JP2004058994A - Vehicle travel controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control traveling of a vehicle to have an inter-vehicle distance according to evaluated drivability by more properly evaluating the drivability. <P>SOLUTION: A drivability calculation part 15 evaluates the type of a vehicle traveling in front, the inter-vehicle distance, relative speed, a relative position, speed of a following vehicle to be speed of the present vehicle, a steering angle and a sunlight degree to calculate a present drivability index. A proper inter-vehicle distance calculation part 16 calculates a proper inter-vehicle distance between the vehicle traveling in front and the following vehicle to be the present vehicle based on the calculated drivability index. A proper speed manipulated variable control part 17 controls the traveling of the vehicle to have the proper calculated inter-vehicle distance. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle travel control device that performs an automatic following control that causes a subject vehicle to follow a preceding traveling vehicle.
[0002]
[Prior art]
Conventionally, as a vehicle travel control device that performs an automatic following control that causes the own vehicle to follow the forward traveling vehicle, the inter-vehicle distance between the forward traveling vehicle and the own vehicle keeps a preset inter-vehicle distance value, 2. Description of the Related Art A device that controls traveling of a host vehicle is known.
[0003]
In such a vehicle travel control device, even if the forward running vehicle changes from a light vehicle to a large freight vehicle, the inter-vehicle distance between the forward running vehicle and the host vehicle is maintained unless the driver changes the set inter-vehicle distance value. Is kept constant.
[0004]
For this reason, when the set inter-vehicle distance value is set in accordance with the case where the vehicle traveling ahead is a light vehicle, if the vehicle traveling ahead becomes a large cargo vehicle, it becomes difficult to see ahead and it becomes difficult to drive comfortably. is there.
[0005]
Therefore, for example, in the technology described in Japanese Patent Application Laid-Open No. 2-40798, it is determined whether the preceding vehicle is a large vehicle or not, and if the vehicle is identified as a large vehicle, the inter-vehicle distance is increased. The running of the vehicle is controlled.
[0006]
[Problems to be solved by the invention]
However, the validity for the inter-vehicle distance felt by the driver, that is, the drivability representing the validity of the current driving situation such as the ease of driving and the sense of security felt by the driver is determined only by the type of the vehicle traveling ahead. Not something. That is, when the following vehicle, which is the host vehicle, is an ordinary passenger vehicle and the preceding traveling vehicle is a large lorry, the driver of the ordinary passenger vehicle feels shorter even when the inter-vehicle distance is 5 m, for example, as compared with the case where the preceding traveling vehicle is an ordinary passenger vehicle. Conversely, when the vehicle traveling ahead is an ordinary passenger vehicle and the following vehicle is a large truck, for example, even if the inter-vehicle distance is 5 m, the vehicle traveling ahead feels longer than that of a large truck. As described above, the drivability felt by the driver of the following vehicle, which is the own vehicle, also differs greatly depending on the combination of the vehicle running ahead and the following vehicle, which is the own vehicle.
[0007]
Drivability with respect to the inter-vehicle distance felt by the driver also differs depending on the surrounding brightness. That is, even in the daytime and the nighttime, even if the inter-vehicle distance to the vehicle traveling ahead is the same, the inter-vehicle distance felt by the driver is felt shorter in the nighttime where the visibility is unclear.
[0008]
Similarly, depending on the traveling speed of the own vehicle, the relative speed with respect to the preceding traveling vehicle, the relative position, the steering angle of the own vehicle, and the like, the driving of the following vehicle which is the own vehicle even if the inter-vehicle distance to the preceding traveling vehicle is the same. Drivability that people feel is different.
[0009]
As a summary of the survey results on the driving visibility, there is a survey and research report (March 1999) on the inter-vehicle distance (inter-vehicle time) of commercial vehicles issued by the Automotive Driving Technology Association.
[0010]
Therefore, an object of the present invention is to provide a vehicle traveling control device capable of performing automatic following control so as to maintain an inter-vehicle distance that matches driving performance felt by a driver.
[0011]
[Means for Solving the Problems]
In order to achieve the object, according to the present invention, a vehicle size detecting means for detecting a size of a preceding vehicle, an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the preceding vehicle and the own vehicle, Illuminance detection means for detecting illuminance, appropriate inter-vehicle distance calculation means for calculating an appropriate inter-vehicle distance, and the inter-vehicle distance between the preceding vehicle and the host vehicle detected by the inter-vehicle distance detection means being the appropriate inter-vehicle distance calculation means Traveling control means for controlling traveling of the own vehicle so as to have an appropriate inter-vehicle distance calculated in (1). Then, the appropriate inter-vehicle distance calculating means sets the appropriate inter-vehicle distance such that the longer the front vehicle detected by the vehicle size detecting means is, the longer the preceding vehicle is, and the longer the illuminance detected by the illuminance detecting means is, the longer the appropriate inter-vehicle distance is. Let the distance be calculated.
[0012]
In this way, the appropriate inter-vehicle distance can be determined in consideration of not only the size of the vehicle in front but also the change in the driving field of view due to the surrounding illuminance. The automatic following control based on the determined inter-vehicle distance can be performed.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described.
[0014]
FIG. 1 shows a configuration of a vehicle traveling control device to which an embodiment of the present invention is applied.
[0015]
In the figure, a vehicle position detecting unit 10 mounted on a host vehicle (following vehicle) includes, for example, a laser radar, and scans the front of the host vehicle while irradiating laser light at predetermined pulse intervals. The scanned laser light is reflected by a vehicle traveling ahead. By receiving the reflected laser light, the vehicle position detecting unit 10 detects an inter-vehicle distance, a relative speed, and a relative position indicating a deviation in the traveling direction between the vehicle traveling ahead and the host vehicle.
[0016]
Further, the vehicle speed detection unit 11 detects the traveling speed of the own vehicle using a hall element or the like. The steering angle detector 13 detects the steering angle of the host vehicle using a potentiometer or the like.
[0017]
Further, the forward traveling vehicle determination unit 13 processes an image obtained by a photographing machine such as a camera, and determines the forward traveling vehicle type indicating whether the forward traveling vehicle is a large vehicle or a normal vehicle. As the determination criterion, a comparison of the projection area in the photographing machine, the size of the license plate, the color, and the like can be used.
[0018]
In addition, the sunshine detecting unit 14 detects sunshine as a parameter representing the brightness of the driving field of view using a photodiode or the like. In addition, when a camera is used for the front running vehicle discriminating unit 13, the sunshine may be detected with reference to an exposure correction value of the camera.
[0019]
The following distances, relative speeds, relative positions, own vehicle speeds, steering angles, steering angles, detected by the vehicle position detecting unit 10, the vehicle speed detecting unit 11, the steering angle detecting unit 12, the forward running vehicle determining unit 13, and the sunshine detecting unit 14 are detected. The forward traveling vehicle type and the sunshine are sent to the drivability calculating unit 15.
[0020]
The drivability calculation unit 15 performs a calculation process on each of the transmitted parameters to calculate a drivability index that matches the driver's feeling.
[0021]
Hereinafter, the process of calculating the drivability index in the drivability calculation unit 15 will be described.
[0022]
As shown in FIG. 2, the drivability calculating unit 15 evaluates each of a forward traveling vehicle type, a following distance, a relative speed, a relative position, a following vehicle speed, which is the own vehicle speed, a steering angle, and sunshine, as predetermined evaluations. Evaluation is performed using a reference, and a drivability index D is finally output according to each evaluation result.
[0023]
That is, the following vehicle (own vehicle) vehicle speed and the inter-vehicle distance are evaluated based on three evaluation criteria S (Small: small), M (Middle: medium), and B (Big: large). The relative position and the steering angle are evaluated based on three evaluation criteria L (Left: left), Z (Zero: zero), and R (Right: right). The relative speed is evaluated based on three evaluation criteria N (Negative: negative), Z (Zero: zero), and P (Positive: positive). The forward traveling vehicle type is evaluated based on two evaluation criteria S (Small: small) and B (Big: large). The sunlight is evaluated based on two evaluation criteria D (Dark: dark) and B (Bright: bright).
[0024]
More specifically, the following vehicle speed, relative speed, inter-vehicle distance, relative position, steering angle, forward traveling vehicle, and sunshine shown in FIGS. 3, 4, 5, 6, 7, 8, and 9, respectively. Using the evaluation function of each evaluation criterion, the degree of conformity of each parameter of the following vehicle speed, the relative speed, the following distance, the relative speed, the steering angle, the type of the vehicle traveling ahead, and the sunshine to the corresponding evaluation criterion is calculated. .
[0025]
Here, FIG. 3 shows evaluation functions of the evaluation criteria S (small), M (medium), and B (large) of the follower vehicle speed, and FIG. 4 shows evaluation criteria N (negative), Z (zero), P of the relative speed. (Positive) evaluation function, FIG. 5 shows the evaluation criteria S (small), M (medium), and B (large) evaluation functions for the following distance, and FIG. 6 shows the evaluation criteria L (left) and Z ( FIG. 7 shows the evaluation functions of the steering angles L (left), Z (zero), and R (right), and FIG. 8 shows the evaluation criteria S (for the front vehicle type). 9 shows the evaluation functions of Small (small) and B (Big: large), and FIG. 9 shows the evaluation functions of the illuminance evaluation criteria D (Dark: dark) and B (Bright: bright). However, FIG. 8 shows a case where the vehicle height of the preceding vehicle is used as the preceding vehicle type.
[0026]
Using such an evaluation function, the degree of conformity of each parameter to each corresponding evaluation criterion is determined. For example, using the evaluation functions of the evaluation criteria S (small), M (medium), and B (large) of the follower vehicle speed shown in FIG. 3, the degree of each evaluation criterion when the follower vehicle speed is 50 Km / h Is as follows.
[0027]
S (small) = 0
M (medium) = 0.6
B (large) = 0
This means that when the vehicle speed of the following vehicle, which is the host vehicle, is 50 Km / h, it is determined that the vehicle conforms to the evaluation criterion M (medium speed) with a degree of conformity of 0.6 as perceived by the driver. Is shown.
[0028]
In this manner, the drivability calculating unit 15 calculates the degree of conformity of the parameters of the following vehicle speed, the relative speed, the inter-vehicle distance, the relative speed, the steering angle, the vehicle traveling ahead, and the sunshine to the corresponding evaluation criteria.
[0029]
As a result, for example, the following vehicle speed, the relative speed, the inter-vehicle distance, the relative speed, the steering angle, the vehicle running ahead, and each parameter of the sunshine are:
Following vehicle speed = 80 km / h
Relative speed = -20km / h
Inter-vehicle distance = 25m
Relative position = -2m
Steering angle = -45 deg
Vehicle traveling ahead = 1.5 m (vehicle height)
Sunlight = 101x
, The degree of conformity of each parameter to the corresponding evaluation criterion is as follows.
[0030]
(1) Following vehicle speed:
S = B = O
M = 0.35
(2) Relative speed:
P = Z = O
N = 0.9
(3) Distance between vehicles:
S = 0.4
M = B = 0
(4) Relative position:
R = O
L = 0.9
(5) Steering angle:
L = 1.0
R = 0
(6) Forward running vehicle S = 0.3
B = 0
(7) Illuminance D = 0.6
B = 0
Therefore, the drivability calculating section 15 obtains the final drivability index D as follows using the control map shown in FIG.
[0031]
FIG. 10 shows a combination of evaluation criteria for each parameter of the following vehicle speed, relative speed, inter-vehicle distance, relative speed, steering angle, forward running vehicle, and sunshine, and five evaluation criteria VL (very low: extremely low) for the drivability index D. The correspondence with low (low), L (low: low), M (middle: middle), H (high: high), VH (very high: extremely high) is defined in advance, and the following vehicle speed, relative speed, The drivability felt by the driver with respect to the combination of the inter-vehicle distance, the relative speed, the steering angle, the vehicle traveling ahead, and the sunshine is expressed as a relation rule of each evaluation criterion.
[0032]
For example, the first stage of this control map indicates that the following vehicle speed is B (high), the relative speed is N (negative), the inter-vehicle distance is S (small), the relative position is Z (zero), and the steering angular force is Z (zero). ) And the preceding vehicle is B (large) and the illuminance D (dark), the drivability index is VL (extremely low) ”. The third stage indicates that “the following vehicle speed is B (large), the relative speed is N (negative), the inter-vehicle distance is S (small), the beat position is Z (zero), the steering angle is Z (zero), and the vehicle is traveling forward. The rule indicates that the drivability index is L (low) if the vehicle is B (large) and the sunlight is B (bright).
[0033]
Now, using such a control map, the drivability calculating unit 15 first determines the degree of satisfaction of each rule (each stage) of each control map by following vehicle speed, relative speed, inter-vehicle distance, and the like described in the rule. It is determined from the product of the degree of conformity previously determined with respect to the evaluation criteria for the relative speed, the steering angle, the vehicle traveling ahead, and the sunshine.
[0034]
That is, for example, for the rule marked with * in the control map, the evaluation function of each parameter shown in FIGS.
The conformity of the following vehicle is M = 0.35
Goodness of fit of relative speed N = 0.9
Goodness of S = 0.4
Fitness of relative position L = 0.9
Fitness of steering angle L = 1.0
The degree of conformity of the preceding vehicle is S = 0.3
The degree of conformity of sunshine is S = 0
, The satisfaction of the rules marked with * is calculated by multiplying the conformance by
0.35 × 0.9 × 0.4 × 0.9 × 1.0 × 0.3 × 0 = 0
And
[0035]
Then, when the degree of satisfaction is obtained for each rule of the control map, the degree of satisfaction of the i-th rule is Si, the evaluation criterion of the drivability index described in the i-th rule is Ui, and the drivability index D The predetermined numerical values VL = 1.00, L = 0.75, M = 0.50, H = 0.25, VH = 0.5 are set to the five evaluation criteria VL, L, M, H, and VH. 00, the following equation D = Σ (Si × Ui) / ΣSi
To calculate the final drivability index D.
[0036]
The drivability index D calculated by the drivability calculation unit 15 in this manner is then sent to the appropriate inter-vehicle distance calculation unit 16.
[0037]
The appropriate inter-vehicle distance calculation unit 16 uses the transmitted drivability index D, the relative speed from the vehicle position detection unit 10, and the following vehicle speed from the vehicle speed detection unit 11 to determine whether the vehicle traveling ahead and the own vehicle are in contact with each other. Calculate the appropriate inter-vehicle distance.
[0038]
That is, first, based on the relative speed Vr and the own vehicle speed V, a reference inter-vehicle distance Lo at which the vehicle can stop without colliding with a vehicle traveling ahead is calculated according to the following equation.
[0039]
Lo = V × τ + (Vs ² −V ² ) / 2α
Vs = V + Vr
Here, τ is the idle running time of the vehicle (the time from when the brake is depressed until the brake is actually activated), and α is the deceleration. Then, the reference inter-vehicle distance Lo is corrected by the following equation using the drivability index D calculated by the drivability calculating section 15 to calculate an appropriate inter-vehicle distance L.
[0040]
L = (1 + D) × Lo
Then, the appropriate inter-vehicle distance calculation unit 16 sends the calculated appropriate inter-vehicle distance L to the appropriate vehicle speed operation amount control unit 17.
[0041]
The appropriate vehicle speed operation amount control unit 17 that has received the appropriate inter-vehicle distance L performs a process 20 shown in FIG.
[0042]
That is, in the process 21, the calculation of LG is performed using the appropriate inter-vehicle distance L and the actual inter-vehicle distance G. If the calculation result is positive, it means that the actual inter-vehicle distance G is shorter than the appropriate inter-vehicle distance L. Therefore, the throttle actuator 18 is fully closed by the processing 22, the engine brake is applied to the vehicle, and In process 23, control is performed to increase the brake fluid pressure to the brake actuator 19 to apply the brake, reduce the vehicle speed, and bring the inter-vehicle distance G closer to the appropriate inter-vehicle distance L.
[0043]
On the other hand, if the result of the calculation in the process 21 is negative, it means that the actual inter-vehicle distance G is longer than the appropriate inter-vehicle distance L, so that the opening degree of the throttle actuator 18 is increased by the process 24, and At 25, control is performed to decrease the brake fluid pressure to the brake actuator 19, increase the vehicle speed, and bring the inter-vehicle distance G closer to the appropriate inter-vehicle distance L.
[0044]
Hereinabove, one embodiment of the present invention has been described.
[0045]
As described above, in the present embodiment, the following vehicle speed, the relative speed with respect to the preceding traveling vehicle, the following distance, the relative position, the steering angle of the own vehicle, the size of the preceding traveling vehicle, and further, taking into account the sunshine, Drivability is evaluated, and the inter-vehicle distance can be controlled according to the evaluated drivability. For this reason, by defining appropriate control content according to the evaluation result, it becomes possible to control the inter-vehicle distance so that the drivability becomes more appropriate.
[0046]
As a result, for example, according to the size of the front running vehicle and the sunshine, as shown in FIG. 12, when the size of the front running vehicle is large and the sunshine is low, the inter-vehicle distance is larger than the standard, When the size is large and the sunshine is high, the inter-vehicle distance is medium.When the size of the vehicle traveling ahead is small and the sunshine is low, the inter-vehicle distance is medium. When the distance is high, vehicle traveling control that reduces the inter-vehicle distance becomes possible.
[0047]
【The invention's effect】
As described above, according to the present invention, it is possible to perform the automatic following control based on the inter-vehicle distance that is more matched to the drivability felt by the driver.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating a configuration of a vehicle traveling control device to which an embodiment of the present invention has been applied.
FIG. 2 is a diagram showing evaluation criteria and output values of input parameters in drivability calculating section 15 shown in FIG.
FIG. 3 is a diagram showing an evaluation function of an evaluation criterion of a following vehicle speed.
FIG. 4 is a diagram showing an evaluation function of an evaluation criterion for relative speed.
FIG. 5 is a diagram showing an evaluation function of an evaluation criterion for an inter-vehicle distance.
FIG. 6 is a diagram showing an evaluation function of an evaluation criterion for a relative position.
FIG. 7 is a diagram showing an evaluation function of a steering angle evaluation criterion.
FIG. 8 is a diagram showing an evaluation function of an evaluation criterion of the type of vehicle ahead.
FIG. 9 is a diagram showing an evaluation function of an evaluation standard of sunlight.
FIG. 10 is a view showing a control map used in the drivability calculating section 15 shown in FIG.
FIG. 11 is a diagram showing processing in an appropriate vehicle speed operation amount control unit 17 shown in FIG. 1;
FIG. 12 is a diagram showing an example of an appropriate inter-vehicle distance determined and controlled according to the size of a forward vehicle and the sunshine in the present embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Vehicle position detection part, 11 ... Vehicle speed detection part, 12 ... Steering angle detection part 13 ... Forward running vehicle detection part, 14 ... Sunshine detection part, 15 ... Drivability calculation part 16 ... Appropriate inter-vehicle distance calculation part, 17 ... Appropriate vehicle speed control amount controller 18: throttle actuator, 19: brake actuator

Claims (3)

Vehicle size detecting means for detecting the size of the preceding vehicle;
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the preceding vehicle and the own vehicle,
Illuminance detection means for detecting illuminance around the vehicle,
An appropriate inter-vehicle distance calculating means for calculating an appropriate inter-vehicle distance,
Traveling control means for controlling traveling of the own vehicle such that the inter-vehicle distance between the preceding vehicle and the own vehicle detected by the inter-vehicle distance detecting means becomes the proper inter-vehicle distance calculated by the appropriate inter-vehicle distance calculating means. And
The appropriate inter-vehicle distance calculating means,
Calculating the appropriate inter-vehicle distance such that the longer the front vehicle detected by the vehicle size detector is, the longer the front vehicle is, and the longer the illuminance detected by the illuminance detector is, the longer the distance is. A vehicle travel control device characterized by the above-mentioned. Vehicle size detecting means for detecting the size of the preceding vehicle;
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the preceding vehicle and the own vehicle,
Speed detection means for detecting a traveling speed that is the speed of the own vehicle,
Relative speed detecting means for detecting the relative speed of the own vehicle with respect to the preceding vehicle, and relative position detecting means for detecting the relative position of the own vehicle with respect to the preceding vehicle,
Steering angle detection means for detecting the steering angle of the vehicle,
Illuminance detection means for detecting illuminance around the vehicle,
An appropriate inter-vehicle distance calculating means for calculating an appropriate inter-vehicle distance,
Traveling control means for controlling traveling of the own vehicle such that the inter-vehicle distance between the preceding vehicle and the own vehicle detected by the inter-vehicle distance detecting means becomes the proper inter-vehicle distance calculated by the appropriate inter-vehicle distance calculating means. And
The appropriate inter-vehicle distance calculating means,
The size of the preceding vehicle detected by the vehicle size detecting means, the steering angle detected by the steering angle detecting means, the illuminance detected by the illuminance detecting means, and the traveling speed detected by the speed detecting means And evaluating the inter-vehicle distance detected by the inter-vehicle distance detecting means, the relative speed detected by the relative speed detecting means, and the relative position detected by the relative position detecting means according to a predetermined evaluation function. A vehicle driving control device for obtaining a current drivability as an evaluation result, and correcting the calculated appropriate inter-vehicle distance according to the obtained drivability. A vehicle traveling control method for controlling an inter-vehicle distance between a preceding vehicle and a host vehicle,
A first step of detecting the size of the preceding vehicle, the inter-vehicle distance between the preceding vehicle and the own vehicle, and the illuminance around the own vehicle;
A second step of calculating an appropriate inter-vehicle distance such that the larger the size of the preceding vehicle detected in the first step is, the longer the vehicle is, and the longer the illuminance detected in the first step is, the longer the illuminance is. ,
A third step of controlling traveling of the own vehicle such that an inter-vehicle distance between the preceding vehicle and the own vehicle detected in the first step is an appropriate inter-vehicle distance calculated in the second step; , A vehicle travel control device.

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