JP2004249746A - Following traveling control device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To ensure safe traveling when an opposed vehicle being about to turn to the right comes into a dead angle viewing from the straightly advancing own vehicle when a preceding vehicle is not detected at an intersection, in the vehicle following-traveling after the preceding vehicle and provided with a following traveling control means. <P>SOLUTION: The following traveling control device for a vehicle is constituted such that a scanning range of a forward object sensor is enlarged to a right front side when the own vehicle straightly advancing-traveling on a predetermined traveling area from a predetermined distance before the intersection to a center of the intersection in the state that the preceding vehicle does not exist and acceleration restriction control for restricting acceleration of the own vehicle is carried out when an obstacle such that the vehicle being about to turn to the right coming into a dead angle is detected at a right front side of the own vehicle when viewing from the own vehicle at the intersection. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle follow-up traveling control device that performs travel control by following a vehicle subject to follow-up control in front of a host vehicle.
[0002]
[Prior art]
As a conventional vehicle following travel control device, an oncoming vehicle that makes a right turn with a self-vehicle that makes a right turn based on on-coming straight-ahead vehicle information, road alignment information, and own-vehicle information collected for the own vehicle that makes a right turn at an intersection To determine the danger of collision with the vehicle and provide that information to the driver to prevent the collision from occurring.If the driver's deceleration is insufficient, the vehicle is automatically shut down to avoid the collision. It is known to stop the operation (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-13-126199
[0004]
[Problems to be solved by the invention]
However, in the above-described conventional vehicle following travel control device, it is possible to cope with a right-turning vehicle in an oncoming lane that may cross the own vehicle traveling lane when the own vehicle travels straight at an intersection. There is an unsolved problem that cannot be solved.
Therefore, the present invention has been made by focusing on the unsolved problem of the above conventional example, and when the own vehicle travels straight at the intersection, the vehicle in the oncoming lane that may cross the own lane is a blind spot. It is an object of the present invention to provide a vehicle cruising control device capable of limiting acceleration when such an obstacle exists ahead of the position of the host vehicle on the center line side of the road.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, a vehicle following traveling control device according to the present invention detects traveling points of an own vehicle by traveling point detecting means, provides road information by road information providing means, and outputs these traveling points and Based on the road information, the intersection approach detection means detects an intersection approach state where the vehicle is traveling a predetermined distance before the intersection, and when the intersection approach detection means detects the intersection approach, the forward object detection means automatically detects the intersection approach state. When an object is not detected in front of the traveling lane of the vehicle and an object is detected in front of the position of the host vehicle on the center line side of the road, the acceleration control unit limits the acceleration control by the traveling control unit.
Here, the center line side of the road is defined as the right side in a left-hand traffic area such as Japan and the left side in a right-hand traffic area such as the United States.
[0006]
【The invention's effect】
According to the present invention, when the vehicle travels straight ahead at the intersection, the vehicle is located on the front side of the center line of the vehicle, facing the vehicle when viewed from the vehicle, and traverses to the side opposite to the center line of the vehicle. When there is an object in the blind spot of the vehicle to be cut, the vehicle will not detect an object in front of the traveling lane of the own vehicle, or by limiting the acceleration of the own vehicle when it does not exist originally, Even if the vehicle starts turning right or left (depending on left-hand or right-hand traffic) without noticing the existence of the vehicle, the driver can avoid the collision with sufficient margin, and Acceleration is permitted when there is no blind spot when viewed from the oncoming vehicle or when there is a preceding vehicle, so that an effect is obtained that acceleration control can be performed without discomfort for the driver.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram showing an embodiment in which the present invention is applied to a rear-wheel drive vehicle. In the drawing, 1FL and 1FR are front wheels as driven wheels, and 1RL and 1RR are rear wheels as drive wheels. The rear wheels 1RL, 1RR are driven to rotate by the driving force of the engine 2 being transmitted via the automatic transmission 3, the propeller shaft 4, the final reduction gear 5, and the axle 6.
[0008]
Each of the front wheels 1FL, 1FR and the rear wheels 1RL, 1RR is provided with a brake actuator 7 which is constituted by, for example, a disc brake for generating a braking force, and the brake hydraulic pressure of these brake actuators 7 is controlled by a brake control device 8. Is done.
Here, the braking control device 8 generates a braking oil pressure in response to depression of a brake pedal (not shown), and generates a braking pressure command value P from a following control controller 20 described later._BR, And generates a braking hydraulic pressure in accordance with the braking force, and outputs the generated braking hydraulic pressure to the brake actuator 7.
[0009]
Further, the engine 2 is provided with an engine output control device 11 for controlling the output. In this engine output control device 11, the depression amount of an accelerator pedal (not shown) and the throttle opening command value θ from a follow-up control controller 20 described later are used.^*And controls the throttle actuator 12 provided in the engine 2 to adjust the throttle opening in accordance with the control signal. Further, a vehicle speed sensor 13 for detecting the own vehicle speed Vs by detecting the rotation speed of an output shaft provided on the output side of the automatic transmission 3 is provided.
[0010]
On the other hand, on the lower part of the vehicle body on the front side of the vehicle, reflected laser light is emitted from an object in front of the vehicle by sweeping laser light as front object detection means for detecting a relative distance between the host vehicle and an object in front of the vehicle. Is provided with a front object sensor 14 having a radar-type configuration for receiving light.
In the normal state, the front object sensor 14 detects a traffic sign on the road shoulder or the like, thereby erroneously detecting the preceding vehicle and shortening the detection sampling time (in a narrow range, there is no need to scan the laser beam left and right). As shown in FIG. 4 (a), the position is fixed so as to sweep the laser beam toward the front of the vehicle, and the object detection range is operating as a narrow range. Is operated so as to scan the right side from the fixed position, thereby expanding the irradiation range of the laser light to the right front as shown in FIG. It has a right front obstacle detection function for reliably detecting an obstacle such as a right-turn vehicle that is located.
[0011]
In addition, the vehicle body is matched with a global positioning system (GPS) 16 as a traveling point detecting means for detecting a traveling position of the own vehicle and own vehicle position data input from the global positioning system 16. A road map data storage unit 17 is provided as road information providing means, for example, which is configured by a car navigation system and stores road information for the vehicle.
[0012]
The own vehicle speed V output from the vehicle speed sensor 13_SThe relative distance L output from the front object sensor 14 and the vehicle position information output from the global positioning system 16 and the road map data storage unit 17 are input to the tracking control controller 20, and the tracking control controller 20 is used to set the target vehicle speed so that the relative distance becomes the target relative distance when capturing an object ahead of the own vehicle in the travel lane, control the own vehicle speed, and capture the object ahead of the own vehicle in the travel lane. Vehicle speed V when not_SIs the set vehicle speed V set by the driver_SETAnd the braking pressure command value P for limiting the acceleration of the host vehicle when the host vehicle is not capturing an object ahead of the host vehicle in the traveling lane and capturing an object right ahead of the host vehicle at an intersection._BRAnd target throttle opening θ^*Is output to the braking control device 8 and the engine output control device 11.
[0013]
The tracking control controller 20 includes a microcomputer and its peripheral devices, and forms a control block shown in FIG. 2 in a software form of the microcomputer.
This control block measures the time from when the front object sensor 14 sweeps the laser beam to when the reflected light from the front object is received, and calculates a relative distance L to the front object, and a distance measurement signal processing unit 21. Relative distance L and own vehicle speed V calculated by distance measurement signal processing section 21_SThe relative distance L based on the target relative distance L^*Target vehicle speed V to maintain_L ^*And the target vehicle speed V calculated by the following distance control unit 40_L ^*Drive shaft torque T based on_W ^*And a target drive shaft torque T calculated by the vehicle speed control unit 50._W ^*Throttle opening command value θ for the throttle actuator 12 and the brake actuator 7 based on the_RAnd braking pressure command value P_BRAnd a drive shaft torque control unit 60 that outputs these to the throttle actuator 12 and the brake actuator 7.
[0014]
The inter-vehicle distance control unit 40 calculates the own vehicle speed V input from the vehicle speed sensor 13._STarget relative distance L between the forward object and the host vehicle based on^*And a target relative distance L calculated by the target inter-vehicle distance setting unit 42^*, The relative distance L input from the ranging signal processing unit 21, and the own vehicle speed V_SThe relative distance L based on the target relative distance L^*Target vehicle speed V to match_L ^*Is calculated.
[0015]
Here, the target inter-vehicle distance setting unit 42 calculates the own vehicle speed V_SAnd the own vehicle is behind the object ahead of the current own vehicle travel lane.₀Time T to reach position [m]₀(Inter-vehicle time), the target relative distance L between the object ahead of the own vehicle traveling lane and the own vehicle according to the following equation (1).^*Is calculated.
L^*= V_S× T₀+ L_S  ............ (1)
By adopting the concept of the inter-vehicle time, the relative distance is set to increase as the vehicle speed increases. Note that L_SIs the relative distance at stop.
[0016]
The inter-vehicle distance control calculation unit 43 calculates the relative distance L and the target relative distance L.^*And own vehicle speed V_SBased on the relative distance L, the target relative distance L^*Vehicle speed V for following while keeping_L ^*Is calculated.
The vehicle speed control unit 50 is configured to output the target vehicle speed V input from the following distance control unit 40 when the forward object sensor 14 is capturing a forward object in the own vehicle traveling lane in the following control state._L ^*And the set vehicle speed V set by the driver_SETThe smaller of the target vehicle speed V^*The vehicle speed V set by the driver when no object ahead of the own vehicle traveling lane is captured is set._SETIs the target vehicle speed V^*And a target vehicle speed V set by the target vehicle speed setting unit 51.^*And a target vehicle speed V limited by the target vehicle speed limiting unit 52.^*Vehicle speed V_STarget drive shaft torque T for matching_W ^*Is calculated.
[0017]
Further, the drive shaft torque control unit 60 calculates the target drive torque T_W ^*Throttle opening command value θ to achieve_RAnd brake fluid pressure command value P_BRAnd the throttle opening command value θ_RIs output to the engine output control device 11 and the brake fluid pressure command value P_BRIs output to the braking control device 8.
The inter-vehicle distance control unit 40, the vehicle speed control unit 50, and the drive shaft torque control unit 60 constitute a travel control unit.
[0018]
On the other hand, the target vehicle speed limiter 52 executes an acceleration limit determination process shown in FIG.
This acceleration limit determination process is executed as a timer interrupt process at predetermined time intervals (for example, 10 msec). First, in step S1, the relative distance L (n) detected by the front object sensor 14 is read, and then the process proceeds to step S2. Then, it is determined whether or not the following running control is being performed. This determination is made based on whether or not the front object sensor 14 has detected an object ahead of the traveling lane of the host vehicle, and the relative distance L (n) detected by the front object sensor 14 is a predetermined relative distance detection limit L._MAXIt is determined whether or not L (n) ≦ L_MAXIf so, it is determined that an object has been detected in front of the host vehicle, that the vehicle is following the vehicle, control is passed to step S3, and it is determined whether the right front obstacle detection function flag F is "1". I do. If the result of this determination is that the right front obstacle detection function flag F is set to "1", the flow proceeds to step S4, where the right front object detection command for the front object sensor 14 is turned off, and the right front The obstacle detection function flag F is reset to "0", and the routine goes to Step S5.
[0019]
In this step S5, the target vehicle speed V set by the target vehicle speed setting unit 51 is set.^*Is the current target vehicle speed V^*(N), the process proceeds to step S6, and the target vehicle speed V^*After (n) is input to the target drive shaft torque calculator 53, the timer interrupt process is terminated and the process returns to the predetermined main program.
Further, when the determination result of step S2 is L (n)> L_MAXIf no object is detected in front of the traveling lane of the host vehicle and the following traveling control is not being performed, the process proceeds to step S7.
[0020]
In this step S7, the vehicle traveling point data input from the global positioning system 16 is read, and then the process proceeds to step S8, where the road map data storage unit 17 is accessed based on the vehicle traveling point data. Then, it is determined whether or not the current traveling point is a predetermined traveling area from a predetermined distance before the intersection to the center of the intersection. The predetermined distance is for detecting a case where there is an obstacle such as a right-turning vehicle in front of and right of the vehicle at a position where the opposite right-turning vehicle becomes a blind spot when viewed from the own vehicle at the intersection. For example, it is set to be about 80 to 100 meters before the intersection.
[0021]
If the result of the determination in step S8 is that the position of the own vehicle is not in the predetermined traveling area, it is determined that it is not necessary to detect the right front obstacle of the own vehicle, and the process proceeds to step S3, where the right front obstacle detection function flag is set. It is determined whether or not F is "1".
On the other hand, when the result of the determination in step S8 is that the position of the own vehicle is in a predetermined traveling area from a predetermined distance before the intersection to the center of the intersection, it is necessary to detect an obstacle such as a right-turn vehicle located to the front right of the own vehicle. The process proceeds to step S9 to determine whether or not the right front obstacle detection function flag F is "0".
[0022]
When the result of the determination in step S9 is that the right front obstacle detection function flag F has been reset to “0”, the right front obstacle detection function is in the OFF state, so the flow proceeds to step S10 and the right By setting the front object detection command to the ON state and setting the right front obstacle detection function flag F to "1", the scanning range of the laser light of the front object sensor 14 is expanded to the front right, and then to step S11. Transition.
[0023]
On the other hand, if the result of the determination in step S9 is that the right front obstacle detection function flag F is set to "1", it is determined that the right front obstacle detection function is already on, and the process directly proceeds to step S11. .
In this step S11, it is determined whether or not an obstacle such as a right-turn vehicle located right ahead of the own vehicle is detected by the right-front obstacle detection function. In, since the oncoming right-turning vehicle may be in a blind spot when viewed from the own vehicle, it is determined that it is necessary to limit the acceleration of the own vehicle, and the process proceeds to step S12.
[0024]
In this step S12, the previous target vehicle speed V^*(N-1) is the current target vehicle speed V^*By setting as (n), the acceleration limit control process for forcibly setting the acceleration of the vehicle to “0” is performed, and then the process proceeds to step S6.
On the other hand, when the result of the determination in step S11 indicates that no obstacle such as a right-turning vehicle is detected by the right-front obstacle detecting function, there is no obstacle such that the right-turning opposite vehicle becomes a blind spot when viewed from the own vehicle. Then, it is determined that there is no need to limit the acceleration of the process, and the process proceeds to step S5.
[0025]
In the process of FIG. 3, the process of step S8 corresponds to the intersection approach detecting means, and the processes of steps S9 to S12 correspond to the acceleration limiting means.
Therefore, as shown in FIG. 4A, when the vehicle is traveling on the left side, the own vehicle MC is obstructed by the front object sensor 14 right before the intersection on the two-lane road where the straight left turn lane LS and the right turn lane LR are provided. It is assumed that the vehicle is traveling on the straight lane LS with the object detection function turned off, that is, as a narrow detection range for preventing erroneous detection. In this state, when the preceding vehicle PC is detected ahead of the traveling lane of the host vehicle MC, the detection limit L is detected by the front object sensor 14._MAXSince the following relative distance L (n) is detected, it is determined in the acceleration limit determination process of FIG. 3 that the following running control is being performed in step S2. Therefore, the process proceeds to step S5 via step S3, and the relative distance L (n) set by the target vehicle speed setting unit 51 is changed to the target relative distance L.^*Vehicle speed V for following while keeping_L ^*Target vehicle speed V based on^*Is the current target vehicle speed V^*(N), the process proceeds to step S6, and the target vehicle speed V^*By following (n) into the target drive shaft torque calculator 53, the following travel control is continued. Therefore, at the intersection, if the preceding vehicle PC decelerates according to the behavior of the oncoming right turn vehicle, the own vehicle is also decelerated.
[0026]
On the other hand, as shown in FIG. 4B, in a state where the own vehicle is following the preceding vehicle PC on the straight lane LS just before the intersection on the two-lane road where the right turn lane LR is provided, the preceding vehicle PC If the vehicle cannot be detected due to turning left or changing lanes to the right turning lane, the target vehicle speed setting unit 51 sets the vehicle speed V set by the driver._SETIs the target vehicle speed V^*And the target vehicle speed V^*Is the target vehicle speed V when following^*Be larger. That is, when the preceding vehicle PC makes a left turn, the vehicle decelerates in consideration of a pedestrian or the like, and then turns left. When changing lanes to the right turn lane LR, the vehicle decelerates in consideration of an oncoming vehicle or the like. The vehicle speed Vs is also decelerated. Therefore, the target vehicle speed V^*Is the vehicle speed V set by the driver_SET  Is smaller than.
[0027]
In this case, the process proceeds from step S2 to step S7 to read the traveling point data of the own vehicle from the global positioning system 16, and then proceeds to step S8 where the vehicle travels for a predetermined distance from a predetermined distance before the intersection to the center of the intersection. It is determined whether or not the vehicle is located in the predetermined traveling region. If the vehicle is located in the predetermined traveling region, and if the right front obstacle detection function is in the off state, the process proceeds from step S9 to step S10 to execute the right front obstacle detection function By turning it on, the scanning range of the laser beam of the front object sensor 14 is expanded to the front right, and the process proceeds to step S11.
[0028]
At this time, as shown in FIG. 4B, when it is detected that an obstacle such as a right-turning vehicle exists right ahead of the host vehicle MC, the process proceeds to step S12, and the previous target vehicle speed V^*(N-1) is the current target vehicle speed V^*By setting as (n), acceleration limit control processing for forcibly setting the acceleration of the vehicle to “0” is performed.
As described above, when the state in which the preceding vehicle PC is detected cannot be detected, the set vehicle speed V set by the driver is used._SETEven if the oncoming right-turn vehicle that becomes a blind spot starts right-turning without noticing the host vehicle, the avoidance operation can be performed with a margin by restricting the acceleration to the right. This state is continued until the vehicle reaches the center of the intersection.
[0029]
When the vehicle reaches the center of the intersection and exits the predetermined traveling area, the process proceeds from step S8 to step S3. Since the right front obstacle detection function is ON, the process proceeds to step S4 to execute the right front obstacle detection function. Is turned off, the scanning range of the laser beam of the front object sensor 14 is returned to a narrow range, and the detection of the right front obstacle is ended. Thereafter, the process proceeds to step S5, and the set vehicle speed V set by the driver in the target vehicle speed setting unit 51._SETTarget vehicle speed V set to^*Is the current target vehicle speed V^*(N), the process proceeds to step S6, and the target vehicle speed V^*By inputting (n) to the target drive shaft torque calculation unit 53, the acceleration limit control is ended and the process shifts to the acceleration traveling control.
[0030]
Further, when the right front obstacle is not detected when the own vehicle is traveling in the predetermined traveling area, the process proceeds from step S11 to step S5, and the right front obstacle detection function of the front object sensor 14 is turned on. Shift to acceleration running control while maintaining. In this case, the driver can drive safely while judging the movement of the opposing right-turning vehicle, because there is no obstacle in which the opposing right-turning vehicle becomes a blind spot when viewed from the own vehicle. In addition, since the right front obstacle detection function of the front object sensor 14 continues to be in the ON state, it is possible to reliably detect an obstacle in the right front again while traveling in the predetermined traveling area.
[0031]
When the preceding vehicle is detected again while the own vehicle is traveling in the predetermined traveling area, the process proceeds from step S2 to step S4 via step S3, and the right front obstacle detection function of the front object sensor 14 is turned off. Then, the process proceeds to step S5, where the relative distance L (n) set by the target vehicle speed setting unit 51 is set to the target relative distance L.^*Vehicle speed V for following while keeping_L ^*Target vehicle speed V based on^*Is the current target vehicle speed V^*(N), the process proceeds to step S6, and the target vehicle speed V^*By inputting (n) to the target drive shaft torque calculating section 53, the control returns to the following running control.
[0032]
On the other hand, the vehicle speed V set by the driver is detected without detecting the preceding vehicle._SETTarget vehicle speed V based on^*When the vehicle is traveling at a constant speed and enters a predetermined traveling area just before the intersection and detects an obstacle to the front right, the process proceeds to step S12 to perform acceleration restriction processing and continue the constant speed traveling state. In addition, when the vehicle enters a predetermined traveling region and does not detect an obstacle in the front right direction in the constant speed traveling state, the driver can visually recognize the oncoming right-turning vehicle and can perform an operation according to the movement of the oncoming right-turning vehicle. Therefore, the process shifts from step S11 to step S5 to continue the constant speed traveling state.
[0033]
If the host vehicle is not traveling in a predetermined traveling area from the predetermined distance before the intersection to the center of the intersection without detecting the preceding vehicle, the process proceeds from step S8 to step S3, and the right front obstacle detection is performed. Since the function is in the off state, the process directly proceeds to step S5 and the set vehicle speed V set by the driver in the target vehicle speed setting unit 51._SETTarget vehicle speed V set to^*Is the current target vehicle speed V^*(N), the process proceeds to step S6, and the target vehicle speed V^*By inputting (n) to the target drive shaft torque calculating unit 53, the constant speed traveling control is continued while the laser beam of the front object sensor 14 is operated in a narrow range in the normal state.
[0034]
Also, in a predetermined traveling region of the traveling lane in a lane having one or more traveling lanes without a right turn lane, even when an object such as a vehicle is detected in the right front of the own vehicle, that is, in the overtaking lane, The same operation as above is performed.
As described above, in the above-described embodiment, when the own vehicle travels straight ahead in a lane where the vehicle may turn into a blind spot, the vehicle may turn right in the intersection when the vehicle does not detect the preceding vehicle. If there is an obstacle in front of the host vehicle that may cause a blind spot in the vehicle, limiting the acceleration of the host vehicle may cause the oncoming right-turn vehicle to start turning right without noticing the presence of the host vehicle. However, the driver can perform the avoidance operation with plenty of time, and if the driver can see the oncoming right-turn car without any blind spot in the front right, acceleration is allowed. No running control can be performed.
[0035]
Moreover, since it is not necessary to provide oncoming vehicle information collecting means or the like on the road side, the overall system configuration can be simplified.
In addition, when the own vehicle travels straight ahead at the intersection, only when the preceding vehicle is not detected, the scanning range of the laser beam of the front object sensor 14 is expanded to the right front, and the right-turn vehicle or the like located at the right front of the own vehicle. In normal times, narrowing the detection range to a narrow area only in front of the vehicle reduces the possibility of erroneously detecting an object installed on the road shoulder other than the vehicle as a preceding vehicle, while the vehicle in front of the intersection Therefore, it is possible to reliably detect an obstacle that becomes a blind spot in the oncoming right turn vehicle.
[0036]
In the above-described embodiment, when a state in which the preceding vehicle PC is detected cannot be detected, the set vehicle speed V set by the driver is used._SETAlthough the configuration in which the acceleration to the vehicle speed is restricted is shown, in addition to this, the own vehicle speed is set to a preset vehicle speed limit V_LTIf the vehicle speed exceeds V_LTIt may be configured to decelerate to the maximum speed. More specifically, as shown in FIG._SIs the preset vehicle speed V_LTIf it is less than or equal to the above, the process proceeds to step S12,_SIs the preset vehicle speed V_LTIf the vehicle speed exceeds the limit vehicle speed V_LTIs the current target vehicle speed V^*By setting as (n), the process proceeds to step S6 after performing the process of decelerating the own vehicle speed as the acceleration limiting process.
[0037]
Note that the vehicle speed limit V_LTIs set in advance.Specifically, the vehicle speed that can safely pass through the intersection is set uniformly, or the position of the intersection (city or suburb) and the speed limit of the road where the intersection exists Accordingly, the vehicle speed may be set in advance in the map data of the navigation device for each intersection, or the vehicle speed limit of the traveling road may be obtained by road-to-vehicle communication.
[0038]
As a result, the set vehicle speed V set by the driver in a state where the preceding vehicle is not detected._SETTarget vehicle speed V based on^*When the vehicle is traveling at a constant speed and enters a predetermined traveling area near the intersection, and detects an obstacle to the front right, the vehicle speed V_SIs the vehicle speed limit V_LTIs exceeded, the deceleration control is performed, so that the avoidance operation can be given more margin.
[0039]
In the above-described embodiment, a case has been described in which the acceleration of the host vehicle is forcibly set to “0” in step S12 in the acceleration limit control process. However, the present invention is not limited to this. Limiting may be performed at a predetermined value, and not only acceleration may be limited, but also deceleration control may be performed.
Further, in the above embodiment, the case where the road map data storage unit 17 storing road information is applied as the road information providing means has been described, but the present invention is not limited to this, and the data is stored in the road map data storage unit 17. A wireless communication function may be provided to receive road information from outside the vehicle.
[0040]
Furthermore, in the above embodiment, the target drive shaft torque T based on the target vehicle speed in the travel control process._W ^*Is calculated and the target driving torque T_W ^*Throttle opening command value θ to achieve_RAnd brake fluid pressure command value P_BRHas been described, but the present invention is not limited to this. The acceleration / deceleration may be calculated, and the engine output control device and the brake control device may be controlled based on the calculated acceleration / deceleration.
[0041]
In the above embodiment, the case where the laser radar is used as the front object sensor 14 has been described. However, the present invention is not limited to this, and other distance measuring devices such as a millimeter wave radar can be applied.
Furthermore, in the above-described embodiment, the case has been described in which the arithmetic processing by software is performed by the tracking control controller 20. However, the present invention is not limited to this, and is configured by combining a function generator, a comparator, an arithmetic unit, and the like. You may make it comprise by applying the hardware which consists of an electronic circuit.
[0042]
Further, in the above embodiment, the case where the present invention is applied to a rear wheel drive vehicle has been described. However, the present invention can also be applied to a front wheel drive vehicle, and a case where the engine 2 is applied as a rotary drive source will be described. However, the present invention is not limited to this, and an electric motor can be applied. Further, the present invention can be applied to a hybrid vehicle using an engine and an electric motor.
[0043]
Further, in the embodiment, the case where the vehicle travels on the left side has been described. However, the invention is not limited to this. It suffices to provide a front obstacle detection function, that is, it is only necessary to detect an obstacle in which a vehicle crossing the own vehicle traveling lane from the center line side in the opposite direction becomes a blind spot.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.
FIG. 2 is a block diagram showing a specific example of the tracking control controller of FIG. 1;
FIG. 3 is a flowchart illustrating an acceleration restriction determination process in a vehicle speed control unit in FIG. 2;
FIG. 4 is an explanatory diagram of a right front obstacle detection function.
FIG. 5 is another example of a flowchart showing an acceleration restriction determination process in the vehicle speed control unit in FIG.
[Explanation of symbols]
2 Engine
3 automatic transmission
7 Disc brake
8 Brake control device
11 Engine output control device
12 Throttle valve
13 Vehicle speed sensor
14 Forward object sensor
16 Global Positioning System (GPS)
17 Road map data storage
20 Tracking control controller
50 Vehicle speed control unit
51 Target vehicle speed setting section
52 Target vehicle speed limiter
53 Target drive shaft torque calculator
60 Drive shaft torque control unit

Claims (3)

A forward object detecting means for detecting an object in front of the own vehicle, a vehicle speed detecting means for detecting a vehicle speed of the own vehicle, and a self-vehicle when the object is not detected in front of the own vehicle traveling lane by the forward object detecting means. Constant speed traveling control to control the set vehicle speed, and when an object is detected in front of the own vehicle traveling lane, the own vehicle speed, based on the relative positional relationship between the detected object and the own vehicle with the set vehicle speed as an upper limit And a cruise control means capable of performing cruise control for controlling the vehicle speed to be the target vehicle speed to be calculated.
Traveling point detecting means for detecting a traveling point of the own vehicle, road information providing means having information on a road on which the own vehicle travels, a traveling point detected by the traveling point detecting means, and a road provided by the road information providing means Intersection approach detection means for detecting that the vehicle is traveling a predetermined distance before the intersection based on the information; and when the intersection approach detection means detects the intersection approach, the forward object detection means detects Acceleration limiting means for limiting acceleration control by the travel control means, when an object is not detected in front of the traveling lane of the vehicle and an object is detected in front of the position of the host vehicle on the center line side of the road. A follow-up running control device for a vehicle, comprising: The forward object detecting means detects the approach of the intersection with the intersection approach detecting means and does not detect an object in front of the own vehicle traveling lane. The vehicle follow-up running control device according to claim 1, wherein the control device is configured to expand to the front side. The acceleration limiting unit is configured such that, when the acceleration control is in a restricted state, the own vehicle is positioned near the center of the intersection based on the traveling information detected by the traveling point detecting device and the road information provided by the road information providing unit. The vehicle following travel control device according to claim 1 or 2, wherein the vehicle is configured to release the acceleration restriction state when it detects that the vehicle has arrived.

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