JP2004050875A - Apparatus and method for controlling car movement - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To eliminate starting delay of a car with respect to the preceding car without increasing cost. <P>SOLUTION: A main ECU judges whether or not the speed of the one's car is zero and the distance D from the preceding car is larger than a start prediction reference value D1 (S2) based on the output from a car speed sensor and a car distance sensor (S1). When the judgement is YES, it is predicted that the car located ahead has started, and an electronic throttle is slightly opened from the closed state (S3) while maintaining the stop state of the one's car by controlling the brake oil pressure in an actuator section. Furthermore, when the distance D from the car located ahead becomes larger than a start confirmation reference value D2 (larger than D1) (YES in S4), an accelerative control is carried out (S5) by closing and controlling the opening of the electronic throttle so as to follow the preceding car by gradually decreasing the brake oil pressure in the actuator section, and then, the automatic start is completed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle traveling control device and a control method for automatically starting by controlling a braking means and an acceleration means without an operation of an accelerator pedal by a driver.
[0002]
[Prior art]
Conventionally, an inter-vehicle distance between the host vehicle and a preceding vehicle is detected by an inter-vehicle distance detecting means such as a laser radar, and the inter-vehicle distance follows the preceding vehicle while maintaining the detected inter-vehicle distance at a predetermined target inter-vehicle distance corresponding to the own vehicle speed. A traveling follow-up traveling system has been proposed. In this type of system, for example, when the preceding vehicle and the own vehicle stop due to a signal waiting, the start of the preceding vehicle is detected and the own vehicle is automatically started without operating the accelerator pedal by the driver. Something that was done is also considered.
[0003]
[Problems to be solved by the invention]
However, in the case of the conventional automatic start, the start determination is performed in a state where the preceding vehicle and the own vehicle are stopped, then the brake is released slowly, and the throttle is opened after the brake is completely released, so that as shown in FIG. To
(1) Delay in the start determination processing for determining that the preceding vehicle has started based on the detection result of the inter-vehicle distance detection means such as a laser radar;
(2) Delay due to release of brake release by performing start control while suppressing drive torque only by normal creep force with brake,
(3) Operation delay of the throttle actuator during starting by creep force,
(4) Overshoot of the start acceleration after the start to the target acceleration,
As a result, there is a problem that the start of the own vehicle is delayed with respect to the preceding vehicle. However, in FIG. 4, the solid line represents the actual acceleration of the preceding vehicle, the broken line represents the target acceleration, and the dashed line represents the change in the actual acceleration of the own vehicle.
[0004]
In other words, during the periods (2) and (3) in FIG. 4, only the creep torque is used as the drive torque. Until the engine torque increases, there is a problem that the torque becomes insufficient and the target acceleration cannot be followed. Note that the delay in the start determination process described in (1) can be solved by using an ultrasonic sensor having better responsiveness than a laser radar as the inter-vehicle distance detecting means. Raises a new problem.
[0005]
Accordingly, it is an object of the present invention to be able to eliminate the delay in starting the own vehicle with respect to the preceding vehicle without increasing the cost.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, a vehicle traveling control device according to the present invention is a vehicle traveling control device that automatically starts by controlling a braking unit and an acceleration unit without an operation of an accelerator pedal by a driver. And determining whether or not the start prediction condition of the preceding vehicle is satisfied based on the inter-vehicle distance between the own vehicle and the preceding vehicle, and determining that the start prediction condition of the preceding vehicle is satisfied. The invention is characterized in that the acceleration means is controlled from non-acceleration to acceleration while maintaining stop control (claim 1).
[0007]
According to such a configuration, when it is determined that the start prediction condition of the preceding vehicle is satisfied, the acceleration unit is controlled from non-acceleration to the acceleration side while maintaining the stop control of the own vehicle by the braking unit.
[0008]
Therefore, by predicting the start of the preceding vehicle and controlling the acceleration unit to the acceleration side while maintaining the stop control so that the vehicle can be accelerated at any time, even if the braking by the braking unit is released slowly, Since the vehicle can be started and accelerated without being delayed by the vehicle, it is possible to eliminate the conventional vehicle start delay with respect to the preceding vehicle without using an expensive structure such as an ultrasonic sensor.
[0009]
In addition, the vehicle traveling control device according to the present invention is a vehicle traveling control device that automatically starts by controlling a braking unit and an acceleration unit without an operation of an accelerator pedal by a driver. An inter-vehicle distance detecting means for detecting the distance, a vehicle speed detecting means for detecting the own vehicle speed, and an inter-vehicle distance detected by the inter-vehicle distance detecting means when the own vehicle speed detected by the vehicle speed detecting means is zero. Start prediction means for judging whether or not the start prediction condition of the preceding vehicle is satisfied based on whether or not the start prediction condition has been changed to a reference value or more; and And a control means for controlling the acceleration means from non-acceleration to an acceleration side while maintaining vehicle stop control (claim 2).
[0010]
According to such a configuration, in a state where the own vehicle speed is zero, whether or not the inter-vehicle distance between the own vehicle and the preceding vehicle has changed to be equal to or more than the start prediction reference value determines whether or not the start prediction condition is satisfied. Is established, the acceleration means is controlled from the non-acceleration to the acceleration side while maintaining the stop control so that the vehicle can be started and accelerated at any time. Therefore, it is possible to eliminate a delay in starting the vehicle with respect to the preceding vehicle as in the related art without using an expensive configuration such as an ultrasonic sensor.
[0011]
At this time, in the invention according to claim 2, as in claim 3, when the own vehicle speed detected by the vehicle speed detecting means is zero and the inter-vehicle distance detected by the inter-vehicle distance detecting means is equal to the A start confirmation unit that confirms the start of the preceding vehicle based on whether or not the start prediction reference value is larger than a start confirmation reference value, wherein the control unit disables the acceleration unit when the start prediction condition is satisfied. Control may be performed from acceleration to an acceleration side, and the release of braking by the braking means may be started when the starting confirmation means confirms the start of the preceding vehicle.
[0012]
Further, in the vehicle traveling control device according to the present invention, the braking means transmits brake fluid pressure to a wheel cylinder and applies braking force to each wheel based on a control signal from the control means. (Chart 4).
[0013]
According to such a configuration, even if the acceleration means is controlled from the non-acceleration to the acceleration side so that the acceleration of the preceding vehicle can be predicted at any time by predicting the start of the preceding vehicle, the stop control can be maintained by the braking means.
[0014]
Further, in the vehicle travel control device according to the present invention, the acceleration means may be a throttle opening degree adjusting means for adjusting an opening degree of a throttle. Throttle opening degree adjusting means for adjusting the opening degree may be used, and furthermore, fuel injection amount adjusting means for adjusting the fuel injection amount of the engine may be used.
[0015]
According to such a configuration, the acceleration means can be controlled from the non-acceleration to the acceleration side while the stop control is maintained by the braking means so that the start of the preceding vehicle can be predicted and the start acceleration can be performed at any time.
[0016]
In addition, the vehicle traveling control method according to the present invention includes a start prediction step of determining whether a start prediction condition of the preceding vehicle is satisfied based on the own vehicle speed and an inter-vehicle distance between the own vehicle and the preceding vehicle; A start preparation step of controlling the acceleration means from non-acceleration to an acceleration side while maintaining stop control of the vehicle by the braking means when it is determined that the prediction condition is satisfied ( Claim 7).
[0017]
According to such a configuration, the start of the preceding vehicle is predicted, and the acceleration means is controlled to the acceleration side while maintaining the stop control so that the vehicle can be started and accelerated at any time. Also, the start-up delay of the own vehicle with respect to the preceding vehicle can be eliminated without using an expensive configuration such as an ultrasonic sensor.
[0018]
At this time, in the invention described in claim 7, as in claim 8, when it is confirmed that the preceding vehicle has started after the start preparation step, the release of the braking by the braking means is released. A start control step to start may be provided.
[0019]
Further, in the vehicle traveling control method according to the present invention, in the invention according to claim 8, in the start prediction step, when the own vehicle speed is zero, the inter-vehicle distance to the preceding vehicle changes to a start prediction reference value or more. The start control step determines whether the start condition of the preceding vehicle is satisfied or not, and in the start control step, when the own vehicle speed is zero, the inter-vehicle distance to the preceding vehicle is larger than the start prediction reference value. The start of the preceding vehicle is confirmed based on whether the vehicle speed has changed to a reference value or more (claim 9).
[0020]
According to such a configuration, in the start prediction step, the success / failure of the start prediction condition is determined based on whether or not the inter-vehicle distance between the own vehicle and the preceding vehicle has changed to a start prediction reference value or more in a state where the own vehicle speed is zero. In the start preparation process, the acceleration means is controlled from the non-acceleration to the acceleration side while maintaining the stop control so that the vehicle can be started and accelerated at any time. If the start distance of the preceding vehicle is confirmed based on whether or not the inter-vehicle distance has changed to a start confirmation reference value (a value larger than the start prediction reference value), the release of braking by the braking means is started. Therefore, the start-up delay of the own vehicle with respect to the preceding vehicle as in the related art can be eliminated without using an expensive configuration such as an ultrasonic sensor.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
An embodiment of the present invention will be described with reference to FIGS. 1 is a block diagram, FIG. 2 is a flowchart for explaining the operation, and FIG. 3 is an explanatory diagram of the operation.
[0022]
The vehicle travel control device according to the present embodiment is configured as shown in FIG. That is, as shown in FIG. 1, for example, a vehicle speed sensor 1 as a vehicle speed detecting means composed of a pulse encoder is provided corresponding to each of the left and right front wheels and rear wheels, and the rotational speeds of the corresponding wheels are detected by the vehicle speed sensors 1. Is detected, and the vehicle speed is calculated by a main CPU described later.
[0023]
Further, an inter-vehicle distance sensor 3 including a scanning laser radar is provided as inter-vehicle distance detection means, and detects the inter-vehicle distance between the host vehicle and the preceding vehicle. At this time, the inter-vehicle distance sensor 3 irradiates the laser beam from the semiconductor laser of the scanning laser radar to the front of the own vehicle as described above, and scans the laser beam by a predetermined angle (for example, 0.1 °) in the horizontal direction. The inter-vehicle distance between the host vehicle and the preceding vehicle traveling in the same lane is detected from the time from the irradiation of the laser beam to the reception of the reflected light after the reflected light is received by the light receiver. Such inter-vehicle distance detection is periodically repeated at short intervals of about 100 ms. At this time, it is desirable that the inter-vehicle distance to the preceding vehicle is calculated by taking in one set of reflected light data from the reflector portion of the preceding vehicle.
[0024]
As shown in FIG. 1, a throttle opening sensor 5 and an acceleration sensor 7 are provided. The throttle opening sensor 5 detects a current opening of an electronic throttle 15, which will be described later. Acceleration / deceleration is detected.
[0025]
Further, as shown in FIG. 1, an engine ECU 9 and a brake ECU 11 are provided, and the engine ECU 9 controls the engine 13. More specifically, the opening degree of the electronic throttle 15 of the engine 13 is controlled to Acceleration / deceleration control is performed. Here, the engine ECU 9 and the electronic throttle 15 constitute an acceleration unit in the present invention, and the electronic throttle 15 corresponds to a throttle opening adjustment unit.
[0026]
On the other hand, the actuator unit 17 is controlled by the brake ECU 11, and the actuator unit 17 generates a brake fluid pressure based on a control signal from the brake ECU 11 during automatic traveling. Omitted), a braking force corresponding to the transmitted brake fluid pressure is applied to the wheels to decelerate the vehicle, and in a stopped state, generates a brake fluid pressure that applies a braking force exceeding the creep force to the wheels. It has become possible. Here, the brake ECU 11 and the actuator section 17 constitute a braking means in the present invention.
[0027]
A storage unit 19 including a ROM, a RAM, and the like is provided. The storage unit 19 stores a control program of the main ECU 21 including various preset values, and temporarily stores operation data and the like. You.
[0028]
By the way, the main ECU 21 takes in the output signals of the sensors 1, 3, 5, and 7 to determine the condition of the vehicle, and outputs a control signal to the engine ECU 9 and the brake ECU 11 to control the traveling of the vehicle. In particular, when the vehicle automatically starts, for example, when the vehicle stops following the stop of the preceding vehicle to wait for a signal during automatic driving, and when the vehicle automatically starts from the stopped state, the start of the preceding vehicle is predicted. When it is determined that the predetermined start prediction condition is satisfied, the opening degree of the electronic throttle 15 is controlled from the closed state to the slightly open state while maintaining the stop control of the own vehicle by the braking of the actuator unit 17, so that the preceding vehicle is reliably When it is confirmed that the vehicle has started, the brake release by the actuator unit 17 is started, and the electronic throttle 15 is further opened to perform acceleration control so as to follow the preceding vehicle.
[0029]
More specifically, when the vehicle speed detected by the vehicle speed sensor 1 is zero, the main ECU 21 determines that the inter-vehicle distance D from the preceding vehicle detected by the inter-vehicle distance sensor 3 is a predetermined start prediction reference value. It is determined whether or not the condition for predicting the start of the preceding vehicle is satisfied based on whether or not it has changed to D1 or more. Then, in a state where the own vehicle speed detected by the vehicle speed sensor 1 is zero, the main ECU 21 determines that the inter-vehicle distance detected by the inter-vehicle distance sensor 3 is larger than the above-described start prediction reference value D1. > D1) The start of the preceding vehicle is confirmed based on whether or not the change has occurred.
[0030]
Such a process of determining whether or not the start prediction condition is satisfied by the main ECU 21 corresponds to a start prediction unit and a start prediction step in the present invention, and a process of starting confirmation by the main ECU 21 corresponds to a start confirmation unit in the present invention.
[0031]
Further, when the main ECU 21 determines that the start prediction condition of the preceding vehicle is satisfied, the main ECU 21 controls the engine ECU 9 while controlling the brake ECU 11 to stop the own vehicle by braking the actuator unit 17, and controls the electronic throttle 15. The opening is controlled from the closed state to the slightly open state. At this time, it is preferable to control the brake fluid pressure by the actuator unit 17 so that the stop control of the vehicle can be maintained even if the electronic throttle 15 is slightly opened. Such processing by the main ECU 21 corresponds to a start preparation step in the present invention.
[0032]
When the main ECU 21 confirms that the preceding vehicle has started reliably, the main ECU 21 controls the brake ECU 11 to gradually decrease the brake fluid pressure by the actuator unit 17 and eventually stops the own vehicle by controlling the brake fluid pressure to zero. Is completely released. At the same time, the main ECU 21 controls the engine ECU 9 to further control the opening of the electronic throttle 15, and executes the automatic start of the own vehicle to perform acceleration control so as to follow the preceding vehicle. Such processing by the main ECU 21 corresponds to a start control step in the present invention, and a series of processing in the start preparation step and the start control step described above corresponds to control means in the present invention.
[0033]
Next, the procedure of the automatic start process will be described with reference to the flowchart of FIG. As shown in FIG. 2, the outputs of the vehicle speed sensor 1 and the inter-vehicle distance sensor 3 are taken in by the main ECU 21 (S1), and the inter-vehicle distance D is predicted to start when the own vehicle speed is zero, that is, when the own vehicle is stopped. It is determined whether or not the reference value is equal to or greater than D1 (D ≧ D1) (S2). If the determination result is NO, the preceding vehicle can still be determined to be in the stopped state, so the process returns to step S1 described above, and the determination is made. If the result is YES, it can be predicted that the preceding vehicle has started. In the next step S3, the brake fluid pressure by the actuator unit 17 is controlled to maintain the stopped state of the own vehicle, The throttle 15 is slightly opened from the closed state and controlled to the acceleration side (S3).
[0034]
Subsequently, as shown in FIG. 2, the main ECU 21 determines whether or not the inter-vehicle distance D is equal to or greater than a start confirmation reference value D2 (> D1) (D ≧ D2) (S4), and the determination result is NO. If so, the preceding vehicle cannot be reliably determined to have started, so this determination is repeated. If the determination result in step S4 becomes YES, the brake fluid pressure by the actuator unit 17 is gradually reduced, and the electronic throttle 15 The opening degree is controlled to open, and acceleration control is performed to follow the preceding vehicle (S5), and the automatic start is completed and the operation ends.
[0035]
As described above, when it is predicted that the preceding vehicle has started, the electronic throttle 15 is slightly opened from the closed state in advance, whereby the operation delay of the throttle actuator for starting can be eliminated. That is, as shown in FIG. 3, (1) the delay in the start determination processing for determining that the preceding vehicle has started based on the detection result of the inter-vehicle distance detection means such as a laser radar exists as in the related art, but in FIG. (2) Delay due to release of brake for smooth start from stop state, (3) Delay of operation of throttle actuator for start, and (4) Overshoot of start acceleration after start to target acceleration are all eliminated. Thus, the start delay of the own vehicle with respect to the preceding vehicle is improved.
[0036]
However, in FIG. 3, A indicates the actual acceleration of the preceding vehicle, B indicates the target acceleration, D indicates the actual acceleration of the own vehicle, D indicates the brake fluid pressure, and E indicates the change in the throttle opening. , D and E indicate changes in the conventional brake fluid pressure and throttle opening before the improvement. Here, when the change in the brake fluid pressure of D is confirmed, if the start of the preceding vehicle is confirmed, it is understood that the release of the braking by the actuator unit 17 is started at a gentler degree of decrease than the broken line before the improvement. However, this is because the electronic throttle 15 has already been opened and the engine torque is being output to some extent at the time of confirming the start of the preceding vehicle. As a result, if the target acceleration is the same, it is better than before the improvement. This indicates that the brake fluid pressure should be reduced with a gradual decrease.
[0037]
Therefore, according to the above-described embodiment, the start of the preceding vehicle is predicted, and the electronic throttle 15 is slightly opened while maintaining the stop control so that the vehicle can be accelerated at any time. Since the vehicle can be accelerated, the start-up delay of the vehicle with respect to the preceding vehicle as in the related art can be eliminated, and a smooth automatic start can be realized without using an expensive configuration such as an ultrasonic sensor.
[0038]
In the above-described embodiment, an example has been described in which the acceleration unit is configured by the engine ECU 9 and the electronic throttle 15. However, instead of the electronic throttle 15, a fuel injection amount adjustment unit that adjusts the fuel injection amount of the engine 13 may be used. Of course it is good.
[0039]
Further, not only the electronic throttle 15 but also a throttle opening adjusting means capable of adjusting the throttle opening may be used.
[0040]
Further, the present invention is not limited to the above-described embodiment, and various changes other than those described above can be made without departing from the gist of the present invention.
[0041]
【The invention's effect】
As described above, according to the first and seventh aspects of the invention, the acceleration of the preceding vehicle is predicted and the acceleration means is controlled to the acceleration side while maintaining the stop control so that the vehicle can be accelerated at any time. Since the vehicle can be started and accelerated without being delayed by the preceding vehicle, it is possible to eliminate the start delay of the own vehicle with respect to the conventional vehicle without using an expensive configuration such as an ultrasonic sensor. Automatic start with good responsiveness to the vehicle can be realized.
[0042]
According to the second, third and eighth aspects of the present invention, the start prediction condition is determined based on whether or not the inter-vehicle distance between the own vehicle and the preceding vehicle has changed to a start prediction reference value or more in a state where the own vehicle speed is zero. If the start prediction condition is satisfied, the acceleration means is controlled from non-acceleration to acceleration side while maintaining stop control so that start acceleration can be performed at any time. This makes it possible to eliminate the delay in starting the vehicle with respect to the preceding vehicle as in the related art.
[0043]
According to the fourth aspect of the present invention, even if the acceleration means is controlled from non-acceleration to the acceleration side so that the vehicle can be accelerated at any time by predicting the start of the preceding vehicle, the stop control is maintained by the braking means. Becomes possible.
[0044]
According to the fifth and sixth aspects of the invention, the acceleration means is controlled from the non-acceleration to the acceleration side while maintaining the stop control by the braking means so that the start of the preceding vehicle can be predicted and acceleration can be performed at any time. It becomes possible to do.
[0045]
According to the ninth aspect of the present invention, in the start prediction step, the start prediction is performed based on whether or not the inter-vehicle distance between the own vehicle and the preceding vehicle has changed to a start prediction reference value or more in a state where the own vehicle speed is zero. In the start preparation process, the acceleration means is controlled from non-acceleration to non-acceleration while maintaining stop control so that the vehicle can be accelerated at any time in the start preparation process. Then, if the start of the preceding vehicle is confirmed based on whether or not the inter-vehicle distance to the preceding vehicle has changed by a start confirmation reference value (a value larger than the start prediction reference value), the release of braking by the braking means is started. Therefore, it is possible to eliminate the delay in starting the vehicle with respect to the preceding vehicle as in the related art without using an expensive configuration such as an ultrasonic sensor.
[Brief description of the drawings]
FIG. 1 is a block diagram of one embodiment of the present invention.
FIG. 2 is a flowchart for explaining the operation of the embodiment of the present invention;
FIG. 3 is an operation explanatory diagram of one embodiment of the present invention.
FIG. 4 is an operation explanatory diagram of a conventional example.
[Explanation of symbols]
1 vehicle speed sensor (vehicle speed detection means)
3 Inter-vehicle distance sensor (inter-vehicle distance detection means)
9 Engine ECU (acceleration means)
11 Brake ECU (braking means)
15 Electronic throttle (acceleration means)
17 Actuator section (braking means)
21 Main ECU (start prediction means, start confirmation means, control means)

Claims (9)

In a vehicle travel control device that automatically starts by controlling the braking means and the acceleration means without operating the accelerator pedal by the driver,
Own vehicle speed, and from the inter-vehicle distance between the own vehicle and the preceding vehicle, determine whether the start prediction condition of the preceding vehicle is satisfied,
A vehicle travel control device for controlling the acceleration means from non-acceleration to an acceleration side while maintaining stop control of the own vehicle by the braking means when it is determined that the start prediction condition of the preceding vehicle is satisfied. . In a vehicle travel control device that automatically starts by controlling the braking means and the acceleration means without operating the accelerator pedal by the driver,
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle;
Vehicle speed detection means for detecting the vehicle speed;
In a state where the vehicle speed detected by the vehicle speed detecting means is zero, it is determined whether or not the start prediction condition of the preceding vehicle is satisfied based on whether or not the inter-vehicle distance detected by the inter-vehicle distance detecting means has changed to a start prediction reference value or more. Starting prediction means to be
Control means for controlling the acceleration means from non-acceleration to an acceleration side while maintaining stop control of the vehicle by the braking means when the start prediction means determines that the start prediction condition is satisfied. A vehicle travel control device. In the state where the own vehicle speed detected by the vehicle speed detecting means is zero, the preceding distance depends on whether the inter-vehicle distance detected by the inter-vehicle distance detecting means has changed to a start confirmation reference value larger than the start prediction reference value or not. Equipped with start confirmation means to confirm the start of the car,
The control means,
Controlling the acceleration means from non-acceleration to the acceleration side when the start prediction condition is satisfied, and starting the release of braking by the braking means when the start of the preceding vehicle is confirmed by the start confirmation means. The vehicle travel control device according to claim 2, wherein 4. The braking device according to claim 1, wherein the braking unit transmits brake fluid pressure to a wheel cylinder to apply a braking force to each wheel based on a control signal from the control unit. The vehicle running control device according to any one of the preceding claims. 5. The vehicle travel control device according to claim 1, wherein the acceleration unit is a throttle opening adjustment unit that adjusts a throttle opening. 5. The vehicle travel control device according to claim 1, wherein the acceleration unit is a fuel injection amount adjustment unit that adjusts a fuel injection amount of an engine. In a vehicle traveling control method of automatically starting by controlling a braking unit and an acceleration unit without an operation of an accelerator pedal by a driver,
Own vehicle speed, and a start prediction step of determining whether the start prediction condition of the preceding vehicle is satisfied based on the inter-vehicle distance between the own vehicle and the preceding vehicle;
A start preparation step of controlling the acceleration means from non-acceleration to an acceleration side while maintaining stop control of the own vehicle by the braking means when it is determined that the start prediction condition of the preceding vehicle is satisfied. A vehicle running control method characterized by the above-mentioned. The vehicle according to claim 7, further comprising: a start control step of starting release of braking by the braking means when it is confirmed that the preceding vehicle has started after the start preparation step. Travel control method. In the start prediction step, in a state where the own vehicle speed is zero, it is determined whether or not the start prediction condition of the preceding vehicle is satisfied by whether the inter-vehicle distance to the preceding vehicle has changed to a start prediction reference value or more,
In the start control step, the start of the preceding vehicle is confirmed based on whether or not the inter-vehicle distance to the preceding vehicle has changed to a start confirmation reference value greater than the start prediction reference value while the own vehicle speed is zero. The vehicle travel control method according to claim 8, wherein:

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