JP2006044380A - Inter-vehicle distance control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inter-vehicle distance control device capable of preventing the distance from an own vehicle to a preceding vehicle from becoming shorter than a target inter-vehicle distance even when inter-vehicle distance detecting performance is deteriorated due to rainfall or the like. <P>SOLUTION: The inter-vehicle distance control device 100 controls the inter-vehicle distance so that it becomes the target inter-vehicle distance when the inter-vehicle distance between the preceding vehicle and the own vehicle measured by using a reflection wave of an irradiation wave irradiated from the own vehicle is within a limit inter-vehicle distance, and releases inter-vehicle distance control when the inter-vehicle distance exceeds the limit inter-vehicle distance. The limit inter-vehicle distance is changed to become shorter according to increase of rainfall measured by a rainfall detecting sensor 17. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an inter-vehicle distance control device that causes an own vehicle to travel while maintaining the inter-vehicle distance between the host vehicle and a preceding vehicle at a target inter-vehicle distance.

As this type of technology, in the inter-vehicle distance control device for automatically following the preceding vehicle, the detection of the inter-vehicle distance detection means is performed when the detection performance of the inter-vehicle distance is lowered due to rain or the like and the detection limit distance is shortened. If it is determined whether the preceding vehicle has been lost or a new preceding vehicle has been found from almost the center of the range, and if it has been determined that the preceding vehicle has been lost or a new preceding vehicle has been found, The own vehicle speed is stored in the storage unit, and the detection limit distance of the inter-vehicle distance detection means corresponding to each own vehicle speed is derived and set by learning based on the stored data, and the inter-vehicle distance between the own vehicle and the preceding vehicle is determined from the detection limit distance If it exceeds, the normal inter-vehicle distance control following the preceding vehicle is canceled (see, for example, Patent Document 1).
JP 2001-225668 A

  However, in the prior art described in Patent Document 1, in order to obtain the detection limit distance, it is necessary to newly detect a preceding vehicle or to miss the preceding vehicle. Therefore, in order to accurately detect the detection limit distance, it has been necessary to repeat the discovery and lost of the preceding vehicle several times, which requires a considerable amount of time. Also, if the detection limit distance is detected when there is a lot of rainfall, the detection limit distance will remain short for a while even if the rainfall decreases thereafter, so that the detection capability of the inter-vehicle distance detection means can be fully utilized. There was a problem of not being able to do this and giving the driver a sense of incongruity

  The present invention has been made paying attention to the above-mentioned problem, and the object of the present invention is to detect the change in detection performance quickly and accurately even in a state where the distance detection performance has changed due to rainfall or the like, and is optimal for the driver. An object is to provide an inter-vehicle distance control device capable of performing inter-vehicle distance control.

  The inter-vehicle distance measuring device that measures the inter-vehicle distance between the preceding vehicle and the own vehicle using the reflected wave of the irradiation wave emitted from the own vehicle, and the measured inter-vehicle distance measured by the inter-vehicle distance measuring device were preset. An inter-vehicle distance control means for controlling the measured inter-vehicle distance to be the target inter-vehicle distance when it is within the limit inter-vehicle distance; and a release means for canceling the inter-vehicle distance control when the measured inter-vehicle distance exceeds the limit inter-vehicle distance; The inter-vehicle distance control device includes a rain detection device that detects rainfall, and the release means shortens the limit inter-vehicle distance as the rain detected by the rain detection device increases.

  The present invention provides an inter-vehicle distance control device capable of quickly and accurately detecting a change in the detection performance even when the inter-vehicle distance detection performance has changed due to rain or the like and performing optimal inter-vehicle distance control for the driver. Can do.

  The best mode for carrying out the inter-vehicle distance control device of the present invention will be described below with reference to the drawings.

  First, the configuration will be described.

  FIG. 1 is an overall system diagram of a vehicle equipped with an inter-vehicle distance control device according to the first embodiment, and FIG. 2 is a system block diagram showing a configuration of the inter-vehicle distance control device of the present invention.

  The vehicle equipped with the inter-vehicle distance control device uses the engine 1, the automatic transmission 2 that changes the engine output according to the running state, the fuel injection control by the fuel injection control device 5, and the shift control by the transmission control device 6. Driving force control (according to circumstances, engine brake control), braking force control using the braking fluid pressure control device 8, a control device 12 for controlling an inter-vehicle distance, which will be described later, and a front of the host vehicle for performing the inter-vehicle distance control And a forward state detection device 13 that detects the distance and relative speed with the object.

  The engine 1 is composed of a gasoline engine, a diesel engine, or the like, and the output from the engine 1 is input to the automatic transmission 2. The engine 1 is not particularly limited as long as it generates a driving force such as an electric motor regardless of the internal combustion engine.

  The automatic transmission 2 shifts between the input and output by switching the electromagnetic solenoid valve in the transmission control device 6 in accordance with the shift signal from the control device 12 to engage and release the clutch and brake, thereby automatically changing the speed. The driving force output from the machine 2 is transmitted to the drive wheels 4a and 4b via the speed reducer 3.

  The brake fluid pressure control device 8 adjusts the brake fluid pressure from the master cylinder 11 operated by the brake pedal 10 by the control signal from the control device 12, and supplies the pressure to the wheel cylinders 7a to 7d of the respective wheels.

  The control device 12 receives detection signals from various detection devices such as the brake fluid pressure sensor 9, the forward state detection device 13, the wheel speed sensor 14, the accelerator opening sensor 15, and the manual switch 16, and based on these detection signals. The calculation is performed and a control signal is output to the fuel injection control device 5, the transmission control device 6, the brake fluid pressure control device 8, and the like.

  As shown in FIG. 2, the inter-vehicle distance control device 100 includes an inter-vehicle control unit 101 that calculates and determines a target vehicle speed from the inter-vehicle distance between the host vehicle and the preceding vehicle according to the vehicle speed of the host vehicle, and a set vehicle speed and inter-vehicle control unit 101. A vehicle speed command value selection unit 102 that selects one of the determined target travel speeds as a speed command value, a vehicle speed control unit 103 that controls a driving force of an engine or the like and a braking force of a brake or the like based on the speed command value; It has. The inter-vehicle distance control device 100 corresponds to the inter-vehicle distance control device of the present invention.

  An operation signal from the manual switch 16 is input to the vehicle speed command value selection unit 102. The manual switch 16 is composed of, for example, a button switch, and the driver can set a desired vehicle speed and inter-vehicle distance by operating the button switch. The set vehicle speed can be input and set every 5 km / h by operating a button switch between 50 km / h and 100 km / h, for example. Further, the set inter-vehicle distance can be switched every time the button switch is pressed between the three inter-vehicle distances such as “long”, “medium”, and “short”.

  The front state detection device 13 is provided on the front body of the vehicle and receives a transmitter that irradiates an irradiation wave or the like toward the traveling direction of the host vehicle and a reflected wave reflected by an object in front of the host vehicle. A receiver. As the irradiation wave, laser radar, millimeter wave radar, infrared radar, sonar, or the like is used. This forward state detection device 13 determines whether or not there is a preceding vehicle ahead of the host vehicle from the reflected wave, obtains the inter-vehicle distance and relative speed between the host vehicle and the preceding vehicle by calculation processing, and generates the preceding vehicle generated here. Presence / absence determination information, inter-vehicle distance information, and relative speed information are output to the inter-vehicle control unit 101 and the vehicle speed control unit 103. The front state detection device 13 corresponds to the inter-vehicle distance measurement device of the present invention.

  The wheel speed sensor 14 detects the wheel speed Vwj. The vehicle speed of the host vehicle is calculated from the wheel speed Vwj, and this vehicle speed information is output to the inter-vehicle distance controller 101 and the vehicle speed controller 103. The wheel speed sensor 14 corresponds to the vehicle speed detection device of the present invention.

  The rain detection sensor 17 is attached near the upper center of the windshield and detects the rainfall. In the rain detection sensor 17, when no water droplet is attached to the detection portion, the red light emitted from the LED in the rain detection sensor is reflected at the interface between the windshield and the air and received by the photodiode of the rain detection sensor 17. Is done. When a water droplet adheres to the detection portion, a part of the red light emitted from the LED is transmitted through the water droplet to the outside of the windshield, and the red light received by the photodiode is reduced. The amount of rainfall can be estimated from the amount of change in the amount of received light. The rain detection sensor 17 corresponds to the rain detection device of the present invention.

  The inter-vehicle control unit 101 receives rainfall information, inter-vehicle distance information, relative speed information, vehicle speed information, set inter-vehicle distance information, etc., sets the inter-vehicle distance according to the vehicle speed from these information, and calculates the target vehicle speed. To do. The inter-vehicle distance set in the inter-vehicle control unit 101 corresponds to the target inter-vehicle distance of the present invention.

  The vehicle speed command value selection unit 102 compares the set vehicle speed with the target vehicle speed, and outputs the smaller vehicle speed to the vehicle speed control unit 103 as a vehicle speed command value.

  The vehicle speed control unit 103 receives the rain information, the set vehicle speed information, the set inter-vehicle distance information, the preceding vehicle inter-vehicle distance information, the relative speed information, the vehicle speed information, and the like, and the engine torque command value Teng determined according to the inter-vehicle distance control. Is output to the fuel injection control device 5, and the brake torque command value Tbk determined according to the inter-vehicle distance control is output to the brake fluid pressure control device 8, respectively.

  The fuel injection control device 5 controls the fuel injection amount FI according to the engine torque command value Teng input from the vehicle speed control unit 103.

  The brake fluid pressure control device 8 generates a brake fluid pressure Pbk that applies a braking force to the wheels using, for example, an ABS actuator in accordance with the brake torque command value Tbk input from the vehicle speed control unit 103.

  The engine 1 and the wheel cylinder 7 run the vehicle at a constant speed, accelerate or decelerate according to the fuel injection amount FI by the fuel injection control device 5 and the brake fluid pressure Pbk by the brake fluid pressure control device 8. The vehicle is controlled so as to have a set inter-vehicle distance and a set vehicle speed.

  Next, the operation will be described.

[Constant speed running]
When the preceding vehicle is not detected by the forward state detection device 13, the inter-vehicle distance control device 100 of the vehicle has the driving force of the engine 1 and the wheel cylinders 7 a to 7 so as to keep the set vehicle speed set by the driver with the manual switch 16. The braking force by 7d is controlled. For example, if the driver sets the set vehicle speed to 100 km / h using the manual switch 16, the inter-vehicle distance control unit 101 does not output the target vehicle speed because no preceding vehicle has been detected. As a result, the vehicle speed command value selection unit In 102, 100 km / h of the set vehicle speed information input from the manual switch 16 is selected, and 100 km / h is output to the vehicle speed control unit 103 as a vehicle speed command value. Thereafter, the vehicle speed control unit 103 monitors the vehicle speed information and the like so as to maintain the driver's set vehicle speed of 100 km / h, and connects the engine 1 and the wheel cylinders 7a to 7d via the fuel injection control device 5 and the brake fluid pressure control device 8. Control.

[Deceleration]
When there is a preceding vehicle that is slower than the current vehicle speed of the host vehicle in the traveling direction of the host vehicle, the vehicle is decelerated so as to maintain the inter-vehicle distance. Accordingly, when a preceding vehicle (for example, 80 km / h) slower than the driver's set vehicle speed (for example, 100 km / h) is detected, the inter-vehicle distance control unit 101 determines the vehicle distance according to the speed based on the driver's set vehicle distance information, The target vehicle speed calculated from the relative speed between the vehicle and the preceding vehicle is output to the vehicle speed command value selection unit 102. In the vehicle speed command value selection unit 102, set vehicle speed information (here, 100 km / h) from the manual switch 16 and target vehicle speed information (here, 80 km / h) from the inter-vehicle distance control unit 101 are input. The smaller target vehicle speed is selected as the vehicle speed command value (80 km / h in this case) and output to the vehicle speed control unit 103. The vehicle speed control unit 103 controls the fuel injection control device 5 and the brake fluid pressure control device 8 so as to achieve the set inter-vehicle distance based on the input vehicle speed command value, and the driving force of the engine 1 and the wheel cylinders 7a to 7d. The braking force by is controlled.

[Following running]
The fuel injection control device 5 and the brake fluid pressure control device 8 of the own vehicle are controlled so as to travel following the preceding vehicle while maintaining the inter-vehicle distance calculated according to the speed based on the set inter-vehicle distance set by the driver. The inter-vehicle control unit 101 sets an inter-vehicle distance according to the vehicle speed based on the input rainfall information, vehicle speed information, inter-vehicle distance information, relative vehicle speed information, and set inter-vehicle distance information, and calculates a target vehicle speed. The vehicle speed command value selection unit 102 selects a vehicle with a low vehicle speed from the driver's set vehicle speed information and the target vehicle speed from the inter-vehicle control unit 101 and outputs the selected vehicle speed value to the vehicle speed control unit 103 as a command vehicle speed value. The vehicle speed control unit 103 performs acceleration / deceleration control of the host vehicle via the fuel injection control device 5 and the brake fluid pressure control device 8 according to a vehicle speed command value or the like.

  Note that the vehicle speed at this time has an upper limit set at the set vehicle speed set by the driver. When the vehicle speed exceeds the set vehicle speed, the follow-up running is stopped and constant speed running at the set vehicle speed is performed.

[Acceleration running]
When it is detected that the preceding vehicle that has been following is no longer in the traveling lane of the host vehicle, for example, by changing the traveling lane, the target vehicle speed is not set in the inter-vehicle distance control unit 101, so the vehicle speed command value selection unit 102 sets the set vehicle speed preset by the driver with the manual switch 16 as the vehicle speed command value, instead of the target vehicle speed so far. As a result, the vehicle speed control unit 103 increases the fuel injection amount by the fuel injection control device 5 with the driver's set vehicle speed as the upper limit, and accelerates the host vehicle to the vehicle speed command value.

[Vehicle distance control release]
The inter-vehicle distance control is canceled when the following state occurs.

(1) When the rainfall exceeds the controlled release rainfall (2) When the brake pedal 10 is depressed (3) When the select lever (not shown) is set to a position other than D (drive) (4) Vehicle speed is 40 km / h If an abnormality occurs in the inter-vehicle distance control device or its sensors in addition to the above, the inter-vehicle distance control is canceled.

[Control in rainy weather]
When it is raining, the detection of the forward state by the irradiation wave is a result of a decrease in the straightness of the irradiation wave and the reflected wave due to raindrops, etc. and noise, resulting in a decrease in measurable distance and an increase in measurement error. The quality of control will deteriorate. As a countermeasure, in this embodiment, normal control is performed so that the distance between vehicles can be controlled within the detectable distance and measurement accuracy of the front state detection device 13 when the rainfall reaches a level that cannot be normally controlled by the front state detection device 13. Control is performed such that the inter-vehicle distance is shortened or the vehicle speed is kept low compared to the time. Further, the limit inter-vehicle time for canceling the inter-vehicle distance control is changed according to the vehicle speed and the rainfall.

  FIG. 3 shows the relationship between the vehicle speed and the inter-vehicle time, and the control release lines indicating the limit value for canceling the inter-vehicle time control in any case according to the rainfall are schematically shown by solid lines Rs, Rm, Rl. Here, the inter-vehicle time is obtained by dividing the inter-vehicle distance by the vehicle speed at that time. The control release line shows the limit inter-vehicle time for releasing the inter-vehicle distance control corresponding to each vehicle speed when the rainfall is `` small '', `` medium '', `` large '' in the order of Rs, Rm, Rl from the outside, The inter-vehicle distance control is canceled when the inter-vehicle time obtained from the inter-vehicle distance information from the front state detection device 13 and the vehicle speed information from the wheel speed sensor 14 is in a range below the control cancellation line corresponding to the detected rainfall. The These control cancellation lines Rs, Rm, and Rl are set so that the limit inter-vehicle time for canceling the inter-vehicle distance control is shortened as the rainfall increases and the vehicle speed increases. In this case, the limit inter-vehicle time is set to be shortened after the limit inter-vehicle distance is shortened and the vehicle speed is decreased as the rainfall increases. Further, the product of the limit inter-vehicle time and the vehicle speed at that time corresponds to the limit inter-vehicle distance of the present invention, and the limit inter-vehicle distance is set shorter as the vehicle speed increases.

  In addition, the horizontal line indicated by a dotted line in the figure indicates the set inter-vehicle time set in the manual switch 16, and the set inter-vehicle time is “long”, “middle”, “short” in the order of Tl, Tm, Ts from the top. Show the case. In this case, it is difficult for the driver to understand what the “set inter-vehicle time” is, so the set inter-vehicle time (= set inter-vehicle distance ÷ vehicle speed) is proportional to the set inter-vehicle distance. In this case, the set inter-vehicle distances “long”, “medium”, and “short” that are easier to understand are displayed instead of the “long”, “medium”, and “short” that are difficult to understand. Note that the present invention is not limited to setting the inter-vehicle time as “long”, “medium”, and “short”, and the inter-vehicle distance is set as “long”, “medium”, and “short”. May be. That is, it may be configured such that the inter-vehicle distance is constant (“long”, “medium”, “short”) regardless of the value of the vehicle speed. In this case, the vertical axis in FIG. 3 is the inter-vehicle distance, and the limit inter-vehicle time line is also a somewhat smooth curve.

  For example, during the running state (point Sa in FIG. 3) in the inter-vehicle distance control in which the vehicle is not raining, the set inter-vehicle distance is “long”, and the set vehicle speed is 100 km / h, When a rain condition is detected in which the rainfall is “small”, the set inter-vehicle time will be located above the curve Rs, that is, within the range of control release, so avoid the automatic release of inter-vehicle distance control. Therefore, the inter-vehicle distance control device 100 allows the driver to select a priority mode in which it is desired to preferentially control whether the set vehicle speed is reduced or the target inter-vehicle time is shortened. When the driver selects the set inter-vehicle distance as the priority mode, the inter-vehicle distance control device 100 reaches the point where the set vehicle speed is 75 km / s (point Sc in FIG. 3) in order to position the target inter-vehicle time within the control release line Rs. The fuel injection control device 5 and the brake fluid pressure control device 8 are controlled so as to drop them. On the other hand, when the driver selects the set vehicle speed as the priority mode, the control is performed so that the inter-vehicle time is shortened to Tm and the target inter-vehicle time is located at the point Sc within the control release line Rs.

  FIG. 4 is a flowchart showing a flow of control of the inter-vehicle distance control executed in the inter-vehicle distance control device 100 in rainy weather, and each step will be described below.

  In step S1, the inter-vehicle distance controller 101 reads the detection signal from the rain detection sensor 17, detects a raindrop, and proceeds to step S2.

  In step S2, after the raindrop is detected, the wiper is operated to wipe the raindrop adhering to the detection unit of the rain detection sensor 17, and the process proceeds to step S3.

  In step S3, it is determined whether or not it is raining based on the raindrop information detected again by the rain detection sensor 17 after wiping with the wiper. If YES, it is determined that it is raining and NO is returned to step S4. If there is, it is determined that it is not raining, and the process proceeds to step S6. Here, whether or not it is raining is determined that the raindrop is not in a rainy state if the detected raindrop is due to intermittent rain such as flipping or due to a temporary thing such as splashing. ,to decide. Therefore, for example, after detecting raindrops in step S1 and then wiping the raindrops adhering to the windshield with a wiper, if no more than a predetermined amount of raindrops are detected again, it is determined that it is not raining. If more than a certain amount of raindrops are detected, it is determined that it is raining.

  In step S4, the rainfall is calculated by the rain detection sensor 17, and the process proceeds to step S5.

  In step S5, it is determined whether or not normal inter-vehicle distance control is possible based on the rainfall calculated in step S4. If YES, the process proceeds to step S6, and if NO, the process proceeds to step S7.

  In step S6, normal inter-vehicle distance control is performed.

  In step S7, for example, a voice guidance is issued to the driver, and the manual switch 16 selects whether to give priority to the set inter-vehicle distance or to give priority to the set vehicle speed. The manual switch 16 for selecting the priority of the set inter-vehicle distance or the set vehicle speed is the priority mode selection switch of the present invention.

  In step S8, it is determined whether or not the selection of the driver in step S7 has priority on the inter-vehicle distance. If YES, the process proceeds to step S9. If NO, the process proceeds to step S20.

  In step S9, since the inter-vehicle distance is prioritized, the maximum speed in this case is calculated and displayed, and in the subsequent step S10, the driver selects whether or not to drive at the calculated maximum speed with the manual switch 16, If YES, the process proceeds to step S11 and the inter-vehicle distance priority control changed according to the rain is performed. If NO, the inter-vehicle distance control is canceled. Steps S9 and S10 constitute the vehicle distance priority travel enable / disable selection means of the present invention, and step S11 constitutes the set inter-vehicle distance priority mode of the present invention.

  In step S12, a counter that measures the time until rain is detected again is set to “0”, and the process proceeds to step S13.

  In step S13, it is determined whether or not a system override such as a driver operating an accelerator pedal or a brake pedal has been performed. If YES, the process proceeds to step S19 to cancel the inter-vehicle distance control. If NO, Adds “1” to the counter in step S17.

  In step S15, it is determined whether or not the counter has reached “N”, and control is executed until system override is performed until the counter becomes “N”. When the counter reaches “N”, the rainfall is measured again in step S16.

  In step S17, it is determined whether or not the absolute value of the difference between the rainfall amount X (0) measured in step S4 and the rainfall amount X (t) measured in step S16 is less than m (between the dotted lines in FIG. 5). If YES, the process proceeds to step S18, and if NO, the process proceeds to step S19 to cancel the inter-vehicle distance control. Note that m in step S17 corresponds to the first predetermined value of the present invention.

  In step S18, when the rainfall measured in step S16 exceeds the control cancellation line (thick solid line in FIG. 5) that cannot be controlled by the inter-vehicle distance control device 100, the process proceeds to step S19 and the inter-vehicle distance control is canceled. If the control release line is not exceeded, the process is repeated.

  In step S20, since priority is given to the vehicle speed, the inter-vehicle distance is calculated and displayed in this case, and in the subsequent step S21, the driver selects whether or not to drive at the calculated inter-vehicle distance. Shifts to step S22 to perform vehicle speed priority control. If NO, the inter-vehicle distance control is canceled. Steps S20 and S21 constitute vehicle speed priority selection means of the present invention, and step S22 constitutes the set vehicle speed priority mode of the present invention.

  Since the following steps S23 to S30 are substantially the same as the above-described steps S12 to S19, their description is omitted. In step S28, as in step S17, the absolute value of the difference between the rainfall amount X (0) measured in step S4 and the rainfall amount X (t) measured in step S16 is m or less (between the dotted lines in FIG. 5). Although it is determined whether or not there is, the absolute value may be n or less in step S28, which corresponds to the second predetermined value of the present invention. Step 19 and step S30 correspond to the releasing means of the present invention.

  Next, effects of the inter-vehicle distance control device according to the first embodiment will be described.

  (1) Since the detectable distance of the front state detection device 13 is estimated from the rainfall, an appropriate detectable distance can be estimated quickly and accurately according to the rainfall. Therefore, it is possible to perform appropriate inter-vehicle distance travel according to the detectable distance.

  (2) Since the inter-vehicle distance and the vehicle speed are variably controlled according to the rainfall, the inter-vehicle distance control can be performed even when it rains, and the driver's driving burden can be reduced.

  (3) Since the inter-vehicle distance is changed while maintaining the set vehicle speed in accordance with the amount of rainfall, the control can be performed at the set vehicle speed even during rain, and the driver's set vehicle speed is achieved even in the inter-vehicle distance control during rain. be able to.

  (4) Since the vehicle speed is changed according to the amount of rain while maintaining the set inter-vehicle distance, control can be performed with the set inter-vehicle distance even during rain, and the driver's set inter-vehicle distance can also be controlled in the inter-vehicle distance control during rain. Can be achieved.

  (5) Since it is possible to select whether to perform control with priority on the set vehicle speed during raining or control with priority on the set inter-vehicle distance, it is possible to perform more preferable control of the driver.

  (6) After selecting the set vehicle speed or the set inter-vehicle distance, set the inter-vehicle distance that can be controlled at the set vehicle speed when giving priority to the set vehicle speed, and set when giving priority to the set inter-vehicle distance. Since the vehicle speed that can be controlled by the inter-vehicle distance is displayed and notified to the driver, the driver's discomfort can be reduced.

  (7) Since the control is canceled when the rain amount increases and the detectable distance of the front state detection device 13 exceeds the control cancellation line, the inter-vehicle distance control can be performed within a range in which safety can be ensured.

  (8) Start the inter-vehicle distance control according to the rainfall, measure the rain again after a certain time, and continue the inter-vehicle distance control when the change in the rain falls within the fixed value range Therefore, the discomfort to the driver can be reduced by releasing the inter-vehicle distance due to a minute change in the rainfall.

  (9) Start the inter-vehicle distance control according to the rainfall, measure the rainfall again after a certain time, and cancel the inter-vehicle distance control when the change in the rainfall is not within the fixed value range As a result, the inter-vehicle distance control can be executed safely according to the time change of the rainfall.

  (10) Since the water droplets in the detection part are wiped with a wiper or the like before the rain amount detection sensor 17 detects the rain amount, the rain amount due to intermittent rainfall can be detected, so that the possibility of erroneous determination due to water droplets such as splashing is reduced.

  As mentioned above, although the inter-vehicle distance control apparatus of the present invention has been described based on the first embodiment, the specific configuration is not limited to these embodiments, and the gist of the invention according to each claim of the claims. Design changes and additions are permitted without departing from the above.

  The present invention can be used not only in the case of performing inter-vehicle distance control that performs tracking while keeping the inter-vehicle distance from the preceding vehicle in accordance with the detected rainfall, but also in other vehicle control that is performed in accordance with the rainfall. .

1 is an overall system diagram of a vehicle mounted with an inter-vehicle distance control device according to a first embodiment. 1 is a system block diagram illustrating a configuration of an inter-vehicle distance control device according to a first embodiment. It is a figure which shows the relationship with what replaced the inter-vehicle distance which a front state detection apparatus can detect according to the vehicle speed and the rainfall according to Example 1 with inter-vehicle time. 3 is a flowchart illustrating a flow of control performed in the inter-vehicle distance control device and the peripheral device according to the first embodiment. It is a figure which shows the control cancellation | release line which cancel | releases the tolerance | permissible_range of the time change of the detectable distance of the front state detection apparatus based on Example 1, and inter-vehicle distance control.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Engine 2 Automatic transmission 3 Reducer 4a, 4b, 4c, 4d Drive wheel 5 Fuel injection control device 6 Transmission control device 7a, 7b, 7c, 7d Wheel cylinder 8 Braking fluid pressure control device 9 Braking fluid pressure sensor 10 Brake Pedal 11 Master cylinder 12 Controller 13 Forward state detector 14 Wheel speed sensor 15 Accelerator opening sensor 16 Manual switch 17 Rain detection sensor 100 Inter-vehicle distance controller 101 Inter-vehicle controller 102 Vehicle speed command value selector 102 Speed command value selector 103 Vehicle speed control unit

Claims (9)

An inter-vehicle distance measuring device that measures an inter-vehicle distance between a preceding vehicle and the host vehicle using a reflected wave of an irradiation wave emitted from the host vehicle;
An inter-vehicle distance control means for controlling the measured inter-vehicle distance to be a target inter-vehicle distance when the measured inter-vehicle distance measured by the inter-vehicle distance measuring device is within a preset limit inter-vehicle distance;
Release means for canceling the inter-vehicle distance control when the measured inter-vehicle distance exceeds the limit inter-vehicle distance,
In the inter-vehicle distance control device having
It is equipped with a rain detection device that detects rainfall,
The said cancellation | release means changes the said limit inter-vehicle distance short according to the increase in the rainfall detected by the said rainfall detection apparatus, The inter-vehicle distance control apparatus characterized by the above-mentioned. In the inter-vehicle distance control device according to claim 1,
It further comprises a vehicle speed detection device that detects the vehicle speed of the host vehicle,
The said cancellation | release means changes the said limit inter-vehicle distance short according to the increase in the vehicle speed detected by the said vehicle speed detection apparatus, The inter-vehicle distance control apparatus characterized by the above-mentioned. In the inter-vehicle distance control device according to claim 2,
The inter-vehicle distance control means is configured to change the target inter-vehicle distance or the upper limit speed of the inter-vehicle distance control so as to decrease the target inter-vehicle distance when the limit inter-vehicle distance is shortened. apparatus. In the inter-vehicle distance control device according to claim 3,
In the inter-vehicle distance control means, a set vehicle speed for setting the upper limit vehicle speed and a set inter-vehicle distance for setting the target inter-vehicle distance are preset, and the set vehicle speed is prioritized over the set inter-vehicle distance. And a priority mode selection switch for selecting either the set vehicle speed priority mode for following the preceding vehicle or the set inter-vehicle distance priority mode for following the preceding vehicle with the set inter-vehicle distance prior to the set vehicle speed. An inter-vehicle distance control device characterized by that. In the inter-vehicle distance control device according to claim 4,
If the set inter-vehicle distance priority mode is selected by the priority mode selection switch, the maximum vehicle speed is calculated and displayed from the set inter-vehicle distance, and whether or not the set inter-vehicle distance priority mode is executed at the maximum vehicle speed. An inter-vehicle distance control device comprising an inter-vehicle distance priority travel enable / disable selection means for selecting the above. In the inter-vehicle distance control device according to claim 4 or 5,
When the set vehicle speed priority mode is selected by the priority mode selection switch, the inter-vehicle distance corresponding to the set vehicle speed is calculated and displayed, and whether or not the vehicle speed priority mode is executed with the calculated inter-vehicle distance is determined. An inter-vehicle distance control device comprising vehicle speed priority selection means for selection. In the inter-vehicle distance control device according to claim 4 or 5,
After a predetermined time from the start of execution of the set inter-vehicle distance priority mode, a new limit inter-vehicle distance is calculated from the rainfall newly detected by the rain detection device, and the new limit inter-vehicle distance and the previously estimated limit inter-vehicle distance are calculated. If the absolute value of the difference is larger than the first predetermined value, the inter-vehicle distance control device is canceled. In the inter-vehicle distance control device according to claim 4 or 6,
After a certain time from the start of the set vehicle speed priority mode, a new limit inter-vehicle distance is calculated from the rainfall newly detected by the rain detection device, and the difference between the new limit inter-vehicle distance and the previously estimated limit inter-vehicle distance is calculated. The inter-vehicle distance control device is configured to cancel the inter-vehicle distance control when the absolute value is larger than a second predetermined value. In the inter-vehicle distance control device according to any one of claims 1 to 8,
The rain amount detection device detects a rain amount from a rain amount on a windshield surface of a vehicle, and then detects the rain amount by a newly attached rain droplet after removing the rain drops on the windshield surface with a wiper. Inter-vehicle distance control device.

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