JP2004058920A - Vehicle distance following controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle distance following controller capable of securely detecting the changeover and change of a preceding vehicle even if a change in vehicle distance before and after the changeover of the preceding vehicle is small when the preceding vehicle is changed due to an interruption and leaving. <P>SOLUTION: This vehicle distance following controller for letting own vehicle follow the preceding vehicle running ahead of own vehicle for control is provided with a vehicle distance detection part 3 detecting a vehicle distance between own vehicle and the preceding vehicle, a relative speed detection part 4 detecting the relative speed of own vehicle and the preceding vehicle, and a changeover condition detection means 5 detecting the changeover and change of the preceding vehicle based on a change X in vehicle distance and a change V<SB>A</SB>in relative speed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention belongs to the technical field of an inter-vehicle follow-up control device in which when a preceding vehicle is present, a vehicle speed set by a driver is set as an upper limit, and the vehicle travels while following the preceding vehicle while maintaining a following distance.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as an inter-vehicle follow-up control device, for example, the one described in Japanese Patent Application Laid-Open No. H11-334553 is known. This conventional publication describes that the inter-vehicle distance becomes shorter than the target inter-vehicle distance when another vehicle intervenes between the host vehicle and the preceding vehicle.
[0003]
[Problems to be solved by the invention]
However, in the conventional inter-vehicle follow-up control device, since the interruption of the preceding vehicle is determined only by the inter-vehicle distance information, for example, in a situation where the preceding vehicle is going to accelerate away from the own vehicle, When the change in the inter-vehicle distance before and after the interruption is small, such as when another vehicle interrupts between the own vehicle and the preceding vehicle, it is difficult to determine the interruption of the preceding vehicle.
[0004]
The present invention has been made in view of the above problems, and when a preceding vehicle is changed due to interruption or departure, the change of the preceding vehicle is surely changed even when the inter-vehicle distance change before and after switching of the preceding vehicle is small. It is an object of the present invention to provide an inter-vehicle follow-up control device capable of detecting the following.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, according to the present invention, an inter-vehicle follow-up control device that performs control to cause a subject vehicle to follow a preceding vehicle traveling in front of the subject vehicle includes an inter-vehicle distance detection that detects an inter-vehicle distance between the subject vehicle and the preceding vehicle. Means, a relative speed detecting means for detecting a relative speed between the own vehicle and the preceding vehicle, and a preceding vehicle change detecting means for detecting a change in switching of the preceding vehicle based on the amount of change in the inter-vehicle distance and the amount of change in the relative speed. And provided.
[0006]
Here, `` change of preceding vehicle switching '' means that the preceding vehicle to be controlled, which is traveling ahead of the own vehicle, has left and the preceding vehicle traveling further ahead of the preceding vehicle is the new preceding vehicle. Or "interruption" in which the vehicle interrupts between the host vehicle and the preceding vehicle to be controlled, and the interrupted vehicle becomes a new preceding vehicle.
[0007]
【The invention's effect】
Therefore, in the following distance control apparatus of the present invention, the preceding vehicle change detecting means detects the change of the preceding vehicle based on the change amount of the following distance and the change amount of the relative speed. When the preceding vehicle is changed due to the departure, it is possible to reliably detect the change in the preceding vehicle switching even when the inter-vehicle distance change before and after the preceding vehicle switching is small.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments for realizing the following distance control apparatus of the present invention will be described with reference to the drawings.
[0009]
(First embodiment)
First, the configuration will be described.
FIG. 1 is a block diagram showing an inter-vehicle tracking control device according to a first embodiment.
In FIG. 1, 1 is a distance sensor, 2 is a vehicle speed sensor, 3 is an inter-vehicle distance detection unit (inter-vehicle distance detection unit), 4 is a relative speed detection unit (relative speed detection unit), and 5 is a switching state detection unit (preceding vehicle). Change detection means), 6 is a leaving / interruption determining unit (leaving determining unit, interrupt determining unit).
[0010]
That is, a vehicle speed sensor 2 for detecting the own vehicle speed, and a distance sensor 1 such as a laser radar or a millimeter wave radar for measuring an inter-vehicle distance to a preceding vehicle, the own vehicle speed detected by the vehicle speed sensor 2, An inter-vehicle follow-up control device that controls the own vehicle speed so as to follow the preceding vehicle at a target set inter-vehicle distance set based on the inter-vehicle distance with the preceding vehicle detected by the distance sensor 1.
[0011]
The inter-vehicle distance detector 3 detects the inter-vehicle distance between the host vehicle and the preceding vehicle based on the inter-vehicle distance measurement value when the preceding sensor is detected by the distance sensor 1.
[0012]
When the preceding vehicle is detected by the distance sensor 1, the relative speed detector 4 detects the relative speed between the own vehicle and the preceding vehicle based on the measured distance between the vehicles and the own vehicle speed.
[0013]
The switching state detection means 5 detects a change in the switching of the preceding vehicle based on the amount of change in the inter-vehicle distance per unit time and the amount of change in the relative speed per unit time.
[0014]
The departure / interruption determination unit 6 determines whether the inter-vehicle distance change X is equal to or greater than a departure determination set value Z1 (first set value: positive value), or the relative speed change _VA is determined as a departure determination set value Y1 (second value). (Set value: negative value) or less, it is determined that the preceding vehicle has been switched due to the departure of the preceding vehicle from the front of the own vehicle.
[0015]
If the inter-vehicle distance change X is equal to or less than the interrupt determination set value Z2 (third set value: negative value), or the relative speed change _VA is the interrupt determination set value Y2 (fourth set value: positive value) In the case described above, it is determined that the preceding vehicle is switched due to interruption of a new preceding vehicle ahead of the own vehicle.
[0016]
FIG. 2 is a diagram showing a basic hardware configuration of the following distance control apparatus according to the first embodiment.
In FIG. 2, 7 is a set switch, 8 is a cancel switch, 9 is an inter-vehicle distance sensor, 10 is a vehicle signal transmitting means, 11 is a tracking control controller, 12 is an engine output control device, 13 is a transmission control device, and 14 is The braking control device 15 is a tracking control information alarm.
[0017]
The set switch 7 is operated when the driver starts the following control, and the own vehicle speed at the time of operating the switch is set as the set vehicle speed. The cancel switch 8 is a switch operated when the driver releases the following distance control.
[0018]
Similarly to the distance sensor 1, the inter-vehicle distance sensor 9 determines the distance between the host vehicle and the preceding vehicle based on the presence or absence of the preceding vehicle using a laser radar or a millimeter wave radar and the transmission / reception time when the presence of the preceding vehicle is detected. The distance is measured.
[0019]
The vehicle signal transmitting means 10 transmits a vehicle speed signal, a brake switch signal, an electronic control throttle opening signal and the like to the follow-up control controller 11 as vehicle signals.
[0020]
When the automatic transmission 4 is in the D range, the follow-up control controller 11 measures presence / absence of a preceding vehicle, an inter-vehicle distance, and a relative speed based on information from the inter-vehicle distance sensor 9. If there is no preceding vehicle, the vehicle travels at a constant speed set by the driver. If there is a preceding vehicle that is slower than the set vehicle speed, the vehicle will follow the preceding vehicle while maintaining the inter-vehicle distance according to the vehicle speed with the upper limit of the vehicle speed set by the driver. Furthermore, when a preceding vehicle that is slower than the vehicle speed set by the driver appears, the vehicle decelerates. When there is no preceding vehicle slower than the set vehicle speed, the vehicle slowly accelerates to the set vehicle speed.
[0021]
The following control controller 11 includes the following distance detection unit 3, the relative speed detection unit 4, the switching state detection unit 5, and the departure / interruption determination unit 6 shown in FIG.
[0022]
The engine output control device 12, the transmission control device 13, and the braking control device 14 are controlled by the electronic control throttle according to the constant speed travel mode, the deceleration travel mode, the follow travel mode, and the acceleration travel mode of the follow control controller 11. At least one of control of engine output by opening and closing of a valve, speed control of a transmission, and braking control by brake fluid pressure is executed.
[0023]
The follow-up control information alarm 15 is means for giving an alarm by sound to the driver, and for example, an alarm buzzer or the like is used.
[0024]
Next, the operation will be described.
[0025]
[Overall processing of preceding vehicle switching determination]
FIG. 3 is a flowchart showing the flow of the overall process of the preceding vehicle switching determination executed by the follow-up control controller 11 of the first embodiment. Each step will be described below.
[0026]
In step S1, the instant when the main switch of the following distance control device is turned ON is set as a start time, the elapsed time T is set to 0, the number of signal acquisitions N is set to 1, and the process proceeds to step S2.
[0027]
In step S2, the time T = 0, the signal acquisition from the distance sensor 1 and the initial value of the following distance X between the preceding vehicle, and the initial value of the vehicle speed V _O by signal acquisition from the vehicle speed sensor 2, is loaded Then, the process proceeds to step S3.
[0028]
In step S3, the elapsed time T is set to T = T + Ts (for example, Ts = 100 ms), the number of signal acquisitions N is set to N = N + 1, and the process proceeds to step S4.
[0029]
In step S4, for each control cycle Ts, the signal acquisition from the distance sensor 1 and the following distance X _N of the preceding vehicle, and the vehicle speed V _ON is read by the signal acquisition from the vehicle speed sensor 2, to step S5 Transition.
[0030]
In step S5, the preceding vehicle is determined based on the inter-vehicle distance _XN and the own vehicle speed V _ON read this time in step S4, and the inter-vehicle distance X _N-1 and the own vehicle speed V _ON-1 previously read in step S4. The relative speed _VAN between the vehicle and the host vehicle is calculated, and the process proceeds to step S6. The initial of the first time read is the following distance X _N-1 and the vehicle speed V _ON-1 is a previous value, the following distance X and the vehicle speed V _O read in the step S2 in the step S4 Value.
[0031]
In step S6, it is determined whether or not the inter-vehicle follow-up control is ON based on the control flag of the follow-up control controller 11. If the inter-vehicle follow-up control is ON, the process proceeds to step S7 (preceding vehicle switching determination processing), and the inter-vehicle follow-up control is turned off. In the case of, the process moves to step S8.
[0032]
In step S7, the preceding vehicle switching determination processing is executed according to the flowchart shown in FIG.
[0033]
In step S8, it is determined whether or not the main switch is OFF. If it is ON, the process returns to step S3, and if it is OFF, the following distance control system is terminated.
[0034]
That is, when the main switch is ON, the inter-vehicle distance and the relative speed used in the preceding vehicle switching determination processing are calculated regardless of whether the inter-vehicle follow-up control is ON.
[0035]
[Preceding car switching judgment processing]
FIG. 4 is a flowchart showing the flow of the preceding vehicle switching determination process executed in step S7 of FIG. 3, and each step will be described below.
[0036]
At step S70, the inter-vehicle distance change X in first control period is calculated by _{X =} formula _{(X N -X N-1)} , the process proceeds to step S71.
[0037]
In step S71, it is determined whether or not the inter-vehicle distance change X is greater than or equal to the departure determination set value Z1 (positive value). If X ≧ Z1, the process proceeds to step S72 to switch to the preceding vehicle due to the departure of the preceding vehicle. to decide. If X <Z1, the process proceeds to step S73.
[0038]
In step S73, it is determined whether or not the inter-vehicle distance change X is equal to or less than an interrupt determination set value Z2 (negative value). If X ≦ Z2, the process proceeds to step S74 to switch to the preceding vehicle due to the preceding vehicle interrupt. to decide. If X> Z2, the process proceeds to step S75.
[0039]
At step S75, the relative velocity change _{V A} of the first control period _is calculated by V _{A =} formula _{(V A N -V A N-} 1), the process proceeds to step S76.
_{Here, V A N} are calculated by _V 1N _-V ON _{(V 1N} represents the preceding vehicle speed at the _{N, V ON} represents a vehicle speed at the _{N), V A N-1} is V _{1N-1 -V ON-1 (} V 1N-1 represents a preceding vehicle speed at the _{N-1, V ON-1} represents the vehicle speed at the N-1) is calculated by.
[0040]
In step S76, it is determined whether or not the relative speed change _VA is equal to or less than the departure determination set value Y1 (negative value). If _VA ≦ Y1, the process proceeds to step S77, and the preceding vehicle from the front of the own vehicle It is determined that the preceding vehicle has been switched due to leaving. If V _A > Y1, the process moves to step S78.
[0041]
In step S78, it is determined whether or not the relative speed change _VA is equal to or greater than the interrupt determination set value Y2 (positive value). If _VA ≧ Y2, the process proceeds to step S79, and a new forward direction of the host vehicle is performed. It is determined that the preceding vehicle is switched due to the interruption of the preceding vehicle. If _VA <Y2, the process proceeds to step S80, and in step S80, it is determined that there is no preceding vehicle switching situation.
[0042]
[Judgment of switching to preceding vehicle due to departure]
(1) Departure pattern 1
As shown in FIG. 5 (1), when the speeds of the own vehicle, the vehicle A, and the vehicle B are substantially the same and the vehicle is running stably along the flow, the vehicle A, which is the preceding vehicle, leaves and the preceding vehicle becomes the vehicle. When the mode is switched to B, the flow proceeds to step S70 → step S71 → step S72 in the flowchart of FIG. 4, and in step S72, it is determined that the preceding vehicle is switched due to leaving the preceding vehicle.
[0043]
That is, while the inter-vehicle distance between the own vehicle and the vehicle A immediately before the departure is as short as X1, the inter-vehicle distance X2 between the own vehicle and the vehicle B is increased after the departure of the vehicle A, and the inter-vehicle distance change X (X2-X1 ) Is due to being equal to or greater than the departure determination set value Z1.
[0044]
(2) Withdrawal pattern 2
As shown in FIG. 5 (2), there is a low-speed vehicle B which is rapidly decelerating ahead of the own vehicle and the vehicle A, and the vehicle A leaves the vehicle B at a very short inter-vehicle distance. When the vehicle approaches and captures the preceding vehicle, the flow proceeds to step S70 → step S71 → step S73 → step S75 → step S76 → step S77 in the flowchart of FIG. It is determined that the preceding vehicle is switched due to leaving.
[0045]
That is, the inter-vehicle distance between the own vehicle and the vehicle A immediately before the departure is X1 and the inter-vehicle distance X2 between the own vehicle and the vehicle B after the departure is not much different, and the inter-vehicle distance change X (X2-X1) is set to the departure determination setting. When the value is less than the value Z1, it is not determined that the vehicle has left in the inter-vehicle distance change X.
[0046]
However, it illustrates the relationship vehicle speed ≒ speed (vehicle A)> speed (vehicle B) by deceleration of the vehicle B, the relative velocity change _{V A is, V A = (VB-V2} ) - and (VA-V1) ≦ Y1 Accordingly, it is determined that the preceding vehicle has been switched due to the leaving of the preceding vehicle based on the relative speed change _VA .
[0047]
(3) Withdrawal pattern 3
As shown in FIG. 5 (3), when the vehicle A accelerates to leave the lane to change lanes, the own vehicle follows the vehicle A and accelerates, and at some point the preceding vehicle is switched to the vehicle B. In the flowchart of FIG. 4, the flow proceeds to step S70 → step S71 → step S73 → step S75 → step S76 → step S77. In step S77, it is determined that the preceding vehicle is switched due to leaving the preceding vehicle.
[0048]
That is, the inter-vehicle distance between the own vehicle and the vehicle A immediately before the departure is X1 and the inter-vehicle distance X2 between the own vehicle and the vehicle B after the departure is not much different, and the inter-vehicle distance change X (X2-X1) is set to the departure determination setting. When the value is less than the value Z1, it is not determined that the vehicle has left in the inter-vehicle distance change X.
[0049]
However, the acceleration of the vehicle and the vehicle A, vehicle speed ≒ speed illustrates the relationship (vehicle A)> speed (vehicle B), the relative velocity change _{V A is, V A = (VB-V2} ) - (VA-V1 ) ≦ Y1, it is determined by the relative speed change _VA that the preceding vehicle is switched due to leaving the preceding vehicle.
[0050]
[Advance vehicle switching judgment by interrupt]
(1) Interruption pattern 1
As shown in FIG. 6 (1), when the speeds of the own vehicle, the vehicle A, and the vehicle B are substantially the same and the vehicle is running stably along the flow, the vehicle A is located between the preceding vehicle, the vehicle B, and the own vehicle. When the preceding vehicle is switched to the vehicle A, the flow proceeds to step S70 → step S71 → step S73 → step S74 in the flowchart of FIG. 4. In step S74, the preceding vehicle is switched by the preceding vehicle interrupt. Is determined.
[0051]
That is, while the inter-vehicle distance between the own vehicle and the vehicle B immediately before the interruption is as long as X1, the inter-vehicle distance X2 between the own vehicle and the vehicle A becomes short after the interruption of the vehicle A, and the inter-vehicle distance change X (X2-X1 ) Is due to being equal to or less than the departure determination set value Z2.
[0052]
(2) Interruption pattern 2
As shown in FIG. 6B, when the vehicle A, which is the preceding vehicle of the host vehicle, is about to decelerate and is about to leave, when the interrupting vehicle B accelerates from behind and interrupts, the flowchart of FIG. , The flow proceeds to step S70 → step S71 → step S73 → step S75 → step S76 → step S78 → step S79. In step S79, it is determined that the preceding vehicle is switched due to the preceding vehicle interruption.
[0053]
That is, the inter-vehicle distance between the own vehicle and the vehicle A before the interruption is X1, and the inter-vehicle distance X2 between the own vehicle and the vehicle B after the interruption is not much different, and the inter-vehicle distance change X (X2-X1) is set in the interrupt determination setting. When the value exceeds the value Z2, it is not determined that an interruption occurs in the inter-vehicle distance change X.
[0054]
However, the deceleration of the vehicle A and the acceleration of the vehicle B result in a relationship of own vehicle speed / vehicle speed (vehicle A) <vehicle speed (vehicle B), and the relative speed change _VA is _VA = (VB−V2) − (VA−). V1) ≧ Y2, it is determined that the preceding vehicle has been switched due to the interruption based on the relative speed change _VA .
[0055]
▲ 3 ▼ Interruption pattern 3
As shown in FIG. 6 (3), when the vehicle B suddenly accelerates from behind and interrupts, and at that moment, the vehicle A, which was the preceding vehicle, accelerated, in the flowchart of FIG. The flow proceeds to step S73 → step S75 → step S76 → step S78 → step S79. In step S79, it is determined that the preceding vehicle is switched due to the preceding vehicle interruption.
[0056]
That is, the inter-vehicle distance between the own vehicle and the vehicle A before the interruption is X1, and the inter-vehicle distance X2 between the own vehicle and the vehicle B after the interruption is not much different, and the inter-vehicle distance change X (X2-X1) is set in the interrupt determination setting. When the value exceeds the value Z2, it is not determined that an interruption occurs in the inter-vehicle distance change X.
[0057]
However, it illustrates the relationship vehicle speed ≒ speed by the acceleration interrupt vehicle B (vehicle A) <speed (vehicle B), the relative velocity change _{V A is, V A = (VB-V2} ) - (VA-V1) ≧ Y2 As a result, it is determined that the preceding vehicle has been switched due to the interruption based on the relative speed change _VA .
[0058]
Next, effects will be described.
In the following distance control apparatus of the first embodiment, the following effects can be obtained.
[0059]
(1) An inter-vehicle follow-up control device that controls a vehicle to follow a preceding vehicle traveling in front of the own vehicle, an inter-vehicle distance detection unit 3 that detects an inter-vehicle distance between the own vehicle and the preceding vehicle, Since a relative speed detecting unit 4 for detecting the relative speed of the vehicle and a switching state detecting means 5 for detecting a change of the preceding vehicle based on the inter-vehicle distance change X and the relative speed change _VA are provided. When the preceding vehicle is changed due to the departure, it is possible to reliably detect the change in the preceding vehicle switching even when the inter-vehicle distance change before and after the preceding vehicle switching is small.
[0060]
(2) The departure / interruption determination unit 6 determines that the inter-vehicle distance change X is equal to or greater than the departure determination set value Z1 (positive value) or the relative speed change _VA is equal to or less than the departure determination set value Y1 (negative value). In this case, it is determined that the preceding vehicle is switched due to the departure of the preceding vehicle from the front of the own vehicle. Therefore, even if the inter-vehicle distance change X is small, the preceding vehicle is reliably switched by the departure by the relative speed change _VA. Can be determined.
[0061]
(3) The departure / interruption determination unit 6 determines that the inter-vehicle distance change X is equal to or less than the interrupt determination set value Z2 (negative value) or the relative speed change _VA is equal to or greater than the interrupt determination set value Y2 (positive value). In this case, it is determined that the preceding vehicle is switched due to the interruption of a new preceding vehicle ahead of the own vehicle. Therefore, even if the inter-vehicle distance change X is small, the relative vehicle speed _VA ensures that the preceding vehicle is switched. Can be determined.
[0062]
As described above, the following distance control apparatus according to the present invention has been described based on the first embodiment. However, the specific configuration is not limited to the first embodiment, but is according to the claims. Changes and additions to the design are permitted without departing from the spirit of the invention.
[0063]
For example, when the switching state of the preceding vehicle is detected, the driver may be notified by the follow-up control information alarm 15 (buzzer or the like), or at a position where the driver can visually recognize the switching state of the preceding vehicle. The preceding vehicle switching display may be performed, or the notification and the display may be used together.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating an inter-vehicle tracking control device according to a first embodiment.
FIG. 2 is a diagram showing a basic hardware configuration of the following distance control device according to the first embodiment;
FIG. 3 is a flowchart illustrating a flow of an entire process of a preceding vehicle switching determination executed by a following control controller of the first embodiment apparatus.
FIG. 4 is a flowchart illustrating a flow of a preceding vehicle switching determination process executed in step S7 of FIG. 3;
FIG. 5 is an operation explanatory view showing a separation pattern.
FIG. 6 is an operation explanatory view showing an interrupt pattern.
[Explanation of symbols]
1 distance sensor 2 vehicle speed sensor 3 inter-vehicle distance detection unit (inter-vehicle distance detection means)
4 Relative speed detector (relative speed detector)
5 Switching state detecting means (preceding vehicle change detecting means)
6 Departure / interruption judgment part (Leaving judgment part, interruption judgment part)
7 Set switch 8 Cancel switch 9 Inter-vehicle distance sensor 10 Vehicle signal transmission means 11 Tracking control controller 12 Engine output control device 13 Transmission control device 14 Brake control device 15 Tracking control information alarm

Claims (3)

In an inter-vehicle tracking control device that performs control to make the own vehicle follow a preceding vehicle traveling in front of the own vehicle,
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and a preceding vehicle;
Relative speed detecting means for detecting a relative speed between the own vehicle and the preceding vehicle;
A preceding vehicle change detection unit that detects a change in switching of the preceding vehicle based on the amount of change in the inter-vehicle distance and the amount of change in the relative speed;
An inter-vehicle tracking control device, comprising: The inter-vehicle tracking control device according to claim 1,
The preceding vehicle change detection means is configured to determine whether the inter-vehicle distance change amount is larger than a first set value (positive value) or the relative speed change amount is smaller than a second set value (negative value). In such a case, an inter-vehicle follow-up control device includes a departure determination unit that determines that the vehicle is to be switched to a preceding vehicle due to the departure of the preceding vehicle from the front of the own vehicle. The inter-vehicle tracking control device according to claim 1,
The preceding vehicle change detecting means is configured to determine whether the inter-vehicle distance change amount is smaller than a third set value (negative value) or the relative speed change amount is larger than a fourth set value (positive value). In this case, an inter-vehicle follow-up control device includes an interruption determining unit that determines that the preceding vehicle is switched due to interruption of a new preceding vehicle ahead of the own vehicle.

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