JP2006007918A - Vehicle travel controlling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve a starting operation of a preceding vehicle follow-travel control at the time of traveling at middle and low speeds. <P>SOLUTION: While a follow-start operating member 6 is operated, a preceding vehicle detection range by a preceding vehicle detection means 1 is changed during detection of the preceding vehicle with the preceding vehicle detection means 1. When the preceding vehicle is detected by the preceding vehicle detection means 1, the preceding vehicle follow travel is started by a follow-travel control means 10. When the follow-start operating member 6 is operated, the preceding vehicle is detected by the preceding vehicle detection means 1 for a predetermined time. When the preceding vehicle is detected by the preceding vehicle detection means 1, the preceding vehicle follow-travel is started by the follow-travel control means 10. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle travel control device, and more particularly, to improve a start operation of a preceding vehicle follow-up travel control during medium to low speed travel.

  When traveling from low to medium speed, the preceding vehicle follow-up control is performed only when there is a preceding vehicle. When traveling at high speed, the preceding vehicle follow-up control is performed when there is a preceding vehicle, and constant speed traveling control is performed when there is no preceding vehicle. Such a vehicle follow-up running control device is known (see, for example, Patent Document 1).

Prior art documents related to the invention of this application include the following.
JP 2002-234358 A

  However, in the conventional follow-up travel control device described above, the preceding vehicle follow-up running control is performed only when there is a preceding vehicle during medium speed and low speed running. Even if the set switch is operated for this purpose, there is a problem that if the preceding vehicle is not detected at the time of operation, the preceding vehicle follow-up running control is not started, and in some cases the set switch must be operated many times.

While the following start operation member is being operated, the preceding vehicle detection range is detected by the preceding vehicle detection means while the preceding vehicle detection range is changed, and if the preceding vehicle is detected by the preceding vehicle detection means, the following traveling control is performed. The preceding vehicle following traveling is started by the means.
In addition, when the follow start operation member is operated, the preceding vehicle is detected by the preceding vehicle detecting means for a predetermined time, and when the preceding vehicle is detected by the preceding vehicle detecting means, the following vehicle following traveling is started by the following traveling control means. To do.

  According to the present invention, the probability that a preceding vehicle can be detected and the following traveling can be started by one follow-up start operation becomes high, and the trouble of performing the following vehicle start operation many times and starting the preceding vehicle following traveling is saved. The operability is improved.

  When traveling at low and medium speeds, the preceding vehicle follow-up control is performed only when the preceding vehicle is detected.When the preceding vehicle is no longer detected, the preceding vehicle follow-up control is canceled, and at the high speed traveling, the preceding vehicle is detected. An embodiment will be described in which the present invention is applied to a vehicle travel control apparatus in which the preceding vehicle follow-up control is performed when the preceding vehicle is not detected and the constant speed traveling control is performed when the preceding vehicle is not detected.

Here, the preceding vehicle following travel control is a control for following the preceding vehicle while performing the inter-vehicle distance control so that the inter-vehicle distance with the preceding vehicle becomes a preset inter-vehicle distance (fixed distance or variable distance). The constant speed traveling control is a control for traveling while performing the vehicle speed control so that the vehicle speed of the host vehicle becomes a preset vehicle speed (fixed speed or variable speed).
In this embodiment, the preceding vehicle follow-up travel control during low speed (for example, 0 to 19 km / h) and medium speed (for example, 20 to 49 km / h) and high speed (for example, 50 to 100 km / h) travel. The preceding vehicle following traveling control and the constant speed traveling control are collectively referred to as “vehicle traveling control”.

<< First Embodiment of the Invention >>
FIG. 1 is a diagram showing a configuration of a vehicle travel control apparatus according to the first embodiment. The inter-vehicle distance radar 1 scans a laser beam in front of the vehicle to detect a preceding vehicle, and detects the inter-vehicle distance to the preceding vehicle. A millimeter wave inter-vehicle distance radar using millimeter waves instead of the laser beam may be used. The vehicle speed sensor 2 detects the traveling speed of the vehicle. The main switch 3 is an operation member for operating the vehicle travel control device. When the main switch 3 is turned on, the vehicle travel control device is powered on and is in an operating state. The resume / accelerate switch 4 reads the set vehicle speed during the previous vehicle travel control when the vehicle travel control is not in progress and restarts the vehicle travel control. When the vehicle travel control is in progress, the resume / accelerate switch 4 increases the set vehicle speed for the constant speed travel control. It is the operation member for doing.

  The cancel switch 5 is an operation member for releasing the vehicle travel control. The set / coast switch 6 is an operation member for starting the vehicle travel control when the vehicle travel control is not being performed, and reducing the set vehicle speed of the constant speed travel control when the vehicle travel control is being performed. When the vehicle travel control is started by operating the set / coast switch 6 when the vehicle travel control is not in progress, the preceding vehicle follow-up travel control is started if there is a preceding vehicle, and the vehicle speed at that time is set if there is no preceding vehicle. Constant speed running control is started as the vehicle speed. The resume / accelerate switch 4, the cancel switch 5, and the set / coast switch 6 are provided in the spoke portion of the steering wheel 20 as shown in FIG. The brake switch 7 is a switch that is turned on when a brake pedal (not shown) is depressed.

  The travel control controller 10 includes a CPU 10a, a ROM 10b, a RAM 10c, a timer 10d, etc., performs the preceding vehicle follow-up travel control and the constant speed travel control described above, and executes a vehicle travel control start program described later to start the vehicle travel control. . The engine control device 11 performs intake air amount control, fuel injection control, ignition timing control, and the like of an engine (not shown) to adjust the output torque and rotation speed of the engine and control the driving force of the vehicle. The transmission control device 12 controls a transmission ratio of an automatic transmission (not shown), that is, a shift position. The brake control device 13 controls the braking force of the vehicle by adjusting the brake fluid pressure. The display device 14 displays the control state of the vehicle travel control device and the travel state of the vehicle.

  FIG. 3 is a flowchart showing a vehicle travel control start program according to the first embodiment. The operation of the first embodiment will be described with reference to this flowchart. When the set / coast switch 6 is operated and turned on when the following traveling control is not being performed, the traveling control controller 10 executes this vehicle traveling control start program. Hereinafter, the operation of the set / coast switch 6 is simply referred to as “set operation”.

  In step 1, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 2 is a predetermined value, for example, 50 km / h or more. In this embodiment, when the host vehicle speed is 50 km / h or higher, high speed mode vehicle travel control is executed, and when the host vehicle speed is 20 to 49 km / h, medium speed mode vehicle travel control is executed. When the vehicle speed is 0 to 19 km / h, the vehicle traveling control in the low speed mode is executed. When the host vehicle speed is equal to or higher than the predetermined value, the process proceeds to step 2 and the preceding vehicle detection is started by the inter-vehicle distance radar 1. In step 3, it is determined whether or not a preceding vehicle has been detected. If a preceding vehicle is detected, the process proceeds to step 4 so that the detected inter-vehicle distance matches the preset inter-vehicle distance. Start distance control. On the other hand, if the preceding vehicle is not detected, the process proceeds to step 5 where the current vehicle speed detected by the vehicle speed sensor 2 is set as the set vehicle speed, and constant speed running control is started so that the vehicle speed matches the set vehicle speed.

  Next, when it is determined in step 1 that the host vehicle speed is less than a predetermined value (for example, 50 km / h), the process proceeds to step 11 and subsequent steps, and vehicle travel control in the medium / low speed mode is executed. First, detection of a preceding vehicle is started by the inter-vehicle distance radar 1 in step 11. In the following step 12, the preceding vehicle detection range of the inter-vehicle distance radar 1 is changed. In other words, while the set operation is being performed, the preceding vehicle detection range is expanded or the preceding vehicle detection range is shifted. Hereinafter, a method for changing the preceding vehicle detection range will be described.

  FIG. 4 shows a first method for changing the preceding vehicle detection range. In normal follow-up vehicle tracking control, priority is given to detecting the preceding vehicle on the own lane, so a narrow range in which the preceding vehicle on the own lane can be detected within the scanning range of the laser beam (the white area in the figure). Part)), the preceding vehicle detection process is performed. However, when the follow-up running control is started, in order to start the preceding vehicle follow-up running control quickly, the normal processing range is gradually expanded by a predetermined amount, and a wide range including the enlarged processing range (the white area in the figure) The preceding vehicle detection process is performed while expanding the range to a hatched area).

  FIG. 5 shows a second method of changing the preceding vehicle detection range. As described above, since priority is given to detecting the preceding vehicle on the own lane in the normal preceding vehicle following traveling control, the scanning range of the laser beam is a narrow range in which the preceding vehicle on the own lane can be detected (in the figure). (Outlined part). However, when the follow-up running control is started, the normal detection range is gradually expanded by a predetermined amount in order to start the preceding vehicle follow-up running control early, and a wide range (the white area in the figure) is added. The scanning range of the laser beam is expanded to a range in which hatching portions are added to the portion). Note that the laser beam scanning range can be expanded by changing the direction and position of the lens that emits the laser beam, or by changing the direction of the laser radar itself.

  In addition to expanding the preceding vehicle detection range in the horizontal direction shown in FIG. 5, the preceding vehicle detection range may be expanded in the vertical direction as shown in FIG. In other words, when the follow-up running control is started, the normal detection range is gradually expanded by a predetermined amount, and the laser beam is expanded to a wide range including the enlarged detection range (the range in which the hatched portion is added to the white portion in the figure). The scanning range is expanded. In order to expand the scanning range of the laser beam in the vertical direction, the direction of the lens that emits the laser beam may be changed in the vertical direction, or the vertical direction of the laser radar itself may be changed. Alternatively, it may be realized by adjusting the spring of the vehicle suspension by a hydraulic cylinder and moving the vehicle body in the vertical direction.

  In step 13 of FIG. 3 after changing the preceding vehicle detection range, it is determined whether or not the preceding vehicle has been detected by the inter-vehicle distance radar 1. If the preceding vehicle cannot be detected yet, the process proceeds to step 15 to determine whether or not the set / coast switch 6 remains on. If the set / coast switch 6 remains on, the process returns to step 12, and it is confirmed whether the preceding vehicle has been detected while continuing to expand the detection range. On the other hand, when the set / coast switch 6 is turned off, the process is terminated without starting the preceding vehicle following traveling control.

When the set / coast switch 6 is on, that is, when a preceding vehicle is detected with the set / coast switch 6 being operated, the routine proceeds to step 14 and follows the preceding vehicle at a preset inter-vehicle distance. Thus, the inter-vehicle distance control is started.
Moreover, in the said embodiment, although the example which expands a preceding vehicle detection range is shown, this invention is not restricted to this, For example, the structure which shifts a preceding vehicle detection range may be sufficient. Here, as a shift of the preceding vehicle detection range, it is conceivable to repeatedly shift the irradiation direction in a desired direction or the irradiation direction in the left-right direction and / or the up-down direction while maintaining the laser scanning angle.
When the laser irradiation direction is shifted to a desired direction, the traveling controller 10 moves the preceding vehicle according to information on the road condition ahead obtained from, for example, an imaging unit (CCD camera or the like) or a navigation device (not shown). Shift the laser in the expected direction. Specifically, the laser is shifted to the right when a right curve is detected forward in the traveling direction, and the laser is shifted upward when an uphill road is detected forward in the traveling direction.
When the laser irradiation direction is repeatedly shifted in the left-right direction and / or the up-down direction, the same effect as that obtained by expanding the laser detection range as shown in FIG. 5 can be obtained.
Furthermore, also when expanding the preceding vehicle detection range, the travel controller 10 determines that the preceding vehicle heads according to information on a road condition ahead, which is obtained from an imaging unit (CCD camera or the like) or a navigation device (not shown), for example. The laser may be magnified in the expected direction. Specifically, when a right curve is detected forward in the traveling direction, the laser is expanded only in the right direction, and when an uphill road is detected forward in the traveling direction, the laser is expanded only in the upward direction.

  As described above, according to the first embodiment, the preceding vehicle detection range is changed while the preceding vehicle detection process is being performed while the driver is performing the setting operation during the medium / low speed traveling, and the preceding vehicle is detected. As soon as possible, the inter-vehicle distance control is started so that the inter-vehicle distance with the preceding vehicle becomes the set inter-vehicle distance, and the follow-up driving to the preceding vehicle is started, so the preceding vehicle is detected and followed by one set operation. Establishing the ability to start traveling is increased, and the trouble of starting the following vehicle follow-up by repeatedly performing the set operation is saved, thereby improving the operability.

  Further, according to the first embodiment, the preceding vehicle detection range is expanded or the preceding vehicle detection range is shifted while the set operation is being performed. The probability that the preceding vehicle can be detected even if the vehicle travels increases, and the preceding vehicle following traveling can be started promptly.

<< Second Embodiment of the Invention >>
In the first embodiment described above, an example in which the preceding vehicle detection range is changed while performing the preceding vehicle detection process while the driver is performing the setting operation during the medium / low speed traveling is illustrated. Once the driver performs the set operation, the preceding vehicle detection range is changed while performing the preceding vehicle detection process for a predetermined time even if the set operation is stopped, and immediately after the preceding vehicle is detected, the distance from the preceding vehicle is immediately A second embodiment in which the inter-vehicle distance control is started so that the distance becomes the set inter-vehicle distance and the follow-up traveling to the preceding vehicle is started will be described.

  The configuration of the second embodiment is the same as the configuration of the first embodiment shown in FIG. 1 described above, and a description thereof will be omitted. FIG. 7 is a flowchart showing a vehicle travel control start program according to the second embodiment. The operation of the second embodiment will be described with reference to this flowchart. In addition, the same step number is attached | subjected to the step which performs the process similar to the vehicle travel control start program of 1st Embodiment shown in FIG. 3, and it demonstrates centering on difference. If the set operation is performed when the following traveling control is not being performed, the traveling control controller 10 executes this vehicle traveling control start program.

  In step 1, it is determined whether or not the vehicle speed detected by the vehicle speed sensor 2 is a predetermined value, for example, 50 km / h or higher. If the vehicle speed is higher than the predetermined value, the vehicle traveling control in the high speed mode described above is executed in steps 2-5. On the other hand, when the host vehicle speed is less than the predetermined value, the process proceeds to step 21 and the subsequent steps, and vehicle travel control in the medium / low speed mode is performed. First, in step 21, the timer 10d is started to measure the elapsed time after the setting operation. In step 22, detection of the preceding vehicle is started by the inter-vehicle distance radar 1, and in the subsequent step 23, the preceding vehicle detection range of the inter-vehicle distance radar 1 is changed as described above.

  In step 24 after changing the preceding vehicle detection range, it is determined whether or not the preceding vehicle has been detected by the inter-vehicle distance radar 1. When the preceding vehicle cannot be detected yet, the routine proceeds to step 27, where it is determined whether the time measured by the timer 10d exceeds a predetermined time, for example, 5 seconds, that is, whether the predetermined time has elapsed after the setting operation. If the predetermined time has not yet elapsed, the process proceeds to step 26 to display the remaining time. For example, as shown in FIG. 8, when the remaining time indicator 31 is provided in the combination meter 30 installed in the instrument panel and the remaining time immediately after the setting operation is a predetermined time (5 seconds), all the segments of the indicator 31 are displayed. Is turned on, the segment is turned off as the remaining time decreases, and the remaining time is displayed by the amount of the lit segment. After the remaining processing time for starting the vehicle travel control is displayed, the process returns to step 23 to check whether the preceding vehicle has been detected while changing the preceding vehicle detection range.

  On the other hand, in step 27, if a predetermined time has elapsed after the set operation and the remaining processing time for starting the vehicle travel control has expired, the process proceeds to step 28, where the preceding vehicle detection by the inter-vehicle distance radar 1 is stopped and the preceding vehicle is detected. Restore the range. Thereafter, in step 29, all segments of the remaining time display 31 shown in FIG. 8 are turned off to notify that the vehicle travel control start process has been stopped. In addition, it may be notified by performing a broadcast that “the vehicle travel control start process will be stopped” by voice.

  If a preceding vehicle can be detected before the predetermined time has elapsed after the setting operation, the routine proceeds to step 25, where inter-vehicle distance control is started so as to follow the preceding vehicle at a preset inter-vehicle distance.

  As described above, according to the second embodiment, once the driver performs the setting operation during the middle / low speed traveling, the preceding vehicle detection range is performed while performing the preceding vehicle detection process for a predetermined time even if the setting operation is stopped. As soon as the preceding vehicle is detected, the inter-vehicle distance control is started so that the inter-vehicle distance with the preceding vehicle becomes the set inter-vehicle distance, and the follow-up driving to the preceding vehicle is started. Establishing the ability to detect the preceding vehicle by the operation and start the follow-up driving is increased, and the trouble of starting the following vehicle follow-up by performing the set operation many times is saved, and the operability is improved as described above. There is no need to continue the set operation until the follow-up running is started as in the first embodiment, and the operability is further improved.

  Further, according to the second embodiment, since the remaining time from when the set operation is performed until the predetermined time elapses is notified, the driver performs the set operation, and then the vehicle travel control device Can automatically recognize that the start process of the preceding vehicle follow-up travel is being performed.

  Furthermore, according to the second embodiment, the preceding vehicle detection range is expanded or the preceding vehicle detection range is shifted for a predetermined time after the setting operation is performed. The probability that a preceding vehicle can be detected even when traveling on a slope road is increased, and the preceding vehicle following traveling can be started promptly.

  The correspondence between the constituent elements of the claims and the constituent elements of the embodiment is as follows. That is, the inter-vehicle distance radar 1 constitutes a preceding vehicle detection means, the vehicle travel control controller 10 constitutes a follow-up travel control means, the set / coast switch 6 constitutes a follow-up start operating member, and the remaining time indicator 31 constitutes a notification means. In addition, as long as the characteristic function of this invention is not impaired, each component is not limited to the said structure.

  In addition, although the example which fixes the said predetermined time was shown in 2nd Embodiment mentioned above, the driving state of the own vehicle may be detected and the said predetermined time may be changed according to a driving state. For example, the vehicle speed is detected, and the predetermined time is lengthened as the vehicle speed is slow. Further, the pitching of the vehicle is detected by a vehicle height sensor or the like, and when the pitching is occurring, the predetermined time is lengthened. Thereby, even when the vehicle is traveling on a curved road or a gradient road at a low speed, the probability that the preceding vehicle can be detected becomes high, and the preceding vehicle following traveling can be started quickly.

Further, the traveling environment of the host vehicle may be detected, and the predetermined time may be changed according to the traveling environment. For example, traveling on a curved road or a slope road is detected by a navigation device, a steering angle sensor, a yaw rate sensor, a vehicle height sensor, etc., and when traveling on a curved road or a slope road, the predetermined time is lengthened. As a result, even when the vehicle is traveling on a curved road or a gradient road, the probability that the preceding vehicle can be detected is increased, and the preceding vehicle following traveling can be quickly started.
Moreover, it detects that the sun is in a low position by a solar radiation sensor or a clock, and when the sun is in a low position, the predetermined time is lengthened. If the sun is at a low position, the detection accuracy of the preceding vehicle by the inter-vehicle distance radar may be lowered when sunlight temporarily enters the inter-vehicle distance radar. Therefore, by increasing the predetermined time when the sun is at a low position, the probability that the preceding vehicle can be detected is increased, and the preceding vehicle following traveling can be started quickly.

It is a figure which shows the structure of 1st Embodiment. It is a figure which shows the operation member of the vehicle travel control apparatus installed in the spoke part of the steering. It is a flowchart which shows the vehicle travel control start program of 1st Embodiment. It is a figure explaining the 1st change method of a preceding vehicle detection range. It is a figure explaining the 2nd change method of a preceding vehicle detection range. It is a figure explaining the modification of the 2nd change method of the preceding vehicle detection range. It is a flowchart which shows the vehicle travel control start program of 2nd Embodiment. It is a figure which shows the indicator which displays the remaining time of a vehicle travel control start process.

Explanation of symbols

1 Inter-vehicle distance radar 2 Vehicle speed sensor 3 Main switch 4 Resume / Accelerate switch 5 Cancel switch 6 Set / coast switch 7 Brake switch 10 Vehicle travel control controller 10a CPU
10b ROM
10c RAM
10d timer 11 engine control device 12 transmission control device 13 brake control device 14 display device 20 steering 31 combination meter 31 remaining time indicator

Claims (10)

A preceding vehicle detection means for detecting a preceding vehicle;
Follow-up driving control means for following the preceding vehicle while keeping the distance between the vehicles,
A follow start operation member for starting the preceding vehicle follow-up running by the follow-up running control means,
While the follow-up start operating member is being operated, the preceding vehicle detection range is detected by the preceding vehicle detection means while the preceding vehicle detection range is changed, and the preceding vehicle detection means detects the preceding vehicle. Then, the vehicle traveling control device starts the preceding vehicle following traveling by the following traveling control means. In the vehicle travel control device according to claim 1,
The vehicle traveling control device, wherein the preceding vehicle detecting means expands a preceding vehicle detection range while the follow start operation member is being operated. In the vehicle travel control device according to claim 1,
The preceding vehicle detection means shifts the preceding vehicle detection range while the follow start operation member is being operated. A preceding vehicle detection means for detecting a preceding vehicle;
Follow-up driving control means for following the preceding vehicle while keeping the distance between the vehicles,
A follow start operation member for starting the preceding vehicle follow-up running by the follow-up running control means,
When the following start operation member is operated, the preceding vehicle is detected by the preceding vehicle detecting means for a predetermined time. When the preceding vehicle is detected by the preceding vehicle detecting means, the following vehicle following traveling is detected by the following traveling control means. The vehicle running control device characterized by starting. In the vehicle travel control device according to claim 4,
The preceding vehicle detection means changes the preceding vehicle detection range during the predetermined time. In the vehicle travel control device according to claim 4,
A vehicle travel control device comprising: a notifying means for notifying a remaining time from when the following start operation member is operated until the predetermined time elapses. In the vehicle travel control device according to claim 4,
It is provided with running state detecting means for detecting the running state of the own vehicle,
A vehicle travel control device that changes the predetermined time according to a travel state of the host vehicle. In the vehicle travel control device according to claim 4,
Provided with a traveling environment detection means for detecting the traveling environment of the own vehicle,
A vehicle travel control device that changes the predetermined time according to a travel environment of the host vehicle. In the vehicle travel control device according to claim 4,
The preceding vehicle detection means expands a preceding vehicle detection range during the predetermined time. In the vehicle travel control device according to claim 4,
The preceding vehicle detection means shifts the preceding vehicle detection range during the predetermined time.

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