JP2003312308A - Device and method of running control for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device of running control for a vehicle, capable of easily and speedily changing the distance between the vehicle and a preceding vehicle to an appropriate distance and easily returning the distance to a previously set vehicle distance while running after the preceding vehicle. <P>SOLUTION: The device of running control for a vehicle comprises a vehicle distance sensor 1, a vehicle speed sensor 2, a fixed vehicle distance signal input means 5 for generating a setting signal for setting a target distance between vehicles, a variable vehicle distance signal input means 6 for generating a release signal for releasing the maintained target distance between vehicles, and a control means 9 for controlling the distance to the preceding vehicle in the fixed vehicle distance mode or in the variable vehicle distance mode according to the sensors and signals inputted from the input means. The control means 9 controls the running of the vehicle in the fixed vehicle distance mode in which the distance between vehicles is controlled to the target vehicle distance based on a previously stored fixed vehicle distance coefficient when a signal is inputted from the fixed vehicle distance signal input means 5. On the other hand, the control means 9 controls the running of the vehicle in the variable vehicle distance mode in which the vehicle distance coefficient corresponding to the distance between vehicles operated by the driver is operated one by one when a signal is inputted from the variable vehicle distance signal input means 6. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle running control device capable of performing follow-up running in accordance with a driver's driving feeling, and a control method therefor.

[0002]

2. Description of the Related Art In order to improve operability and ensure safety when a vehicle is running, automation of vehicle operation is being promoted. For example, as disclosed in Japanese Patent Application Laid-Open No. 60-215432, when there is no other vehicle traveling in front of the traveling lane, the driver cruises at a constant speed at a vehicle speed preset by the driver and the traveling lane. When there is another vehicle traveling ahead of the vehicle, the vehicle traveling control device for following the vehicle while following the vehicle while maintaining the inter-vehicle distance to the preceding vehicle at a safe distance is one of them.

When performing follow-up running using such a device, if the inter-vehicle distance from the preceding vehicle is determined only by the vehicle speed, the driver may feel uncomfortable. That is,
Depending on the road conditions (curvature, weather, etc.) and the type of preceding vehicle, it may be possible to keep the distance between vehicles longer, or conversely to shorten the distance between them, to provide mental stability and to drive safely. For this reason, for example, Japanese Patent Application Laid-Open No. 7-17221 discloses a technique of follow-up running that allows a driver to adjust the inter-vehicle distance.

Since the adjustment of the inter-vehicle distance is performed while the vehicle is running, it must be performed accurately and quickly. For this purpose, the above-mentioned publication, Japanese Patent Laid-Open No. 7-17.
In the 2211 publication, an approach switch for changing the inter-vehicle distance to the approaching direction and a separation switch for changing the separating direction to the separating direction are provided, and by turning ON / OFF these switches, the vehicle speed is changed to a predetermined value to approach or separate. Then, the inter-vehicle distance at that time is set as the target inter-vehicle distance by turning off the switch, and the predetermined value for changing the vehicle speed is changed according to the inter-vehicle distance with the preceding vehicle, or at the beginning of the operation, relative to the preceding vehicle. A technique is disclosed that speeds up the adjustment of the inter-vehicle distance by increasing the speed and then controlling the speed to be small.

[Problems to be Solved by the Invention]

In this way, the inter-vehicle distance during follow-up traveling is set by the driver's operation, but the inter-vehicle distance changing operation is performed by two ON / OFF switches, which is unsuitable as an operation for traveling control. There are various aspects. In other words, a situation in which the inter-vehicle distance is changed in response to a change in the curvature of the road or an interruption of a different vehicle type while traveling can occur relatively frequently. It is a different operation from other driving operations and increases mental fatigue. As a matter of course, the operability is better when the accelerator pedal or the brake pedal is operated rather than the switch operation, and quick response is possible. From such an idea, JP 2000
Japanese Patent Laid-Open No. 118261 discloses a technique of turning on / off a switch by operating an accelerator pedal during follow-up travel during traffic jam.

Further, the inter-vehicle distance at the time of following traveling varies depending on the individuality of the driver, but the inter-vehicle distance at the time of normal traveling for each driver is almost constant sensuously, and the curvature of the road and other factors. Even if the inter-vehicle distance is temporarily changed due to a change in the environment such as a car interruption, it is normal to return to the original inter-vehicle distance when the environmental condition returns. When returning to the original distance, it is necessary to perform the same operation as when changing to reset the distance between vehicles, so once the environment changes, the distance between vehicles will be changed twice. Resetting while determining the inter-vehicle distance is not only troublesome, but also difficult to perform the operation quickly.

The present invention has been made in order to solve such a problem, and it is possible to quickly and easily change to an appropriate inter-vehicle distance at the time of follow-up running, and the preset inter-vehicle distance is set. An object of the present invention is to obtain a vehicle travel control device that can easily return to a distance and a control method thereof.

[Means for Solving the Problems]

The vehicle travel control device according to the present invention is
An inter-vehicle distance sensor that detects the inter-vehicle distance to the preceding vehicle, a vehicle speed sensor that detects the own vehicle speed, a fixed inter-vehicle distance signal input unit that generates a target inter-vehicle distance setting signal, and a signal that cancels the maintenance of the target inter-vehicle distance. Variable inter-vehicle distance signal input means for generating, and a control means for controlling the inter-vehicle distance to the preceding vehicle in a fixed inter-vehicle distance mode by inputting signals from each of these sensors and each signal input means, or variable inter-vehicle distance mode. The vehicle travels in the fixed inter-vehicle distance mode in which the control means maintains the inter-vehicle distance at a fixed inter-vehicle distance based on the own vehicle speed and a pre-stored fixed inter-vehicle distance coefficient when a signal is input from the fixed inter-vehicle distance signal input means. And a variable inter-vehicle distance mode that sequentially calculates a inter-vehicle distance coefficient corresponding to the inter-vehicle distance by the driver's operation when a signal is input from the variable inter-vehicle distance signal input means. In is obtained so as to control the running of the vehicle.

An inter-vehicle distance sensor for detecting an inter-vehicle distance to a preceding vehicle, a vehicle speed sensor for detecting an own vehicle speed, and a target inter-vehicle distance returning signal input means for generating a signal for returning the inter-vehicle distance to the target inter-vehicle distance, The target vehicle-to-vehicle distance setting signal input means for updating the set value of the target vehicle-to-vehicle distance, and the control means for controlling the vehicle-to-vehicle distance to the preceding vehicle by inputting signals from these sensors and signal input means are provided. Means
While traveling in the variable inter-vehicle distance mode, the inter-vehicle distance coefficient corresponding to the inter-vehicle distance operated by the driver is sequentially calculated, and the inter-vehicle distance coefficient at the time of signal input is targeted by the signal input from the target inter-vehicle distance setting signal input means. It is set as an inter-vehicle distance coefficient, and when there is a signal input from the target inter-vehicle distance restoration signal input means, the inter-vehicle distance is controlled to the target inter-vehicle distance based on the target inter-vehicle distance coefficient.

Further, when the driver finishes the operation while traveling at the inter-vehicle distance by the operation of the driver, the inter-vehicle distance is controlled by the inter-vehicle distance coefficient at the time of ending the operation. Furthermore, the vehicle has a manual operation means for controlling the own vehicle speed and the acceleration / deceleration of the own vehicle, and an inter-vehicle distance coefficient that is sequentially calculated during traveling by the driver's operation changes the inter-vehicle distance by the operation of the manual operation means. It is adapted to be updated in response to. Further, the manual operation means is an accelerator means for controlling the throttle opening of the vehicle and a braking means for operating the brake.

Further, when the inter-vehicle distance sensor does not detect the preceding vehicle, the vehicle is provided with a constant speed traveling control means for traveling at a set vehicle speed, and when the braking means is operated during traveling in a mode other than the variable inter-vehicle distance mode. In addition to the control being interrupted, the control is not interrupted even when the braking means is operated during traveling in the variable inter-vehicle distance mode. Furthermore, when the inter-vehicle distance sensor does not detect the preceding vehicle, the vehicle is provided with a constant speed traveling control means for traveling at a set vehicle speed, and when the inter-vehicle distance sensor recognizes the preceding vehicle within a predetermined inter-vehicle distance, the target inter-vehicle distance is reached. Is calculated to shift to the following traveling mode.

Further, the vehicle is provided with a constant speed traveling control means for traveling at a set vehicle speed when the inter-vehicle distance sensor does not detect the preceding vehicle, and the set speed during the constant speed traveling control and the following distance between the following traveling vehicles are provided. It is controlled by a manual control means. Furthermore, the minimum limit value of the inter-vehicle distance coefficient corresponding to the minimum value of the inter-vehicle distance is set,
In the variable inter-vehicle distance mode, when the inter-vehicle distance decreases and becomes equal to or less than the minimum value of the inter-vehicle distance, the control means maintains the minimum limit value of the inter-vehicle distance coefficient to control the inter-vehicle distance. Furthermore, while traveling in the variable inter-vehicle distance mode, there is provided means for replacing the inter-vehicle distance coefficient with a fixed inter-vehicle distance coefficient or a target inter-vehicle distance coefficient by a predetermined operation by the driver.

Further, according to the vehicle traveling control method of the present invention, the vehicle speed, the inter-vehicle distance to the preceding vehicle, and the following distance during following traveling,
The relative speed with respect to the preceding vehicle is detected from the change in the following distance, and in the fixed following distance mode, the following distance control is performed by calculating and setting the following distance from the preset fixed following distance coefficient and the own vehicle speed. In the variable inter-vehicle distance mode, the follow-up traveling control in the fixed inter-vehicle distance mode is interrupted to perform the accelerator operation, or the inter-vehicle distance coefficient corresponding to the change in the inter-vehicle distance with the preceding vehicle due to the brake operation is sequentially calculated, and the accelerator operation is performed. Alternatively, when the brake operation is completed, the inter-vehicle distance is controlled by the inter-vehicle distance coefficient at the end of the operation, and the fixed inter-vehicle distance mode is restored by a predetermined operation.

Further, the driver's operation replaces the value of the inter-vehicle distance coefficient calculated during traveling in the variable inter-vehicle distance mode at the time of operation as the fixed inter-vehicle distance coefficient used during traveling in the fixed inter-vehicle distance mode. It was done. Furthermore, when traveling in the fixed inter-vehicle distance mode, at least when the brake operation is detected, the control in the fixed inter-vehicle distance mode is interrupted, and in the variable inter-vehicle distance mode, the control is not interrupted even when the brake operation is detected. It was done like this. Further, a limit value is set for the inter-vehicle distance coefficient in the variable inter-vehicle distance mode, and the minimum value is set for the inter-vehicle distance to the preceding vehicle by this limit value.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1. 1 to 4
1 is a block diagram for explaining a vehicle travel control device and a control method according to Embodiment 1 of the present invention, FIG. 1 is a block diagram showing a configuration, and FIGS. 2 to 4 are flowcharts for explaining the operation. In the block diagram of FIG. 1, an inter-vehicle distance sensor 1 as an inter-vehicle distance detecting means uses, for example, a CCD camera or a radio wave radar or a laser radar for detecting a preceding vehicle and measuring an inter-vehicle distance. It is provided in the front part of the. Also, the vehicle speed sensor 2
Is used as a vehicle speed detecting means, and the system switch 3 switches ON / OFF of the system.

The control lever 4 is used for setting the vehicle speed during constant-speed traveling and for adjusting the inter-vehicle distance during follow-up traveling, and is provided in the driver's seat of the vehicle together with the system switch 3. In addition to the above, the driver's seat of the vehicle is provided with fixed inter-vehicle distance signal input means 5 (switch etc.) for switching to the fixed inter-vehicle distance mode and variable inter-vehicle distance signal input means 6 (switch etc.) for switching to the variable inter-vehicle distance mode. There is. Further, a brake pedal, which is a braking means of the vehicle, is provided with a brake switch 7 for detecting ON / OFF of a brake operation, and an accelerator means is provided with an accelerator opening sensor 8 for detecting an accelerator opening in cooperation with the accelerator pedal. The output signals of these sensors and switches are input to the ECU 9 serving as control means.

The ECU 9 controls the traveling of the vehicle and outputs an alarm as described later by these input signals, and the control output signal is the throttle actuator 1.
0, or output to the brake actuator 11,
A display device provided in the driver's seat for controlling the traveling state of the vehicle and indicating whether the current control is vehicle speed control or inter-vehicle distance control, or whether the control is a fixed inter-vehicle distance mode or a variable inter-vehicle distance mode. 12 is displayed, and the alarm device 13 is configured to give an alarm, for example, when the inter-vehicle distance falls below an allowable range. Further, the relative speed between the own vehicle and the preceding vehicle is calculated from the temporal change of the inter-vehicle distance.

The control contents of the ECU 9 will be described below with reference to the flow charts of FIGS.
In FIG. 2, when the system switch 3 is turned on and the operation of the system is started, first in step 201, the inter-vehicle distance sensor 1 determines whether or not a preceding vehicle exists within a predetermined inter-vehicle distance range. When the preceding vehicle is not detected within the predetermined range, the routine proceeds to step 202, where it is determined whether the brake pedal is operated, and if it is determined that the brake pedal is not operated (that is, the brake switch 7 Is OFF) Step 2
In step 03, constant speed traveling control is performed to keep the vehicle speed constant at the set vehicle speed.

In this constant speed traveling control, the set vehicle speed is adjusted by the driver operating the control lever 4. Further, when it is determined in step 202 that the brake pedal is operated (that is, the brake switch 7 is ON), the process proceeds to step 204, and the system is operated in order to prevent accidental acceleration after the brake operation is completed. The operation is interrupted, and thereafter, the control is prohibited until the system switch 3 or the control lever 4 is operated.

On the other hand, when it is determined in step 201 that the preceding vehicle is present within the predetermined inter-vehicle distance range, the process proceeds to step 205, and it is determined whether or not the variable inter-vehicle distance mode is set. If it is determined that the variable inter-vehicle distance mode is not set (no signal from the variable inter-vehicle distance signal input means 6), the routine proceeds to step 206, where it is determined that the brake pedal has been operated, and if the brake pedal has not been operated, the step is performed. Proceeding to 207, fixed inter-vehicle distance control is performed. If the brake pedal is operated in step 206, the system is interrupted in step 204 in order to prevent accidental acceleration after the brake operation is finished, as in the case of the constant speed traveling control.

If it is determined in step 205 that the vehicle is in the variable inter-vehicle distance mode, the flow advances to step 208 to perform variable inter-vehicle distance control. That is, the system is not interrupted by the operation of the brake pedal only in the case of variable inter-vehicle distance control. Further, the variable inter-vehicle distance mode and the fixed inter-vehicle distance mode are switched by the signals of the fixed inter-vehicle distance signal input means 5 and the variable inter-vehicle distance signal input means 6, and after the signal from the variable inter-vehicle distance signal input means 6 is input. The variable inter-vehicle distance mode is set until the signal from the fixed inter-vehicle distance signal input means 5 is input, and the signal from the variable inter-vehicle distance signal input means 6 is input after the signal is input from the fixed inter-vehicle distance signal input means 5. Until it is set to fixed inter-vehicle distance mode,
Each state is maintained.

The flow chart of FIG. 3 shows the contents of the processing for performing the fixed inter-vehicle distance control in step 207. In FIG. 3, first, in step 301, a target inter-vehicle distance according to a vehicle speed is calculated based on a signal input from the vehicle speed sensor 2. Although a known calculation method can be used as the target inter-vehicle distance calculation method, the target inter-vehicle distance Lt in this embodiment is Lt = K1f × V−K2f × Vr.
Is calculated as Here, K1f and K2f are fixed inter-vehicle distance coefficients, V is the vehicle speed of the own vehicle, and Vr is a relative vehicle speed with respect to the preceding vehicle. Then, in step 302, the target acceleration / deceleration αt is calculated as αt = G (L−Lt) according to the difference between the current inter-vehicle distance L and the target inter-vehicle distance Lt. However, G is a gain.

In the following step 303, the target acceleration / deceleration α
An actuator drive signal for driving the throttle actuator 10 or the brake actuator 11 is generated based on t. The drive signal is normally the throttle actuator 10 and the vehicle acceleration / deceleration is the target acceleration / deceleration α.
It is calculated from the map showing the output characteristic so as to coincide with t, but when the target acceleration / deceleration αt is a deceleration that cannot be realized even when the throttle is fully closed, the brake actuator 11 is calculated from the map showing the brake characteristic. A drive signal is generated. By controlling the acceleration / deceleration of the vehicle so as to match the target acceleration / deceleration αt in this way, throttle control or brake control is performed so that the target inter-vehicle distance and the actual inter-vehicle distance eventually coincide, and a quick control is performed. Inter-vehicle distance is adjusted.

The processing contents of the variable inter-vehicle distance control in step 208 are performed as shown in the flowchart of FIG. First, in step 401, the control lever 4
Is operated, and if no operation is performed, the process proceeds to step 402 and the brake pedal,
Alternatively, it is determined whether or not the accelerator pedal is operated. When it is determined in step 402 that both operations have not been performed, the process proceeds to step 403, and the target inter-vehicle distance Lt according to the vehicle speed is calculated based on the signal input from the vehicle speed sensor 2. The target inter-vehicle distance Lt is calculated by replacing the coefficients K1f and K2f in step 301 of FIG. 3 with a variable inter-vehicle distance coefficient and calculating as Lt = K1a × V−K2a × Vr. Here, K1a and K2a are variable inter-vehicle distance coefficients. Subsequently, similarly to step 302 in FIG. 3, in step 404, the target acceleration / deceleration αt is calculated according to the difference between the current inter-vehicle distance L and the target inter-vehicle distance Lt.

If it is determined in step 401 that the control lever 4 is being operated, the process proceeds to step 405 to set the target acceleration / deceleration. The setting of the target acceleration / deceleration here is set in order to accelerate / decelerate the vehicle at a predetermined acceleration / deceleration αs by operating the control lever 4. If the control lever 4 is operated on the acceleration side, the target acceleration / deceleration is set. If αt is set to + αs and the control lever 4 is operated to the deceleration side, the target acceleration / deceleration αt is set to −αs. Further, when it is determined in step 402 that the brake pedal or the accelerator pedal is being operated, the actuator drive prohibition flag is set in step 406 in order to prevent interference between the driver's operation and the actuator operation. That is, in this case, the operation of the brake pedal or the accelerator pedal is prioritized, and the variable inter-vehicle distance control is performed.

These steps 405 and 40
When the process of 6 is completed, the variable inter-vehicle distance coefficient (K1a and K2a) is updated in step 407 based on the current inter-vehicle distance L detected by the inter-vehicle distance sensor 1. In the updating process of the variable inter-vehicle distance coefficient (K1a, K2a), the coefficient K1a is first calculated as K1a = (L + K2a × Vr) / V using the current inter-vehicle distance L and the current coefficient K2a.

Subsequently, the coefficient K2a is updated by a map value according to the value of the coefficient K1a, but the coefficient K2a can be a fixed value. The calculation formula of this coefficient K1a is equal to the calculation formula of the above-mentioned target inter-vehicle distance Lt, which is calculated back as Lt = L (current inter-vehicle distance), and therefore the target calculated using the updated variable inter-vehicle distance coefficient. Inter-vehicle distance L
t becomes a value equal to the current inter-vehicle distance L. Further, since the variable inter-vehicle distance coefficient updating process is repeatedly executed until all operations of the accelerator pedal, the brake pedal, and the control lever are performed, the inter-vehicle distance L at the end of the operation is set as the target inter-vehicle distance Lt. It will be. Therefore, if the driver wants to change the inter-vehicle distance,
The inter-vehicle distance can be adjusted by changing the inter-vehicle distance by operating the accelerator pedal, brake pedal, or control lever, and by simply releasing the pedal or lever, the inter-vehicle distance becomes the target inter-vehicle distance and inter-vehicle distance control is performed. Will be continued.

After the variable inter-vehicle distance coefficient is updated in step 407, the variable inter-vehicle distance coefficient updated in step 408 is compared with a preset lower limit inter-vehicle distance coefficient, and the value is smaller than the lower limit inter-vehicle distance coefficient. If so, the variable inter-vehicle distance coefficient is limited to the lower limit inter-vehicle distance coefficient in step 409. Here, the lower limit inter-vehicle distance coefficient is a value set in advance so that the target inter-vehicle distance does not become too small for safety. That is, the target inter-vehicle distance calculated based on the lower limit inter-vehicle distance coefficient is the minimum target inter-vehicle distance of the inter-vehicle distance control in this embodiment.

If the variable inter-vehicle distance coefficient is smaller than the lower limit value in step 409, the process proceeds to step 410, the drive prohibition flag of the actuator is cleared, and step 4
The processing of 03 and step 404 is executed. in this case,
In step 403, the target acceleration / deceleration based on the minimum target inter-vehicle distance is calculated. The processing of steps 409 and 410 is performed when the inter-vehicle distance currently detected by the inter-vehicle distance sensor 1 is smaller than the minimum target inter-vehicle distance, so the target acceleration / deceleration suppresses acceleration of the vehicle, or Alternatively, it is calculated in the deceleration direction, and the inter-vehicle distance from the preceding vehicle is suppressed from becoming shorter than the minimum target inter-vehicle distance. As a result, the driver can recognize that the inter-vehicle distance cannot be set to a smaller distance, and can prevent unsafe traveling due to the too small inter-vehicle distance.

After the above processing is completed, or when the variable inter-vehicle distance coefficient in step 408 is larger than the lower limit value, the process proceeds to step 411, it is determined whether or not the actuator drive prohibition flag is set, and it is set. If it is set, step 412 is not executed, and if it is not set, step 3012 of FIG.
Similarly to 3, the throttle actuator 10 or the brake actuator 1 based on the target acceleration / deceleration αt.
An actuator drive signal for driving 1 is generated, and throttle control or brake control is performed so that the target inter-vehicle distance and the inter-vehicle distance match.

Subsequently, at step 413, the state of the fixed inter-vehicle distance signal input means 5 is judged, and when it is judged that the input is in progress, the routine proceeds to step 414, where the input continuation time is judged. If the input duration is equal to or longer than the predetermined time, step 4
In step 15, the fixed inter-vehicle distance coefficient (K1f, K2f) is changed to the value of the variable inter-vehicle distance coefficient (K1a, K2a).
That is, by inputting the signal of the fixed inter-vehicle distance signal input means 5 for a predetermined time during the variable inter-vehicle distance control, the inter-vehicle distance in the fixed inter-vehicle distance control is changed to the inter-vehicle distance set by the driver during the variable inter-vehicle distance control. You can Further, since there is an input from the fixed inter-vehicle distance signal input means 5, the mode is switched to the fixed inter-vehicle distance mode, and the inter-vehicle distance control is performed with the same inter-vehicle distance.

As described above, the fixed inter-vehicle distance control and the variable inter-vehicle distance control are configured to be switched as needed, so that when the driver wants to change the inter-vehicle distance, the variable inter-vehicle distance control is used to control the vehicle. You can easily change the inter-vehicle distance to match your senses with the accelerator and brakes.Also, by storing the normally used inter-vehicle distance in the fixed inter-vehicle distance coefficient, you can easily change the inter-vehicle distance when it is no longer necessary. It is possible to return to the normally used inter-vehicle distance. Further, the fixed inter-vehicle distance coefficient and the variable inter-vehicle distance coefficient are stored even after the vehicle is keyed off, so that the convenience can be further improved.

Embodiment 2. 5 to 7 illustrate a vehicle travel control device according to Embodiment 2 of the present invention. FIG. 5 is a block diagram showing the configuration, and FIGS. 6 and 7 are flowcharts for explaining the operation. The vehicle travel control device according to this embodiment includes an inter-vehicle distance sensor 1 as inter-vehicle distance detecting means, a vehicle speed sensor 2 as own vehicle speed detecting means, a system switch 3 for switching the system ON / OFF, and a constant speed traveling. A control lever 4 used for setting a vehicle speed at a time and adjusting an inter-vehicle distance at the time of following travel, a brake switch 7 for detecting ON / OFF of a brake pedal, and an accelerator opening sensor 8 for detecting an accelerator opening of an accelerator pedal. , Target vehicle distance return signal input means 1 used when returning to the target vehicle distance control
4 and a target inter-vehicle distance setting signal input means 15 used when setting a target inter-vehicle distance, and signals from these sensors and switches are ECUs as control means.
9 is configured to be supplied.

The ECU 9 controls the traveling state of the vehicle and outputs an alarm as described later on the basis of these input signals. The control output signal is sent to the throttle actuator 10 or the brake actuator 11 as in the first embodiment. A display device 1 provided on the driver's seat for controlling the traveling state of the vehicle and outputting the control contents such as whether the current control is vehicle speed control or inter-vehicle distance control.
The alarm device 13 is configured to give an alarm when the inter-vehicle distance falls below the allowable range.

As will be described below, as in the case of the first embodiment, if the system switch 3 is in the ON state and the preceding vehicle is detected, the follow-up traveling control is performed. In this embodiment, the system switch 3 is ON, the preceding vehicle is detected, and the target inter-vehicle distance return signal input means 14 is used.
Until the signal is input, the vehicle travels in the variable inter-vehicle distance control mode in the first embodiment, and when the signal from the target inter-vehicle distance return signal input means 14 is input, the control shifts to control to follow the target inter-vehicle distance. The target inter-vehicle distance is set by the signal from the target inter-vehicle distance setting signal input means 15.

The control contents of the ECU 9 of the vehicle travel control device according to the second embodiment will be described below with reference to the flow charts of FIGS. 6 and 7. In FIG. 6, when the system switch 3 is turned on and the operation of the system is started, first, in step 601, the inter-vehicle distance sensor 1 determines whether or not a preceding vehicle exists within a predetermined inter-vehicle distance range, and the preceding vehicle exists. If not, it is determined in step 602 whether or not the brake pedal has been operated. If the brake pedal has not been operated, the routine proceeds to step 603, where constant speed traveling control is performed to keep the vehicle speed constant at the set vehicle speed. .

In this constant speed traveling control, the set vehicle speed is adjusted by the driver operating the control lever 4. If it is determined in step 602 that the brake pedal has been operated, step 6
The system is interrupted at 04, and thereafter, the control is prohibited until the system switch 3 or the control lever 4 is operated. On the other hand, if it is determined in step 601 that the preceding vehicle is present within the predetermined inter-vehicle distance range, the process proceeds to step 605 and inter-vehicle distance control is performed.

FIG. 7 is a flow chart showing the processing contents of the inter-vehicle distance control in step 605. In this control, first, in step 701, it is determined whether or not there is a signal input from the target inter-vehicle distance restoration signal input means 14,
If there is a signal input, the process proceeds to step 702, and step 71
The target inter-vehicle distance coefficient (K1
f, K2f) is called and written as a variable inter-vehicle distance coefficient. When no signal is input from the target inter-vehicle distance return signal input means 14 in step 701, and after the target inter-vehicle distance coefficient is called in step 702, the process proceeds to step 703. Step 703 to Step 714
Is the same control as steps 401 to 412 in FIG. 4 of the first embodiment, and therefore description thereof will be omitted here.

The processing in step 714 is based on the target acceleration / deceleration .alpha.t calculated in step 706 as in step 412 of FIG. 4 in the first embodiment, based on the throttle actuator 10 or the brake actuator 1.
An actuator drive signal for driving 1 is generated. After the actuator drive signal is generated or after it is determined that the actuator drive prohibition flag is set in step 713, the process proceeds to step 715, and it is determined whether or not there is a signal from the target inter-vehicle distance setting signal input means 15. If it is determined that there is a signal input, the process proceeds to step 716,
The target inter-vehicle distance coefficient (K1f, K2f) is changed to the value of the variable inter-vehicle distance coefficient (K1a, K2a) at the time of operation. That is, the target inter-vehicle distance coefficient is set based on the inter-vehicle distance adjusted by the driver during the variable inter-vehicle distance control, and the target inter-vehicle distance coefficient set here is the target inter-vehicle distance return signal input means 14 It is called in the above step 702 by signal input.

As described above, the target inter-vehicle distance coefficient is stored as necessary by operating the target inter-vehicle distance setting signal input means 15, and the value can be called by operating the target inter-vehicle distance returning signal input means 14. Therefore, if the driver wants to change the inter-vehicle distance, the variable inter-vehicle distance control can be used to easily change the inter-vehicle distance using the accelerator and brakes of the vehicle to match the feeling, and when there is no need to change the inter-vehicle distance. Can easily return to the target inter-vehicle distance, and the target inter-vehicle distance can be set according to the driver's sense.

Although the operation of the inter-vehicle distance control has been described in the first and second embodiments, design changes can be made without departing from the scope of the invention.
For example, the calculation of the target inter-vehicle distance is performed by changing the variable inter-vehicle distance coefficient K3.
a, K4a, etc. are set and Lt = K1a * V-K3a, or Lt = K1a * V-K2a * Vr + K3a + K4a * V.
It can be 2. Further, although the ECU controls the throttle actuator and the brake actuator, it is also possible to generate a shift signal for the shift stage of the automatic transmission (AT) as needed.

[0042]

As described above, in the vehicle travel control device of the present invention, according to the invention of claim 1, the control means determines the inter-vehicle distance when the signal is input from the fixed inter-vehicle distance signal input means. The traveling of the vehicle is controlled in the fixed inter-vehicle distance mode that maintains a fixed inter-vehicle distance based on the own vehicle speed and a pre-stored fixed inter-vehicle distance coefficient, and at the time of signal input from the variable inter-vehicle distance signal input means, by a driver's operation. Since the traveling of the vehicle is controlled in the variable inter-vehicle distance mode in which the inter-vehicle distance coefficient corresponding to the inter-vehicle distance is sequentially calculated, the vehicle travels while adjusting the inter-vehicle distance by inputting a signal from the variable inter-vehicle distance signal input means, When it is desired to return to the predetermined inter-vehicle distance, by inputting a signal from the fixed inter-vehicle distance signal input means, it is possible to easily return to the predetermined inter-vehicle distance by a simple operation. , Those which can be selected according to these operating conditions.

According to the second aspect of the present invention, the control means successively calculates the inter-vehicle distance coefficient corresponding to the inter-vehicle distance by the driver's operation while the vehicle is traveling in the variable inter-vehicle distance mode. The inter-vehicle distance coefficient at the time of signal input is set as the target inter-vehicle distance coefficient by the signal input from the distance setting signal input means, and when the signal is input from the target inter-vehicle distance restoration signal input means, the inter-vehicle distance is set to the target inter-vehicle distance coefficient. Since the target inter-vehicle distance is controlled based on, the normally-used inter-vehicle distance can be easily set as the target inter-vehicle distance and can be set to any value, and the normally-used inter-vehicle distance can be set and the inter-vehicle distance adjusted. It will be possible to return later.

Further, according to the invention described in claim 3,
In Claims 1 and 2, when the driver finishes the operation while traveling at the inter-vehicle distance by the driver's operation, the inter-vehicle distance is controlled by the inter-vehicle distance coefficient at the end of the operation. After that, it is possible to easily maintain the inter-vehicle distance after the change without any extra operation, and when returning to the original inter-vehicle distance, a fixed inter-vehicle distance signal input means such as a push button switch, or a target inter-vehicle distance return signal input means. It suffices to operate, and the operation is extremely simplified to enable quick operation.

Further, according to the invention described in claim 4, in claims 1 to 3, there is provided a manual operation means for controlling the own vehicle speed and the acceleration / deceleration of the own vehicle, and the vehicle is operated by a driver. Since the inter-vehicle distance coefficient that is sequentially calculated in the inside is updated in accordance with the inter-vehicle distance that changes by the operation of the manual operation means, the general driver can set the inter-vehicle distance without performing any special operation. According to the invention described in claim 5, since the manual operation is the operation of the accelerator for controlling the throttle opening of the vehicle and the operation of the brake as the braking means, it is normally used in a normal driving state. It becomes possible to set the inter-vehicle distance.

Further, according to the invention of claim 6,
It is equipped with a constant-speed traveling control unit that travels at the set vehicle speed when the inter-vehicle distance sensor does not detect the preceding vehicle, and the control is interrupted if the braking unit is operated during traveling in a mode other than the variable inter-vehicle distance mode. At the same time, the control is not interrupted even when the braking means is operated while traveling in the variable inter-vehicle distance mode. It is possible to prevent unintentional acceleration due to other than operation and to suppress uncomfortable control interruption.

Further, according to the invention described in claim 7, there is provided a constant speed traveling control means for traveling at the set vehicle speed when the inter-vehicle distance sensor does not detect the preceding vehicle,
When the inter-vehicle distance sensor recognizes the preceding vehicle within the predetermined inter-vehicle distance, the target inter-vehicle distance is calculated and the mode is changed to the following traveling mode.Therefore, the preceding vehicle appears due to lane change etc. while cruising at constant speed. Even if the preceding vehicle is recognized, however, it is possible to shift to follow-up running, and it is possible to ensure simplification of operation and safety.

Further, according to the invention described in claim 8, there is provided a constant speed traveling control means for traveling at a set vehicle speed when the inter-vehicle distance sensor does not detect the preceding vehicle, and the setting at the time of constant speed traveling control is carried out. Since the speed and the inter-vehicle distance during follow-up running are controlled by the manual control means,
The inter-vehicle distance can be adjusted by the same operation as the vehicle speed adjustment.

Further, according to the invention of claim 9,
The minimum limit value of the inter-vehicle distance coefficient corresponding to the minimum value of the inter-vehicle distance is set, and when the inter-vehicle distance decreases in the variable inter-vehicle distance mode and becomes less than or equal to the minimum inter-vehicle distance value, the control means Since the inter-vehicle distance is controlled while maintaining the minimum limit value, the inter-vehicle distance does not become equal to or less than the preset minimum value during follow-up traveling, and the driver is made aware of the inter-vehicle distance setting limit, It is possible to ensure safety.

Further, according to the invention described in claim 10, the vehicle-to-vehicle distance coefficient is changed to the fixed vehicle-to-vehicle distance coefficient by a predetermined operation by the driver while traveling in the variable vehicle-to-vehicle distance mode.
Alternatively, since a means for substituting the target inter-vehicle distance coefficient is provided, it is possible to easily set or change the inter-vehicle distance that is normally used or the inter-vehicle distance that matches the driver's feeling.

Further, in the vehicle traveling control method according to the present invention, according to the invention of claim 11, the vehicle speed, the inter-vehicle distance to the preceding vehicle, and the relative speed to the preceding vehicle are detected during the following traveling. In the fixed inter-vehicle distance mode, the following vehicle is controlled to follow the preceding vehicle by the inter-vehicle distance calculated from the preset fixed inter-vehicle distance coefficient and the vehicle speed, and in the variable inter-vehicle distance mode, the follow-up traveling in the fixed inter-vehicle distance mode. After the control is interrupted, the inter-vehicle distance coefficient corresponding to the change in the inter-vehicle distance from the preceding vehicle due to the accelerator operation or the brake operation is sequentially calculated, and after completion of the accelerator operation or the brake operation, the inter-vehicle distance coefficient at the end time is calculated. The inter-vehicle distance is controlled and the fixed inter-vehicle distance mode is restored by a predetermined operation, so when changing the inter-vehicle distance, the accelerator and It is possible to obtain a control method that can be changed by normal operation by rake and after the operation is completed, follow-up running that maintains the vehicle-to-vehicle distance at the time of completion and that can easily return to the vehicle-to-vehicle distance that is always used .

According to the twelfth aspect of the present invention, the value at the time of operation of the inter-vehicle distance coefficient calculated during the traveling in the variable inter-vehicle distance mode by the driver's operation is set to the fixed inter-vehicle distance mode traveling. Since it can be replaced with a fixed inter-vehicle distance coefficient that is sometimes used, the inter-vehicle distance that is normally used can be easily set or changed, and a control method that enables follow-up traveling according to the situation can be obtained.

According to the invention described in claim 13,
When traveling in the fixed inter-vehicle distance mode, at least when the brake operation is detected, the control in the fixed inter-vehicle distance mode is interrupted, and in the variable inter-vehicle distance mode, the control is not interrupted even if the brake operation is detected. Therefore, after deceleration due to braking is completed, unintentional acceleration other than the operation by the driver for returning to the original inter-vehicle distance is prevented, and uncomfortable control interruption can be suppressed.

According to the fourteenth aspect of the present invention, a limit value is set for the inter-vehicle distance coefficient in the variable inter-vehicle distance mode, and the minimum value is set for the inter-vehicle distance with the preceding vehicle by this limit value. Therefore, the following distance does not fall below the preset minimum value during follow-up travel,
It is possible to obtain a control method capable of making the driver aware of the setting limit of the inter-vehicle distance and ensuring safety.

[Brief description of drawings]

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

FIG. 2 is a flowchart illustrating an operation of the vehicle travel control device according to the first embodiment of the present invention.

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

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

FIG. 5 is a block diagram showing a configuration of a vehicle travel control device according to a second embodiment of the present invention.

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

FIG. 7 is a flowchart illustrating an operation of the vehicle travel control device according to the second embodiment of the present invention.

[Explanation of symbols]

1 inter-vehicle distance sensor, 2 vehicle speed sensor, 3 system switch, 4 control lever, 5 fixed inter-vehicle distance signal input means, 6 variable inter-vehicle distance signal input means, 7 brake switch, 8 accelerator opening sensor, 9 ECU
(Control means), 10 Throttle actuator, 11
Brake actuator, 12 display device, 13 alarm device, 14 target inter-vehicle distance return signal input means, 15
Target vehicle distance setting signal input means.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 626 B60R 21/00 626A 626E 627 627 B60T 7/12 B60T 7/12 C F02D 29/02 301 F02D 29/02 301D G08G 1/16 G08G 1/16 EF Term (reference) 3D044 AA25 AB01 AC16 AC24 AC26 AC28 AC59 AD04 AD21 AE01 AE04 AE14 AE19 AE21 3D046 BB17 CB02 BB17 BB02 BB17 BB02 BB07 BB02 BB23 HG23G09H02H23G09H02HH20G07H02HH20 DB05 DB15 DB16 EA09 EB04 EC01 EC04 FA02 FA07 FA08 FA10 FA11 FA12 FB01 FB02 5H180 AA01 CC03 CC04 CC12 CC14 LL04 LL07 LL09

Claims (14)

[Claims] 1. An inter-vehicle distance sensor for detecting an inter-vehicle distance to a preceding vehicle, a vehicle speed sensor for detecting an own vehicle speed, a fixed inter-vehicle distance signal input means for generating a target inter-vehicle distance setting signal, and the maintenance of the target inter-vehicle distance is released. Inter-vehicle distance signal input means for generating a signal for controlling the inter-vehicle distance to the preceding vehicle in the fixed inter-vehicle distance mode or the variable inter-vehicle distance mode by inputting signals from these sensors and each signal input means. In the fixed vehicle-to-vehicle distance mode, the control means maintains the vehicle-to-vehicle distance at a fixed vehicle-to-vehicle distance based on a vehicle speed and a fixed vehicle-to-vehicle distance coefficient stored in advance when a signal is input from the fixed vehicle-to-vehicle distance signal input means. While controlling the running of the vehicle, when the signal is input from the variable inter-vehicle distance signal input means, the inter-vehicle distance coefficient corresponding to the inter-vehicle distance operated by the driver is sequentially calculated. A traveling control device for a vehicle, which controls traveling of the vehicle in the variable inter-vehicle distance mode. 2. An inter-vehicle distance sensor for detecting an inter-vehicle distance from a preceding vehicle, a vehicle speed sensor for detecting an own vehicle speed, a target inter-vehicle distance returning signal input means for generating a signal for returning the inter-vehicle distance to a target inter-vehicle distance, and the target inter-vehicle distance. Target inter-vehicle distance setting signal input means for updating the set value of the distance, control means for controlling the inter-vehicle distance to the preceding vehicle by inputting signals from each of these sensors and each signal input means, the control means, While traveling in the variable inter-vehicle distance mode, the inter-vehicle distance coefficient corresponding to the inter-vehicle distance operated by the driver is sequentially calculated,
By the signal input from the target inter-vehicle distance setting signal input means, the inter-vehicle distance coefficient at the time of signal input is set as the target inter-vehicle distance coefficient, and when the signal is input from the target inter-vehicle distance restoration signal input means, the inter-vehicle distance is set. Is controlled to a target inter-vehicle distance based on the target inter-vehicle distance coefficient. 3. The inter-vehicle distance is controlled by the inter-vehicle distance coefficient at the end of the operation when the driver finishes the operation while traveling at the inter-vehicle distance by the operation of the driver. Alternatively, the vehicle travel control device according to claim 2. 4. A manual operation means for controlling the own vehicle speed and the acceleration / deceleration of the own vehicle is provided, and the inter-vehicle distance coefficient successively calculated during traveling by an operation of a driver is an operation of the manual operation means. The vehicle travel control device according to any one of claims 1 to 3, wherein the vehicle travel control device is updated in accordance with the following vehicle distance. 5. The vehicle travel control device according to claim 4, wherein the manual operation means is an accelerator means for controlling a throttle opening of the vehicle and a braking means for operating a brake. 6. A constant speed traveling control means for traveling at a set vehicle speed when the inter-vehicle distance sensor does not detect a preceding vehicle, and the braking means is operated during traveling in a mode other than the variable inter-vehicle distance mode. 4. The control is interrupted when it is performed, and the control is not interrupted even when the braking means is operated during traveling in the variable inter-vehicle distance mode. The traveling control device for a vehicle according to any one of 1. 7. A constant speed traveling control means for traveling at a set vehicle speed when the inter-vehicle distance sensor does not detect the preceding vehicle, and when the inter-vehicle distance sensor recognizes the preceding vehicle within a predetermined inter-vehicle distance. 2. The target inter-vehicle distance is calculated to shift to the following traveling mode.
~ The vehicle travel control device according to any one of claims 3 to 4. 8. A constant speed traveling control means for traveling at a set vehicle speed when the inter-vehicle distance sensor does not detect a preceding vehicle, and a set speed during constant speed traveling control and an inter-vehicle distance during follow-up traveling. Is controlled by a manual control means, The vehicle travel control device according to claim 1. 9. When a limit value of the inter-vehicle distance coefficient corresponding to the minimum value of the inter-vehicle distance is set, and the inter-vehicle distance decreases in the variable inter-vehicle distance mode and becomes equal to or less than the minimum value of the inter-vehicle distance. The vehicle running control device according to any one of claims 1 to 4, wherein the control means controls the inter-vehicle distance by maintaining a limit value of the inter-vehicle distance coefficient. 10. A means for replacing the inter-vehicle distance coefficient with the fixed inter-vehicle distance coefficient or the target inter-vehicle distance coefficient by a predetermined operation by a driver while traveling in the variable inter-vehicle distance mode. The vehicle travel control device according to any one of claims 1 to 9, characterized in that. 11. A vehicle speed, a vehicle distance to a preceding vehicle, and a relative speed to the preceding vehicle are detected from a change in the vehicle distance during follow-up running, and a fixed vehicle distance set in advance in a fixed vehicle distance mode. An inter-vehicle distance is calculated and set from a coefficient and the own vehicle speed to perform follow-up traveling control for the preceding vehicle, and in the variable inter-vehicle distance mode, the follow-up traveling control in the fixed inter-vehicle distance mode is interrupted to perform an accelerator operation or a brake operation. The vehicle-to-vehicle distance coefficient corresponding to the change of the vehicle-to-vehicle distance due to the preceding vehicle is sequentially calculated, and when the accelerator operation or the brake operation is finished, the vehicle-to-vehicle distance is controlled by the vehicle-to-vehicle distance coefficient at the end of the operation. A vehicle traveling control method, wherein the fixed vehicle distance mode is restored by a predetermined operation. 12. The value at the time of operation of the inter-vehicle distance coefficient calculated during traveling in the variable inter-vehicle distance mode by a driver's operation is used as the fixed inter-vehicle distance coefficient used during traveling in the fixed inter-vehicle distance mode. The vehicle travel control method according to claim 11, wherein the vehicle travel control method is replaced. 13. When traveling in the fixed inter-vehicle distance mode, at least when a brake operation is detected, control in the fixed inter-vehicle distance mode is interrupted, and brake operation is detected in the variable inter-vehicle distance mode. 12. The vehicle traveling control method according to claim 11, wherein the control is not interrupted. 14. A limit value is set for the inter-vehicle distance coefficient in the variable inter-vehicle distance mode, and a minimum value is set for the inter-vehicle distance to the preceding vehicle by the limit value. Item 13. A vehicle travel control method according to item 12.