JP2003048451A - Preceding vehicle follow-up control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress and prevent imparting of a sense of incongruity to a driver when reducing speed of a self-vehicle according to speed reduction of a preceding vehicle. SOLUTION: When a follow-up traveling mode for making the self-vehicle follow the preceding vehicle is set, braking force and driving force are calculated to make an actual inter-vehicle distance L coincide with a target inter- vehicle distance LT by a controller 2 for a follow-up control. When an occupant operates an accelerator pedal 13, the actual driving force is controlled by an engine output control device 11 based on the calculation result. When the occupant operates a brake pedal 10, the actual braking force is controlled by a braking control device 8 based on the calculation result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is subject to a driver's instruction when a follow-up running mode is set.
The present invention relates to a preceding vehicle slave control device that causes a host vehicle to follow a preceding vehicle.

[0002]

2. Description of the Related Art Conventionally, as a preceding vehicle follow-up control device of this type, a device described in, for example, Japanese Patent Laid-Open No. 2000-118261 is known. In this conventional example, when the traffic jam follow-up control mode is set, a method of controlling the electronic throttle and the brake of the engine to make the own vehicle follow the preceding vehicle is disclosed on condition that the driver operates the accelerator pedal. Has been done.

[0003]

However, in the above-mentioned conventional example, the accelerator operation by the driver is a condition.
Since the electronic throttle and brake of the engine are controlled, for example, when accelerating the host vehicle in response to the acceleration of the preceding vehicle, the driver can easily perform follow-up control by depressing the accelerator pedal. However, for example, when decelerating the host vehicle in response to the deceleration of the preceding vehicle, the driver must depress the accelerator pedal, which forces the driver to perform operations that are significantly different from those during normal driving. There was a problem that it gave a feeling of strangeness.

When the driver depresses the accelerator pedal in an attempt to decelerate the vehicle in response to the deceleration of the preceding vehicle and the traffic jam tracking mode is canceled due to a malfunction of the device, There is a problem in that the driver accelerates and approaches the preceding vehicle, which makes the driver feel uncomfortable. Therefore, the present invention has been made by paying attention to the unsolved problems of the above-mentioned conventional techniques, and makes the driver feel uncomfortable when decelerating the host vehicle according to the deceleration of the preceding vehicle. An object of the present invention is to provide a preceding vehicle follow-up control device capable of suppressing and preventing the above.

[0005]

In order to solve the above-mentioned problems, a preceding vehicle following device according to the invention of claim 1 sets a target inter-vehicle distance setting for setting a target inter-vehicle distance between a host vehicle and a preceding vehicle. Means, an inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the own vehicle and the preceding vehicle, and an actual inter-vehicle distance detecting means detecting the inter-vehicle distance to the target inter-vehicle distance set by the target inter-vehicle distance setting means. A braking / driving force calculating means for calculating a braking force and a driving force for matching vehicle-to-vehicle distances, an accelerator pedal operation detecting means for detecting an accelerator pedal operation of an occupant, and a brake pedal operation detecting means for detecting an occupant's brake pedal operation. And that a follow-up running mode is set in which the subject vehicle follows the preceding vehicle, and it is detected by the accelerator pedal operation detecting means that the occupant is operating the accelerator pedal. Further, a driving force control means for controlling the driving force based on the driving force calculated by the braking / driving force calculating means, the following traveling mode are set, and the occupant operates the brake pedal by the brake pedal operation detecting means. Braking force control means for controlling the braking force based on the braking force calculated by the braking / driving force calculation means when it is detected that the vehicle is in the middle.

On the other hand, in order to solve the above-mentioned problems, a preceding vehicle following device according to a second aspect of the present invention includes a target inter-vehicle distance setting means for setting a target inter-vehicle distance between the own vehicle and the preceding vehicle. An inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the vehicle and the preceding vehicle and an actual inter-vehicle distance detected by the inter-vehicle distance detecting means match the target inter-vehicle distance set by the target inter-vehicle distance setting means. A braking / driving force calculating means for calculating a braking force and a driving force for controlling the accelerator pedal operation detecting means for detecting an accelerator pedal operation of an occupant,
Brake pedal operation detection means for detecting the operation of the brake pedal of the occupant, the following traveling mode for following the host vehicle to the preceding vehicle is set, and, when the accelerator pedal operation of the occupant is detected by the accelerator pedal operation detection means, The driving force control means for starting the driving force control based on the driving force calculated by the braking / driving force calculation means, the follow-up traveling mode are set, and the brake pedal operation detecting means controls the brake pedal operation of the occupant. Braking force control means for starting braking force control based on the braking force calculated by the braking / driving force calculation means when detected.

In order to solve the above-mentioned problems, the preceding vehicle follow-up device according to a third aspect of the present invention includes a target inter-vehicle distance setting means for setting a target inter-vehicle distance between the own vehicle and the preceding vehicle. An inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the vehicle and the preceding vehicle and an actual inter-vehicle distance detected by the inter-vehicle distance detecting means match the target inter-vehicle distance set by the target inter-vehicle distance setting means. A braking / driving force calculating means for calculating a braking force and a driving force for controlling the accelerator pedal operation detecting means for detecting an accelerator pedal operation of an occupant,
When the follow-up running mode in which the host vehicle follows the preceding vehicle is set, and when the accelerator pedal operation detecting means detects that the occupant is operating the accelerator pedal, the braking / driving force calculating means calculates the braking / driving force. Driving force control means for controlling the driving force based on the driving force, the following traveling mode is set, and, when it is detected that the occupant is not operating the accelerator pedal by the accelerator pedal operation detecting means, Braking force control means for controlling the braking force based on the braking force calculated by the braking / driving force calculation means.

Further, in order to solve the above-mentioned problems, a preceding vehicle follow-up device according to a fourth aspect of the present invention includes a target inter-vehicle distance setting means for setting a target inter-vehicle distance between the own vehicle and the preceding vehicle. In order to make the inter-vehicle distance detecting means for detecting the actual inter-vehicle distance between the vehicle and the preceding vehicle match the actual inter-vehicle distance detected by the inter-vehicle distance detecting means with the target inter-vehicle distance set by the target inter-vehicle distance setting means. Braking / driving force calculating means for calculating the braking force and driving force of the vehicle, a brake pedal operation detecting means for detecting a brake pedal operation of an occupant, a follow-up running mode for causing the preceding vehicle to follow the host vehicle, and the brake A braking force for controlling the braking force based on the braking force calculated by the braking / driving force calculating unit when the pedal operation detecting unit detects that the occupant is operating the brake pedal. The driving force calculated by the braking / driving force calculating unit when the following mode is set and the occupant is not operating the brake pedal by the brake pedal operation detecting unit. Drive force control means for controlling the drive force based on the above.

According to a fifth aspect of the present invention, in the preceding vehicle following device according to any one of the first to fourth aspects, the target inter-vehicle distance setting means is configured such that the driving force control means controls the driving force. An initial value of the target inter-vehicle distance when starting or when the braking force control means starts controlling the braking force is set to an actual inter-vehicle distance detected by the inter-vehicle distance detecting means.

The invention according to claim 6 is the same as claim 1.
In the preceding vehicle following device according to any one of claims 5 to 5, the target inter-vehicle distance setting means is an accelerator pedal depression amount detecting means for detecting a depression amount of an accelerator pedal, and the accelerator according to the depression amount of the accelerator pedal. Accelerator pedal reaction force generating means for generating a predetermined reaction force to the pedal, the driving force control means, when the accelerator pedal depression amount detected by the accelerator pedal depression amount detecting means exceeds a predetermined value. The braking / driving force calculating means calculates a large driving force, and the accelerator pedal reaction force generating means generates different reaction forces before and after the predetermined value.

Further, the invention according to claim 7 is the invention according to claim 1.
In the preceding vehicle follow-up device according to any one of claims 6 to 6, a brake pedal depression amount detecting means for detecting a depression amount of the brake pedal, and a predetermined reaction force generated in the brake pedal according to the depression amount of the brake pedal. Brake pedal reaction force generating means for causing the braking force control means to control the braking / driving force when the brake pedal depression amount detected by the brake pedal depression amount detecting means exceeds a predetermined value. A large braking force is calculated and
The brake pedal reaction force generating means generates different reaction forces before and after the predetermined value.

[0012]

Therefore, in the preceding vehicle follow-up control device according to the invention of claim 1, when the follow-up traveling mode for causing the preceding vehicle to follow the preceding vehicle is set, the actual vehicle-to-vehicle distance becomes equal to the target vehicle-to-vehicle distance. By calculating the braking force and the driving force for matching, when the occupant is operating the accelerator pedal, while controlling the driving force based on the calculation result, while the occupant is operating the brake pedal, Since the braking force is controlled based on the calculation result,
For example, when decelerating the host vehicle in response to deceleration of the preceding vehicle, the driver has to depress the brake pedal, and the driver may operate in the same manner as during normal driving, which gives the driver a feeling of discomfort. Can be prevented from being suppressed.

Further, even when the driver depresses the brake pedal to decelerate the own vehicle in response to the deceleration of the preceding vehicle, and the following traveling mode is canceled due to a malfunction of the device, the own vehicle is released. Since the vehicle decelerates, it is possible to prevent the driver from feeling uncomfortable. On the other hand, in the preceding vehicle follow-up control device according to the second aspect of the present invention, when the follow-up running mode in which the subject vehicle follows the preceding vehicle is set, the actual inter-vehicle distance is made to match the target inter-vehicle distance. When the occupant operates the accelerator pedal by calculating the braking force and the driving force, the driving force control based on the calculation result is started, and when the occupant operates the brake pedal, the braking force control based on the calculation result is performed. Since it is started, as in the invention according to claim 1, for example, when decelerating the own vehicle in response to deceleration of the preceding vehicle, the driver depresses the brake pedal, which is the same as during normal driving. Therefore, it is possible to prevent the driver from feeling uncomfortable.

Further, as in the invention according to claim 1, when the driver depresses the brake pedal in order to decelerate the own vehicle in response to the deceleration of the preceding vehicle, a malfunction occurs in the device and the following traveling mode. Even if is cancelled, the host vehicle decelerates, so it is possible to prevent the driver from feeling uncomfortable. Further, in the preceding vehicle follow-up control device of the invention according to claim 3, when the follow-up running mode for setting the preceding vehicle to follow the own vehicle is set, the actual inter-vehicle distance is made to match the target inter-vehicle distance. The braking force and the driving force are calculated, while the occupant is operating the accelerator pedal, the driving force is controlled based on the calculation result, and when the occupant is not operating the accelerator pedal,
Since the braking force is controlled based on the calculation result, for example, when decelerating the host vehicle in response to deceleration of the preceding vehicle, the driver does not depress the accelerator pedal, which gives the driver a feeling of discomfort. It can be suppressed and prevented.

Further, even if the driver fails to depress the accelerator pedal in an attempt to decelerate the own vehicle in response to the deceleration of the preceding vehicle, and the following traveling mode is canceled due to a malfunction of the device, The host vehicle does not accelerate, and it is possible to prevent the driver from feeling uncomfortable. Further, in the preceding vehicle follow-up control device according to the invention of claim 4, when the follow-up running mode for causing the preceding vehicle to follow the host vehicle is set, the target inter-vehicle distance is made to match the actual inter-vehicle distance. The braking force and the driving force are calculated, and when the occupant is operating the brake pedal, the braking force is controlled based on the calculation result, and when the occupant is not operating the brake pedal, the calculation result is calculated. Since the driving force is controlled based on the driving force, the driver, like the invention according to claim 1, depresses the brake pedal when decelerating the host vehicle in response to deceleration of the preceding vehicle. It is sufficient to perform the same operation as when driving, and it is possible to prevent the driver from feeling uncomfortable.

Further, similarly to the first aspect of the invention, when the driver depresses the brake pedal in order to decelerate the own vehicle in response to the deceleration of the preceding vehicle, a malfunction occurs in the device and the following traveling mode. Even if is cancelled, the host vehicle decelerates, so it is possible to prevent the driver from feeling uncomfortable. Further, in the preceding vehicle follow-up control device according to the invention of claim 5, the initial value of the target inter-vehicle distance when the control of the driving force or the braking force is set to the actual inter-vehicle distance. When the control and the control of the braking force are switched, the acceleration / deceleration of the host vehicle does not change abruptly, and it is possible to prevent the host vehicle from operating smoothly and preventing the driver from feeling uncomfortable.

Further, in the preceding vehicle following control device according to the invention of claim 6, the driving force is calculated to be large when the accelerator pedal depression amount exceeds a predetermined value, and the accelerator is used before and after the predetermined value. Since different reaction force is generated in the pedal, the operation feeling of the accelerator pedal is improved, the driver can easily adjust the accelerator pedal depression amount based on the pedal reaction force, and the driving force can be adjusted at any timing. Can be large.

Further, in the preceding vehicle follow-up control device according to the invention of claim 7, the braking force is calculated to be large when the depression amount of the brake pedal exceeds a predetermined value, and the braking force is applied before and after the predetermined value. Since different reaction force is generated in the pedal, the operation feeling of the brake pedal is improved,
The driver can easily adjust the brake pedal depression amount based on the pedal reaction force, and can increase the braking force at any timing.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a preceding vehicle following control device according to the present invention will be described below with reference to the drawings. Figure 1
FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention, in which 1FL and 1FR are front wheels as driven wheels and 1R.
L and 1RR are rear wheels as driving wheels, and rear wheels 1R
The L and 1RR are rotationally driven by the driving force of the engine 2 being transmitted through the automatic transmission 3, the propeller shaft 4, the final reduction gear 5, and the axle 6.

Front wheels 1FL, 1FR and rear wheels 1RL, 1R
R is provided with a disc brake 7 as a brake actuator that generates a braking force, and
The braking oil pressure of these disc brakes 7 is controlled by the braking control device 8.
Controlled by. Here, the braking control device 8 generates a braking hydraulic pressure according to the depression amount S2 of the brake pedal 10 detected by the brake pedal stroke sensor 9, and also according to a braking pressure command value from a tracking control controller 20 described later. It is configured to generate a braking hydraulic pressure.

Further, the engine 2 is provided with an engine output control device 11 for controlling the output thereof. The engine output control device 11 includes a depression amount S1 of an accelerator pedal 13 detected by an accelerator pedal stroke sensor 12.
Also, it is configured to control the throttle actuator 14 provided in the engine 2 for adjusting the throttle opening according to the throttle opening command value from the follow-up control controller 20 described later.

On the other hand, in the lower part of the vehicle body on the front side of the vehicle, there is provided an inter-vehicle distance sensor 15 having a radar type structure for sweeping laser light and receiving reflected light from the preceding vehicle. The inter-vehicle distance sensor 15 measures the time from when the laser beam is swept until the reflected light of the preceding vehicle is received to detect the inter-vehicle distance L between the own vehicle and the preceding vehicle, and
The detected value of the inter-vehicle distance L is differentiated to calculate the relative speed ΔV between the own vehicle and the preceding vehicle, and these are output to the follow-up control controller 20. Note that the method of calculating the relative speed ΔV from the inter-vehicle distance L may be changed to a method of differentiating the detection value of the inter-vehicle distance L and, for example, a band bass filter may be used. The inter-vehicle distance sensor 15 may be any one that can detect the inter-vehicle distance L, and may be one that detects the inter-vehicle distance L or the like by using radio waves or ultrasonic waves instead of laser light.

Further, the vehicle is provided with, for example, a vehicle speed sensor 16 which is attached to the propeller shaft 4 and detects the own vehicle speed V based on the rotation speed of the propeller shaft 4. Then, the depression amount S2 of the brake pedal 10 output from the brake pedal stroke sensor 9,
The depression amount S1 of the accelerator pedal 13 output from the accelerator pedal stroke sensor 12 and the inter-vehicle distance sensor 15
The vehicle-to-vehicle distance L and the relative speed ΔV output from the vehicle speed sensor 16 and the vehicle speed V output from the vehicle speed sensor 16 are input to the tracking control controller 20. The follow-up control controller 20 is composed of a discretized digital system such as a microcomputer (not shown), executes a follow-up control process described later, and when the preceding vehicle is captured, the inter-vehicle distance L is changed to the target inter-vehicle distance L ^*. The braking pressure command value and the throttle opening command value to be controlled to are output to the braking control device 8 and the engine output control device 11.

The follow-up control processing according to the present embodiment has a predetermined control cycle (for example, 10) when the follow-up running mode in which the subject vehicle follows the preceding vehicle is set by a switch or the like.
mS) is a process executed as an interrupt process every msec). Specifically, it is a flowchart showing an outline of the procedure of the process. As shown in FIG.
In 100, the inter-vehicle distance L and the relative speed ΔV are read from the inter-vehicle distance sensor 15, and the process proceeds to step S101.

In step S101, the vehicle speed sensor 1
The vehicle speed V is read from 6, and the process proceeds to step S102. In step S102, the depression amount S1 of the accelerator pedal 13 is read from the accelerator pedal stroke sensor 12, and the process proceeds to step S103. In step S103, the depression amount S2 of the brake pedal 10 is read from the brake pedal stroke sensor 9, and the process proceeds to step S104.

In step S104, the depression amount S of the brake pedal 10 read in step S103 is read.
Based on 2, the depression amount S2 of the brake pedal stroke sensor 9 is equal to or less than the threshold value S2 ₀ (S2 ₀ ≧ S2).
2 greater than ₀ (S2> S2 ₀₎ determines whether it has changed, when it is greatly changed (Yes) is directly proceeds to step S106, and when otherwise (No)
Control goes to step S105.

In step S105, the depression amount S of the accelerator pedal 13 read in step S102.
Based on 1, the depression amount S1 of the accelerator pedal stroke sensor 12 was less than or equal to the threshold value S1 ₀ (S1 ₀ ≧ S1), but the depression amount of the accelerator pedal 13 was greater than the threshold value S1 ₀ (S1 ₀ > S1 ₀ ) It is determined whether or not there is a change, and when a large change is made (Yes), the above step S
If not (No), the process proceeds directly to step S107.

In step S106, step S1
The inter-vehicle distance L read in 00 is set to the initial value _Lo ^* of the inter-vehicle distance command value L ^* , and the process proceeds to step S107. In the step S107, calculates the target inter-vehicle distance L _T that varies smoothly from the set initial value L _o ^* at step S106 in the inter-vehicle distance command value L ^*, the actual inter-vehicle distance L to the target inter-vehicle distance L _T Step S to match
The target vehicle speed V ^* is calculated based on the inter-vehicle distance L and the relative speed ΔV read in 100 and the own vehicle speed V read in step S101. As a method for calculating the target vehicle speed V ^* as described above, any method may be used, and for example, it can be calculated by the method described in Japanese Patent Laid-Open No. 2000-135934. In the method described in the above publication, the change amount (L ^* -L) of the inter-vehicle distance command value L ^* is
_o ^* ) is passed through a second-order lag type filter to calculate a smoothly varying target inter-vehicle distance L _T.

In step S108, the depression amount S of the brake pedal 10 read in step S103.
It is determined whether or not 2 is the threshold value S2 ₀ or more (S2 ≧ S2 ₀ ), and when it is the threshold value S2 ₀ or more (Yes).
The process proceeds to step S109, and if not (N
o) Go to step S110. Step S10
In 9, the target vehicle speed V calculated in step S107 is calculated.
^After the braking pressure command value corresponding to the difference between ^* and the vehicle speed V read in step S101 is output to the braking control device 8, the tracking control process is ended.

On the other hand, in step S110, it is determined whether the depression amount S1 of the accelerator pedal 13 read in step S102 is larger than a threshold value S1 ₀ (S1 ≧ S1 ₀ ), and the threshold value S1 ₀ is determined. When larger than (Y
es) The process proceeds to step S111, and if not (No), the follow-up control process is ended as it is. In step S111, a throttle opening command value corresponding to the difference between the target vehicle speed V ^* calculated in step S107 and the vehicle speed V read in step S101 is output to the engine output control device 11, This follow-up control process ends.

Next, the operation of the preceding vehicle following control device of the present embodiment will be described in detail based on a specific situation. First, it is assumed that the driver operates the switch or the like to set the follow-up running mode while trying to make the own vehicle follow the preceding vehicle while coasting on the highway. Then, the follow-up control process is executed by the follow-up control controller 20, first in step S100, the inter-vehicle distance L and the relative speed ΔV are read from the inter-vehicle distance sensor 15, and in step S101, the own vehicle speed V is read from the vehicle speed sensor 16. Read, step S1
02, the depression amount S1 of the accelerator pedal 13 is read from the accelerator pedal stroke sensor 12, and step S
At 103, the depression amount S2 of the brake pedal 10 is read from the brake pedal stroke sensor 9.

Here, it is assumed that when the following traveling mode is set, the preceding vehicle starts accelerating and the driver depresses the accelerator pedal accordingly. Then, step S1
The determination of 04 is “No”, and the step S105
Is "Yes", the inter-vehicle distance L read in step S100 is set to the initial value _Lo ^* of the inter-vehicle distance command value L ^* in step S106, and the step S107 is executed.
In, set initial values L _o ^* is calculated as the target inter-vehicle distance L _T in step S106, so that the vehicle distance L _T to the actual inter-vehicle distance L is matched, that is, maintaining the present inter-vehicle distance L As described above, the target vehicle speed V ^* is calculated based on the inter-vehicle distance L and the relative speed ΔV read in step S100 and the own vehicle speed V read in step S101. Also, because the accelerator pedal 13 is depressed,
The determination in step S108 is “No”, and the determination in step S110 is “Yes”,
At 111, a throttle opening command value corresponding to the difference between the target vehicle speed V ^* calculated at step S107 and the own vehicle speed V read at step S101 is output to the engine output control device 11, and the follow-up control is performed. The process ends.

Then, the engine output control device 11 to which the throttle opening command value is input from the follow-up control controller 20 controls the throttle actuator 14 based on the throttle opening command value to open the throttle of the engine 2. Adjust the degree. In addition, when 10 msec has elapsed after the tracking control process was completed, the tracking control controller 2
At 0, the follow-up control process is executed again, and step S100-
After S104, the determination in step S105 becomes “No”, and in step S107, the target inter-vehicle distance L _T that smoothly changes from the initial value _Lo ^* set in the previous step S106 to the inter-vehicle distance command value L ^* is calculated. , The inter-vehicle distance L and the relative speed ΔV read in step S100 so that the actual inter-vehicle distance L matches the target inter-vehicle distance L _T.
The target vehicle speed V ^* is issued based on the own vehicle speed V read in step S101, and through steps S108 and S110, in step S111, the throttle opening command value according to the target vehicle speed V ^* calculated in step S107. Is output to the engine output control device 11, and the follow-up control process is ended.

Then, the engine output control device 11 to which the throttle opening command value is input from the follow-up control controller 20 controls the throttle actuator 14 based on the throttle opening command value to open the throttle of the engine 2. The vehicle becomes smoother and accelerates smoothly to follow the preceding vehicle. As described above, in the present embodiment, the initial value of the target inter-vehicle distance L _T is set to the actual inter-vehicle distance L. Therefore, when the control of the driving force is started, the inter-vehicle distance command value L
^{Even if *} and the actual inter-vehicle distance L are different, the acceleration / deceleration of the host vehicle does not change rapidly, and the host vehicle can be prevented from operating smoothly and making the driver feel uncomfortable. .

Further, while the follow-up control controller 20 repeatedly executes the above flow to control the driving force, the preceding vehicle starts decelerating, and the driver changes from the accelerator pedal 13 to the brake pedal 10 accordingly. Suppose you stepped on it. Then, in the follow-up control processing executed by the follow-up control controller 20, the determination in step S104 becomes “Yes” through steps S100 to S103, and in step S106, the inter-vehicle distance L read in step S100 is the inter-vehicle distance command. is set to a value L ^* of the initial value L _o ^*,
In step S107, the set initial value L _o ^* at step S106 is calculated as the target inter-vehicle distance L _T, so that its vehicle distance L _T to the actual inter-vehicle distance L is matched, read in step S100 Inter-vehicle distance L and relative speed ΔV, own vehicle speed V read in step S101
The target vehicle speed V ^* is calculated based on. Further, since the brake pedal 10 is stepped on, the determination in step S108 becomes "Yes", and in step S109, the braking pressure command value according to the target vehicle speed V ^* calculated in step S107 is output to the braking control device 8. Then, the follow-up control process is ended.

Then, the braking control device 8 to which the braking pressure command value is input from the follow-up control controller 20 generates a braking hydraulic pressure based on the braking pressure command value and controls the disc brake 7. Also, 1 after the tracking control process is completed.
When 0 msec has elapsed, the follow-up control process is executed again, and through steps S100 to S103, the determinations in steps S104 and S105 are "No", and step S107
Then, the target inter-vehicle distance L _T that smoothly changes from the initial value _Lo ^* set in step S106 to the inter-vehicle distance command value L ^*.
Is calculated and the target inter-vehicle distance L _T is matched with the actual inter-vehicle distance L based on the inter-vehicle distance L and the relative speed ΔV read in step S100 and the own vehicle speed V read in step S101. The vehicle speed V ^* is output, and through step S108, in step S109, a braking pressure command value according to the target vehicle speed V ^* calculated in step S107 is output to the braking control device 8, and the follow-up control processing is completed. To be done.

Then, the braking control device 8 to which the braking pressure command value is input from the follow-up control controller 20 generates the braking hydraulic pressure based on the braking pressure command value, controls the disc brake 7, and the own vehicle Decelerate smoothly and follow the preceding vehicle. As described above, in the present embodiment, when decelerating the host vehicle, the driver operates the brake pedal 10
Therefore, it is sufficient to operate the vehicle in the same manner as during normal driving, and it is possible to prevent the driver from feeling uncomfortable.

When the driver depresses the brake pedal 10 in an attempt to decelerate the host vehicle, even if the following traveling mode is canceled due to a malfunction of the device, the host vehicle will decelerate, so It is possible to prevent the person from feeling uncomfortable. Next, a second embodiment of the preceding vehicle tracking control device of the invention will be described. In this embodiment, when the follow-up running mode is set, the control of the driving force is started on the condition that the accelerator pedal 13 is depressed, and the control of the braking force is performed on the condition that the brake pedal 10 is depressed. Is different from that of the first embodiment.

That is, in the second embodiment, among the follow-up control processing executed by the follow-up control controller 20, as shown in FIG. 3, step S104 of the processing of FIG. 2 of the above-described first embodiment is performed. During S106, step S20
0 and S201 are provided, and step S105
And S106, steps S202 and S203 are provided, and step S108 is replaced by step S
First, except that 204 is provided and step S205 is provided instead of step S110.
The same processing as that of the above embodiment is performed. The processes corresponding to those in FIG. 2 are designated by the same reference numerals, and detailed description thereof will be omitted.

Explaining specifically the different points, first, when the brake pedal 10 is depressed and the determination in step S104 is "Yes", the process proceeds to step S200 to control the driving force. The driving force control flag F1 shown is reset to "0", and the process proceeds to step S201. In step S201, the braking force control flag F2 indicating that the braking force is controlled is set to "1", and then the process proceeds to step S106.

Further, when the accelerator pedal 13 is depressed, the determination in step S104 becomes "No", and
When the determination in step S105 is “Yes”, the process proceeds to step S202, and the driving force control flag F
1 is set to "1" and the process proceeds to step S203. In step S203, the braking force control flag F2
Is set to the reset state of "0", and then the step S1
Move to 06.

On the other hand, in step S204, it is determined whether the braking force control flag F2 is in the set state of "1", and when it is in the set state (Yes), step S1
09, otherwise (No) Step S
Move to 205. In step S205, it is determined whether the driving force control flag F1 is in the set state of "1", and when it is in the set state (Yes), step S1
11. If not (No), the follow-up control process ends.

Next, the operation of the preceding vehicle tsu migration device of the present embodiment will be described in detail based on a specific situation. First,
It is assumed that the driver sets the follow-up traveling mode and depresses the accelerator pedal 13 once while the vehicle is coasting on a highway. Then, through steps S100 to S103, the determination in step S104 becomes “No”, the determination in step S105 becomes “Yes”, and step S20.
In step 2, the driving force control flag F1 is set to "1", and in step S203, the braking force control flag F2 is reset to "0".
After 107, the determination in step S204 becomes “No”, the determination in step S205 becomes “Yes”, and in step S111, the target vehicle speed V ^* calculated in step S107 and the own vehicle speed read in step S101. The throttle opening command value according to the difference from V is output to the engine output control device 11, and this follow-up control processing is ended.

10 ms after the tracking control process is completed
When ec elapses, the follow-up control process is executed again by the follow-up control controller 20, and the determination in step S105 is “No” through steps S100 to S104. However, the determination in step S205 is performed after step S107 and step S204. Becomes "Yes", and step S1 is executed again.
11, the target vehicle speed V calculated in step S107
A throttle opening command value corresponding to the difference between ^* and the vehicle speed V read in step S101 is output to the engine output control device 11, and this follow-up control processing is ended.

Further, it is assumed that the preceding vehicle starts decelerating while the follow-up control controller 20 repeatedly executes the above flow to control the driving force, and accordingly the driver depresses the brake pedal once. . Then, through steps S100 to S103, the determination in step S104 becomes "Yes", and in step S200, the driving force control flag F1 is reset to "0", and in step S2.
In step 01, the braking force control flag F2 is set to "1", and after steps S106 and S107, the determination in step S204 becomes "Yes", and step S109.
Then, the braking force command value corresponding to the difference between the target vehicle speed V ^* calculated in step S107 and the vehicle speed V read in step S101 is output to the braking control device 8, and the follow-up control processing is ended. It

10 ms after the tracking control process is completed
When ec elapses, the follow-up control process is executed again by the follow-up control controller 20, and the determinations in steps S104 and S105 are “No” through steps S100 to S103.
However, after step S107, step S204
Is “Yes”, and again in step S109,
A braking force command value corresponding to the difference between the target vehicle speed V ^* calculated in step S107 and the own vehicle speed V read in step S101 is output to the braking control device 8, and the follow-up control processing is ended.

As described above, in the present embodiment, when decelerating the host vehicle, the driver is forced to brake the brake pedal 10.
Therefore, it is sufficient to operate the vehicle in the same manner as during normal driving, and it is possible to prevent the driver from feeling uncomfortable. Further, when the driver depresses the brake pedal 10 in an attempt to decelerate the own vehicle, even if the following traveling mode is canceled due to a malfunction of the device, the own vehicle will decelerate, and the driver feels uncomfortable. Can be prevented from being suppressed.

Next, a third embodiment of the preceding vehicle tracking control system of the invention will be described. In this embodiment, when the follow-up running mode is set, the accelerator pedal 1
The third embodiment is different from the first embodiment in that the control of the driving force is started on the condition that 3 is depressed and the control of the braking force is started on the condition that the foot is withdrawn from the accelerator pedal 13.

That is, in the third embodiment, of the follow-up control processing executed by the follow-up control controller 20, as shown in FIG. 3, steps S103 and S103 of the processing of FIG. 2 of the first embodiment described above are performed. Instead of S104, based on the depression amount S1 of the accelerator pedal 13 read in step S102, the depression amount S1 of the accelerator pedal 13 that is larger than the threshold value S1 ₀ (S1> S1 ₀ ), the threshold value S1 _It is determined whether or not the value has changed to ₀ or less (S1 ₀ ≧ S1). If the value has changed (Yes), the process proceeds to step S106, and if not (No), step S300 is provided, which proceeds to step S105, and step S108. And S110 instead of step S10
Based on the depression amount S1 of the accelerator pedal 13 read in step 2, the depression amount S1 of the accelerator pedal 13 is equal to the threshold value S.
1 greater than _zero (S1> S1 ₀₎ whether judgment, when large shifts to (Yes) step S111, the otherwise, except that provided is step S301 to shift to (No) Step S109 is The same processing as in the first embodiment is performed. The processes corresponding to those in FIG. 2 are designated by the same reference numerals, and detailed description thereof will be omitted.

Next, the operation of this embodiment will be described in detail based on a specific situation. First, it is assumed that the driver sets the follow-up traveling mode and depresses the accelerator pedal 13 while coasting on a highway. Then, step S
After 100 to S102, the determination in step S300 is “No”, and the determination in step S105 is “Y”.
es ”, and through steps S106 and S107,
The determination in step S301 becomes “Yes”, and in step S111, the target vehicle speed V ^* calculated in step S107 and the own vehicle speed V read in step S101.
The throttle opening command value according to the difference between the following is output to the engine output control device 11, and the follow-up control process is ended.

While the follow-up controller 20 repeatedly executes the above flow to control the driving force, the preceding vehicle starts decelerating, and accordingly the driver withdraws his / her foot from the accelerator pedal 13. To do. Then, through steps S100 to S102, the determination in step S300 becomes "Yes", through steps S106 and S107, the determination in step S301 becomes "No", and in step S109, the target vehicle speed V calculated in step S107. A braking force command value corresponding to the difference between ^* and the vehicle speed V read in step S101 is output to the braking control device 8, and this follow-up control processing is ended.

As described above, in the present embodiment, when decelerating the host vehicle, the driver does not press the accelerator pedal 13
Therefore, it is possible to prevent the driver from feeling uncomfortable as he / she has to withdraw his / her foot from the vehicle, and to operate in the same manner as during normal driving. Further, when the driver withdraws his / her foot from the accelerator pedal 13 in an attempt to decelerate the own vehicle, the own vehicle will not accelerate even if the following traveling mode is canceled due to a malfunction of the device. Therefore, it is possible to prevent the driver from feeling uncomfortable.

Next, a fourth embodiment of the preceding vehicle following control system of the invention will be described. In this embodiment, when the follow-up running mode is set, the brake pedal 1
The first point is that the control of the braking force is started on the condition that 0 is stepped on, and the control of the driving force is started on the condition that the foot is withdrawn from the brake pedal 10.
Is different from the above embodiment.

That is, in the fourth embodiment, for follow-up control
Of the follow-up control processing executed by the controller 20,
5, the process of FIG. 2 of the first embodiment described above.
The step S102 in
Read in step S103 instead of step S105.
Based on the depressed amount S2 of the brake pedal 10, the threshold
Value S2₀Depression amount of brake pedal 10 that was larger
S2 is (S2> S2₀), Threshold S2₀Below (S2₀≧
It is determined whether or not it has changed to S2), and when it has changed,
(Yes) When the process proceeds to step S106 and is not
(No) Step S4 to move to Step S107
00 is provided, and the steps S108 and S1 are performed.
10 instead of the block read in step S103.
Based on the depression amount S2 of the rake pedal 10, the brake pedal
The depression amount S2 of the dull 10 is the threshold value S2. ₀Greater than (S
2> S2₀) Or not, and if it is larger (Yes)
The process proceeds to step S109, and if not (N
o) Step S401 is set to move to step S111.
The same processing as in the first embodiment except that
Do the work. The processes corresponding to those in FIG.
However, detailed description thereof is omitted.

Next, the operation of this embodiment will be described in detail based on a specific situation. First, it is assumed that the driver sets the follow-up traveling mode and retreats from the brake pedal 10 while coasting on a highway. Then, through steps S100 to S107, the determination in step S401 becomes “No”, and in step S111, the above-mentioned step S
The target vehicle speed V ^* calculated in 107 and step S10 described above.
The throttle opening command value corresponding to the difference from the vehicle speed V read in 1 is output to the engine output control device 11, and this follow-up control processing is ended.

Then, the engine output control device 11 to which the throttle opening command value is input from the follow-up control controller 20 controls the throttle actuator 14 based on the throttle opening command value to open the throttle of the engine 2. The vehicle becomes smoother and accelerates smoothly to follow the preceding vehicle. In addition, the tracking control controller 2
It is assumed that the preceding vehicle starts decelerating and the driver depresses the brake pedal 10 accordingly while the driving force is being controlled by repeatedly executing the above flow. Then,
After steps S100 to S103, step S104
Is "No", the determination in step S400 is "Yes", the determinations in step S401 are "Yes" through steps S106 and S107, and the target vehicle speed V ^* calculated in step S107 is determined in step S109 ^. And a braking force command value corresponding to the difference between the vehicle speed V read in step S101 and the vehicle speed V is output to the braking control device 8, and the follow-up control process is ended.

As described above, in the present embodiment, when decelerating the host vehicle, the driver does not use the brake pedal 10
Therefore, it is sufficient to operate the vehicle in the same manner as during normal driving, and it is possible to prevent the driver from feeling uncomfortable. Further, when the driver depresses the brake pedal 10 in order to decelerate the own vehicle, even if the following traveling mode is canceled due to a malfunction of the device, the own vehicle does not accelerate, It is possible to prevent the driver from feeling uncomfortable.

By the way, in the above embodiment,
The accelerator pedal stroke sensor 12 is used to
The amount of depression S1 of the pedal 13 is detected, and the value is the threshold value.
S1 ₀An example of controlling the driving force when
However, it is not limited to this.
When the pedal 13 is depressed shallowly, the accelerator pedal 13
The stepping amount S1 of the first threshold S1₁Greater than and
Second threshold S1₂Below (S1₁<S1 ≦ S1₂)
Target vehicle speed V^*And the vehicle speed V
The throttle opening command value is output, and the accelerator pedal 13
When the pedal is deeply depressed, the depression amount S1 becomes the second threshold value S1.₂
Greater than (S1₂<S1), throttle opening
Calculate a large command value to generate a large driving force.
You may In this way, the generated driving force is
S1₂The second threshold when changing before and after
Value S1₂Different reaction force is applied to the accelerator pedal 13 before and after
Use the pedal reaction force generator to generate the accelerator pedal
If the operation feeling of 13 is improved, the driver can
Based on this, easily adjust the depression amount S1 of the accelerator pedal 13.
The driving force can be increased at any timing.
be able to.

[0059] Similarly, by detecting the depression amount S2 of the brake pedal 10 by the driver at the brake pedal stroke sensor 9, the value shows an example for controlling the braking force when larger than the threshold value S2 ₀ However, the present invention is not limited to this, and, for example, the brake pedal 10 is depressed shallowly, the depression amount S2 of the brake pedal 10 is larger than the first threshold value S2 ₁ , and the second threshold value is When S2 ₂ or less (S2 ₁ <S2 ≦ S2 ₂ ), the throttle opening command value is output according to the difference between the target vehicle speed V ^* and the host vehicle speed V, and the brake pedal 10 is deeply depressed and stepped on. Quantity S
2 is larger than the second threshold value S2 ₂ , (S1 ₂ <
S1), a large throttle opening command value may be calculated to generate a large braking force. Thus, when changing the braking force generated before and after the second threshold S2 ₂ is pedal reaction force generating for generating a different reaction force to the brake pedal 10 before and after the second threshold S2 ₂ If the operation feeling of the brake pedal 10 is improved by using the device, the driver can operate the brake pedal 1 based on the pedal reaction force.
The depression amount S2 of 0 can be easily adjusted, and the braking force can be increased at any timing. As a method of configuring the pedal reaction force control device, the accelerator pedal 1
3 and the pedal reaction force of the brake pedal 10 can be adjusted, and can be configured by, for example, the technique described in Japanese Patent Laid-Open No. 2001-151091.

In the above embodiment, the target inter-vehicle distance setting means corresponds to step S107, the inter-vehicle distance detecting means corresponds to the inter-vehicle distance sensor 15, and the braking / driving force calculating means corresponds to steps S109 and S111. The accelerator pedal operation detecting means and the accelerator pedal depression amount detecting means correspond to the accelerator pedal stroke sensor 12, and the brake pedal operation detecting means and the brake pedal depression amount detecting means correspond to the brake pedal stroke sensor 9.
The driving force control means corresponds to the engine output control device 11,
The braking force control means corresponds to the braking control device 8.

Further, the above-mentioned embodiment shows an example of the preceding vehicle following control device of the present invention, and does not limit the configuration of the device. For example, in the above embodiment, the case where the present invention is applied to a rear-wheel drive vehicle has been described, but the present invention can also be applied to a front-wheel drive vehicle, and a case where the engine 2 is applied as a rotary drive source will be described. However, the present invention is not limited to this, and an electric motor can be applied, and further, the present invention can be applied to a hybrid vehicle using an engine and an electric motor.

Further, in the above embodiment, the case where the laser radar is applied as the inter-vehicle distance sensor 15 has been described, but the present invention is not limited to this, and a millimeter wave radar may be applied, and a CCD is further used. You may make it image-process the image pick-up of the used stereo camera and ask for a following distance. Furthermore, a case has been described in which the tracking control controller 20 is configured by a discrete digital system such as a microcomputer, but the present invention is not limited to this, and electronic circuits such as a function generator, a comparator, and a computing unit. You may make it comprise combining.

Further, an example has been shown in which the accelerator pedal stroke sensor 12 detects the amount S1 of depression of the accelerator pedal 13 by the driver to determine whether or not the driver is depressing the accelerator pedal 13, but the present invention is not limited to this. Instead of this, an accelerator pedal switch or the like may be applied. Similarly, an example has been shown in which the brake pedal stroke sensor 9 detects the depression amount S2 of the driver's brake pedal 10 to determine whether or not the driver has depressed the brake pedal 10, but the present invention is not limited to this. Not something
For example, a brake pedal switch or the like may be applied.

[0064] In addition, the vehicle-to-vehicle distance L at the start of the control of the driving force or the braking force is set to the inter-vehicle distance command value L ^* of the initial value L _o ^*, the initial value L _o vehicle-to-vehicle distance command value from ^* L ^* Although an example of calculating a target inter-vehicle distance L _T that varies smoothly in as long as it can suppress the rapid change of the target inter-vehicle distance L _T, for example, the target inter-vehicle distance L _T and the target inter-vehicle distance change amount, acceleration You may make it set a limit to speed etc.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of a preceding vehicle tracking control device of the invention.

FIG. 2 is a flowchart showing a specific example of follow-up control processing executed by the follow-up control controller of FIG.

FIG. 3 is a flowchart corresponding to the follow-up control process of FIG. 2 of the first embodiment in the second embodiment.

FIG. 4 is a flowchart corresponding to the follow-up control process of FIG. 2 of the first embodiment in the third embodiment.

FIG. 5 is a flowchart corresponding to the follow-up control process of FIG. 2 of the first embodiment in the fourth embodiment.

[Explanation of symbols]

1FL and 1FR are front wheels 1RL and 1RR are rear wheels 2 is the engine 7 is a disc brake 8 is a braking control device 9 is a brake pedal stroke sensor 10 is a brake pedal 11 is an engine output control device 12 is an accelerator pedal stroke sensor 13 is an accelerator pedal 14 is a throttle actuator 15 is an inter-vehicle distance sensor 20 is a controller for tracking control

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) F02D 29/02 301 F02D 29/02 301D F term (reference) 3D041 AA41 AB01 AC01 AC26 AD10 AD41 AD46 AD51 AE04 AE41 AF01 3D044 AA38 AB01 AC16 AC24 AC26 AC59 AD04 AD21 AE21 3D046 BB18 CC02 GG02 HH02 HH05 HH20 HH22 JJ01 3G093 AA01 BA23 CB10 DA06 DB05 DB15 DB16 EA09 EB04 FA04

Claims (7)

[Claims] 1. A target inter-vehicle distance setting means for setting a target inter-vehicle distance between the host vehicle and the preceding vehicle, and an inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the own vehicle and the preceding vehicle. A braking / driving force calculating means for calculating a braking force and a driving force for matching an actual inter-vehicle distance detected by the inter-vehicle distance detecting means with a target inter-vehicle distance set by the target inter-vehicle distance setting means, and an accelerator pedal of an occupant. An accelerator pedal operation detecting means for detecting an operation, a brake pedal operation detecting means for detecting a brake pedal operation of an occupant, a follow-up traveling mode for causing the own vehicle to follow the preceding vehicle are set, and the accelerator pedal operation detecting means is used. Driving force control means for controlling the driving force based on the driving force calculated by the braking / driving force calculating means when it is detected that the occupant is operating the accelerator pedal; When the following traveling mode is set and the brake pedal operation detecting means detects that the occupant is operating the brake pedal, the braking force is calculated based on the braking force calculated by the braking / driving force calculating means. A preceding vehicle slave control device comprising: braking force control means for controlling power. 2. A target inter-vehicle distance setting means for setting a target inter-vehicle distance between the host vehicle and the preceding vehicle, and an inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the own vehicle and the preceding vehicle. A braking / driving force calculating means for calculating a braking force and a driving force for matching an actual inter-vehicle distance detected by the inter-vehicle distance detecting means with a target inter-vehicle distance set by the target inter-vehicle distance setting means, and an accelerator pedal of an occupant. An accelerator pedal operation detecting means for detecting an operation, a brake pedal operation detecting means for detecting a brake pedal operation of an occupant, a follow-up traveling mode for causing the own vehicle to follow the preceding vehicle are set, and the accelerator pedal operation detecting means is used. A driving force control means for starting driving force control based on the driving force calculated by the braking / driving force calculation means when an accelerator pedal operation of an occupant is detected; The driving mode is set, and
Braking force control means for starting the braking force control based on the braking force calculated by the braking / driving force calculation means when the brake pedal operation detection means detects the brake pedal operation by the occupant. A characteristic preceding vehicle slave control device. 3. A target inter-vehicle distance setting means for setting a target inter-vehicle distance between the own vehicle and the preceding vehicle, and an inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the own vehicle and the preceding vehicle. A braking / driving force calculating means for calculating a braking force and a driving force for matching an actual inter-vehicle distance detected by the inter-vehicle distance detecting means with a target inter-vehicle distance set by the target inter-vehicle distance setting means, and an accelerator pedal of an occupant. When an accelerator pedal operation detecting means for detecting an operation and a follow-up running mode for causing the preceding vehicle to follow the own vehicle are set, and it is detected by the accelerator pedal operation detecting means that the occupant is operating the accelerator pedal. A driving force control means for controlling the driving force based on the driving force calculated by the braking / driving force calculating means, the follow-up traveling mode is set, and the accelerator pedal operation detection Braking force control means for controlling the braking force based on the braking force calculated by the braking / driving force calculation means when it is detected by the means that the occupant is not operating the accelerator pedal. A characteristic preceding vehicle slave control device. 4. A target inter-vehicle distance setting means for setting a target inter-vehicle distance between the own vehicle and the preceding vehicle, and an inter-vehicle distance detecting means for detecting an actual inter-vehicle distance between the own vehicle and the preceding vehicle. The braking / driving force calculation means for calculating the braking force and the driving force for matching the actual inter-vehicle distance detected by the inter-vehicle distance detection means with the target inter-vehicle distance set by the target inter-vehicle distance setting means, and the occupant's brake pedal operation When the brake pedal operation detecting means for detecting and the following traveling mode for causing the preceding vehicle to follow the preceding vehicle are set, and when it is detected by the brake pedal operation detecting means that the occupant is operating the brake pedal, A braking force control means for controlling the braking force based on the braking force calculated by the braking / driving force calculation means, the following traveling mode is set, and the brake pedal operation detection means And a driving force control unit that controls the driving force based on the driving force calculated by the braking / driving force calculation unit when it is detected that the occupant is not operating the brake pedal. The preceding vehicle slave control device. 5. The target inter-vehicle distance setting means sets an initial value of the target inter-vehicle distance when the driving force control means starts controlling the driving force or when the braking force control means starts controlling the braking force. The preceding vehicle following control device according to any one of claims 1 to 4, wherein an actual inter-vehicle distance detected by the inter-vehicle distance detecting means is set. 6. An accelerator pedal depression amount detecting means for detecting the depression amount of the accelerator pedal, and an accelerator pedal reaction force generating means for generating a predetermined reaction force on the accelerator pedal according to the depression amount of the accelerator pedal. The driving force control means, when the accelerator pedal depression amount detected by the accelerator pedal depression amount detecting means exceeds a predetermined value, the braking / driving force calculating means calculates a large driving force, and the accelerator pedal The preceding vehicle following control device according to any one of claims 1 to 5, wherein the reaction force generation means generates different reaction forces before and after the predetermined value. 7. A brake pedal depression amount detecting means for detecting a depression amount of the brake pedal, and a brake pedal reaction force generating means for generating a predetermined reaction force on the brake pedal according to the depression amount of the brake pedal. The braking force control means calculates a large braking force by the braking / driving force calculation means when the brake pedal depression amount detected by the brake pedal depression amount detection means exceeds a predetermined value, and the brake pedal 7. The preceding vehicle following control device according to claim 1, wherein the reaction force generation means generates different reaction forces before and after the predetermined value.