

After setting the virtual preceding vehicle 22 in step S3, a target acceleration candidate At1 for following the preceding vehicle 23 and a target acceleration candidate At2 for following the preceding vehicle 21 are calculated in step S4. . Then, step S5
The target acceleration candidate At1 is compared with the target acceleration candidate At2, and the smaller one is set as the target acceleration At. Target acceleration At
Is set, the inter-vehicle distance control is performed in step S6 using the target acceleration At.

On the other hand, if it is determined in step S2 that the preceding vehicle 21 has not been detected, a target acceleration At for following the preceding vehicle 23 is calculated in step S7, and the process proceeds to step S6.

Accordingly, since the inter-vehicle distance control is performed using the smaller target acceleration candidate among the target acceleration candidates for the preceding vehicle 23 and the virtual preceding vehicle 22, the preceding vehicle 23 repeats frequent acceleration / deceleration. Even if such a vehicle is used, or even if the preceding vehicle 23 is suddenly interrupted, smooth inter-vehicle distance control that does not reflect the behavior of the preceding vehicle 23 can be performed. In addition, preceding car 2
Even if the vehicle 3 suddenly decelerates, the target acceleration candidate decreases when the deceleration increases, so that the target acceleration for following is switched to the target acceleration candidate for the preceding vehicle 23, enabling safe control. Become.

It is conceivable that the preceding vehicle 21 repeats frequent acceleration and deceleration. In such a case, however, the preceding vehicle 2
3 decelerates to keep a safe inter-vehicle distance with respect to the preceding vehicle 21, so that the target acceleration candidate At1 for following the preceding vehicle 23 is reduced, and smooth inter-vehicle distance control can be performed.

[0023]

According to the present invention, a virtual preceding vehicle having the same vehicle speed as the preceding vehicle is set by the virtual preceding vehicle setting means by detecting the inter-vehicle distance with the preceding vehicle by the detecting means. Since the smaller of the target acceleration candidates for the virtual preceding vehicle is set as the target acceleration and the vehicle speed of the own vehicle is controlled, the inter-vehicle distance control for the virtual preceding vehicle can be performed even when the preceding vehicle has unfavorable behavior. It is possible to control the vehicle speed smoothly. As a result, safe inter-vehicle distance control can be performed without reducing ride comfort.

[Brief description of the drawings]

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

FIG. 2 is a conceptual diagram illustrating virtual preceding vehicle setting.

FIG. 3 is a flowchart of an inter-vehicle distance control.

[Explanation of symbols]

 Reference Signs List 1 vehicle 2 radar means 3 controller 4 vehicle speed sensor 5 engine 6 brake actuator 7 lever 8 handle angle sensor 21 preceding vehicle 22 virtual preceding vehicle 23 preceding vehicle

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme court ゛ (Reference) F02D 29/02 301 F02D 29/02 301D G08G 1/16 G08G 1/16 E (72) Inventor Yoshihide Nakane Tokyo 3-33-8 Shiba, Tokyo Minato-ku Mitsubishi Motors Corporation F-term (reference) CC12 CC14 LL09

Claims (1)

[Claims] 1. A traveling control device for a vehicle, comprising: inter-vehicle distance control means for controlling the speed of the own vehicle such that the inter-vehicle distance between the own vehicle and a preceding vehicle traveling in the same traveling lane becomes a target inter-vehicle distance. Detecting means for detecting an inter-vehicle distance between the preceding vehicle traveling in front of the preceding vehicle and the host vehicle; and a virtual preceding vehicle which sets the same virtual preceding vehicle behind the preceding vehicle as the vehicle speed of the preceding vehicle. Vehicle setting means, preceding vehicle target acceleration candidate calculating means for calculating a target acceleration candidate for following the preceding vehicle, and virtual preceding vehicle target acceleration candidate calculation for calculating a target acceleration candidate for following the virtual preceding vehicle Means for selecting a smaller one of the preceding vehicle target acceleration candidate calculated by the preceding vehicle target acceleration candidate calculating means and the virtual preceding vehicle target acceleration candidate calculated by the virtual preceding vehicle target acceleration candidate calculating means to set a target acceleration. And a control means for controlling the vehicle speed of the vehicle based on the target acceleration set by the target acceleration setting means.