JP2006290149A - Traveling controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform accurate vehicle control according to an external state of a vehicle when driver's intention to reduce the speed is detected during vehicle control. <P>SOLUTION: While control for following a precedent vehicle is performed, a driver intention detecting means M5 detects a driver's intention to reduce the speed and when a travel path width detecting means m1 of an external state detecting means M6 detects the own vehicle travel path decreasing in width and a cut-in vehicle detecting means m2 detects a cut-in vehicle, a control command correcting means M7 increases a set distance between vehicles of the follow-up travel control, thereby vehicle is controlled so that the driver's intention to smoothly cut in by increasing the distance to the precedent vehicle can be reflected. When the cut-in vehicle detecting means m2 detects no cut-in vehicle, the set vehicle speed of constant-speed travel control is reduced, thereby vehicle is controlled so that the driver's intention to safely drive when a road ahead decreases in width can be reflected. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention makes the host vehicle follow the preceding vehicle based on the set inter-vehicle distance set by the inter-vehicle distance setting means when the preceding vehicle exists, and sets the vehicle speed set by the vehicle speed setting means when there is no preceding vehicle. The present invention relates to a vehicular travel control device including vehicle control means for driving the vehicle at a constant speed.

When the vehicle speed of the host vehicle is controlled so that the inter-vehicle distance from the preceding vehicle is maintained at the set inter-vehicle distance, when there is an interrupting vehicle that interrupts between the host vehicle and the preceding vehicle, driving by generating an interrupt with the driver state detection sensor Japanese Patent Application Laid-Open No. 2004-151867 discloses a method for measuring a driver's mental state and correcting a set inter-vehicle distance with a preceding vehicle in accordance with the driver's mental state.
Japanese Patent Laid-Open No. 10-338053

  By the way, when the driver spontaneously performs the braking operation while performing the following traveling control for maintaining a predetermined set inter-vehicle distance with the preceding vehicle, conventionally, the following traveling control has been uniformly stopped. However, if the follow-up running control is changed in accordance with the situation around the vehicle and continued, there is a possibility that more appropriate vehicle control reflecting the psychology of the driver can be performed.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to perform accurate vehicle control according to an external situation of a vehicle when a driver's intention to decelerate is detected during vehicle control.

  In order to achieve the above object, according to the first aspect of the present invention, when there is a preceding vehicle, the host vehicle follows the preceding vehicle based on the set inter-vehicle distance set by the inter-vehicle distance setting means. In the vehicle travel control device having vehicle control means for causing the vehicle to travel at a constant speed based on the set vehicle speed set by the vehicle speed setting means when there is no preceding vehicle, a deceleration intention detection means for detecting the driver's intention to decelerate And an external situation detection means for detecting an external situation of the own vehicle, and when the deceleration intention detection means detects a driver's intention to decelerate, based on the external situation of the own vehicle detected by the external situation detection means, There is proposed a vehicle travel control device comprising control target value correction means for correcting a control target value for vehicle control by the vehicle control means.

  According to the second aspect of the present invention, in addition to the configuration of the first aspect, the external condition detecting unit includes a traveling path width detecting unit that detects a width of the traveling path of the host vehicle, and traveling in front of the host vehicle. An interrupting vehicle detecting means for detecting an interrupting vehicle to interrupt the road, wherein the deceleration intention detecting means detects the driver's intention to decelerate, and the traveling road width detecting means detects a decrease in the width of the own vehicle traveling path. And the control target value correcting means increases the set inter-vehicle distance and maintains the set vehicle speed when the interrupted vehicle detecting means detects an interrupted vehicle. Is proposed.

  According to a third aspect of the present invention, in addition to the configuration of the first aspect, the external condition detecting means includes a traveling road width detecting means for detecting a width of the own vehicle traveling path, and traveling in front of the own vehicle. An interrupting vehicle detecting means for detecting an interrupting vehicle to interrupt the road, wherein the deceleration intention detecting means detects the driver's intention to decelerate, and the traveling road width detecting means detects a decrease in the width of the own vehicle traveling path. When the detected vehicle detection means detects no interrupted vehicle, the control target value correcting means maintains the set inter-vehicle distance and reduces the set vehicle speed. Is proposed.

  According to the invention described in claim 4, in addition to the configuration of claim 2 or claim 3, the interrupting vehicle detection means has a lateral relative distance from the own vehicle of a predetermined value or more, and the own vehicle A vehicle travel control device is proposed in which a vehicle moving in a direction approaching the vehicle is determined to be an interrupting vehicle.

  According to the invention described in claim 5, in addition to the configuration of claim 2 or claim 3, the interrupting vehicle detection means includes the relative distance between the own vehicle and the preceding vehicle, the own vehicle and any vehicle. Based on the relative distance, a vehicle travel control device is proposed in which the arbitrary vehicle is determined to be an interrupting vehicle.

  According to the sixth aspect of the present invention, in addition to the configuration of the first aspect, the external situation detecting unit includes a traveling path width detecting unit that detects a width of the traveling path of the host vehicle, and the deceleration intention detection is performed. When the means detects the driver's intention to decelerate, and the travel path width detection means detects a decrease in the width of the own vehicle travel path, the control target value correction means permits the vehicle deceleration control by the vehicle control means. There is proposed a vehicular travel control apparatus characterized by increasing the deceleration or advancing the deceleration start timing of the vehicle deceleration control.

  According to the seventh aspect of the present invention, in addition to the configuration of the first aspect, the external situation detecting unit includes a traffic volume detecting unit that detects a traffic volume of the own vehicle traveling path, and the deceleration intention detection is performed. When the means detects the driver's intention to decelerate and the traffic volume detection means detects that the traffic volume on the own vehicle traveling path is equal to or less than a predetermined value, the control target value correction means calculates the set inter-vehicle distance. A vehicular travel control device is proposed that increases the vehicle speed and maintains the set vehicle speed.

  According to an eighth aspect of the present invention, in addition to the configuration of the first aspect, the external situation detecting means includes an acceleration / deceleration frequency detecting means for detecting an acceleration / deceleration frequency of a preceding vehicle, and the decelerating intention detection When the means detects the driver's intention to decelerate and the acceleration / deceleration frequency detection means detects that the acceleration / deceleration frequency of the preceding vehicle is greater than or equal to a predetermined value, the control target value correction means determines the set inter-vehicle distance. A vehicular travel control device is proposed that increases the vehicle speed and maintains the set vehicle speed.

  According to the ninth aspect of the present invention, in addition to the configuration of the first aspect, the external situation detection unit includes a visual distance detection unit that detects a visual distance in the traveling direction of the host vehicle, and the deceleration intention detection When the means detects the driver's intention to decelerate and the visual distance detection means detects that the visual distance is less than or equal to a predetermined value, the control target value correction means increases the set inter-vehicle distance and the setting A vehicular travel control device characterized by reducing the vehicle speed is proposed.

  According to a tenth aspect of the present invention, in addition to the configuration of the first aspect, the external situation detecting means includes a vehicle width detecting means for detecting a vehicle width of a preceding vehicle, and the deceleration intention detecting means is When the driver's intention to decelerate is detected and the vehicle width detection means detects that the vehicle width of the preceding vehicle is greater than or equal to a predetermined value, the control target value correction means increases the set inter-vehicle distance and A vehicular travel control device characterized by maintaining a set vehicle speed is proposed.

  The vehicle speed setting switch 16 of the embodiment corresponds to the vehicle speed setting means of the present invention, the inter-vehicle distance setting switch 17 of the embodiment corresponds to the inter-vehicle distance setting means of the present invention, and the driver intention detection means M5 of the embodiment is This corresponds to the deceleration intention detecting means of the present invention.

  According to the configuration of the first aspect, when the deceleration intention detection unit detects the driver's intention to decelerate, the own vehicle in which the external condition detection unit detects the control target value of the vehicle control unit that performs the follow-up traveling control and the constant speed traveling control. Because it corrects based on the external situation of the vehicle, when the driver's intention to decelerate is detected, the follow-up running control and the constant speed running control are not stopped uniformly, Constant speed running control can be performed.

  According to the configuration of claim 2, the deceleration intention detecting means detects the driver's intention to decelerate, the traveling road width detecting means detects a decrease in the width of the own vehicle traveling path, and the interrupting vehicle detecting means detects the interrupting vehicle. Then, since the inter-vehicle distance set for the follow-up running control is increased, the vehicle control reflecting the driver's psychology of increasing the inter-vehicle distance with the preceding vehicle and smoothly interrupting the interrupted vehicle becomes possible.

  According to the configuration of the third aspect, the deceleration intention detecting means detects the driver's intention to decelerate, the traveling road width detecting means detects a decrease in the width of the own vehicle traveling path, and the interrupting vehicle detecting means detects the interrupting vehicle. When the vehicle is not in use, the following vehicle control setting distance is maintained and the constant vehicle speed control setting vehicle speed is decreased. Vehicle control that reflects the driver's psychology of wanting to drive safely by reducing the vehicle speed set for travel control becomes possible.

  According to the configuration of the fourth aspect of the present invention, since the lateral relative distance from the own vehicle is greater than or equal to the predetermined value and the vehicle moving in the direction approaching the own vehicle is determined to be the interrupting vehicle, the determination accuracy of the interrupting vehicle is increased. Can be increased.

  According to the configuration of the fifth aspect, since the arbitrary vehicle is determined to be an interrupting vehicle based on the relative distance between the own vehicle and the preceding vehicle and the relative distance between the own vehicle and the arbitrary vehicle, the arbitrary vehicle It is possible to determine the interrupting vehicle before starting the lateral movement.

  According to the structure of claim 6, when the deceleration intention detecting means detects the driver's intention to decelerate and the traveling road width detecting means detects a decrease in the width of the own vehicle traveling path, the allowable deceleration of the vehicle deceleration control is increased. Or the vehicle's deceleration control timing is advanced, for example, when the road width decreases due to entering a city road from an automobile-only road, the driver's mind that he wants to drive while watching the surroundings on a narrow road Vehicle control reflecting the above becomes possible.

  According to the configuration of the seventh aspect, when the deceleration intention detecting means detects the driver's intention to decelerate and the traffic volume detecting means detects that the traffic volume of the own vehicle traveling path is equal to or less than a predetermined value, Since the set inter-vehicle distance is increased, it is possible to perform vehicle control that reflects the driver's intention to drive slowly while ensuring a sufficient inter-vehicle distance from the preceding vehicle when traveling on a road with a small traffic volume.

  According to the configuration of claim 8, when the deceleration intention detecting means detects the driver's intention to decelerate and the acceleration / deceleration frequency detecting means detects that the acceleration / deceleration frequency of the preceding vehicle is equal to or higher than a predetermined value, Since the set inter-vehicle distance is increased, vehicle control that reflects the driver's intention to avoid uncomfortable acceleration / deceleration of the vehicle by ensuring a sufficient inter-vehicle distance when following a rough driving vehicle is possible. .

  According to the configuration of claim 9, when the deceleration intention detection means detects the driver's intention to decelerate and the visual distance detection means detects that the visual distance is less than or equal to a predetermined value, the set inter-vehicle distance of the following traveling control is increased. In addition, since the vehicle speed set for constant speed running control is reduced, vehicle control that reflects the driver's willingness to drive safely under bad weather such as fog, heavy rain, and snowstorm becomes possible.

  According to the configuration of claim 10, when the deceleration intention detection means detects the driver's intention to decelerate and the vehicle width detection means detects that the vehicle width of the preceding vehicle is greater than or equal to a predetermined value, Since the distance is increased, the vehicle control that reflects the driver's intention to increase the inter-vehicle distance and secure a wider field of view when traveling following a large truck or trailer or the like becomes possible.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples of the present invention shown in the accompanying drawings.

  1 to 7 show an embodiment of the present invention, FIG. 1 is a block diagram of a control system of an ACC system, FIG. 2 is a flowchart for explaining the operation of the first embodiment, and FIG. 3 is a diagram of the second embodiment. FIG. 4 is a flowchart for explaining the operation of the third embodiment, FIG. 5 is a flowchart for explaining the operation of the fourth embodiment, FIG. 6 is a flowchart for explaining the operation of the fifth embodiment, and FIG. These are flowcharts explaining the operation of the sixth embodiment.

  As shown in FIG. 1, an ACC (adaptive cruise) that keeps a preset inter-vehicle distance and follows the preceding vehicle when there is a preceding vehicle, and runs at a constant speed at a preset vehicle speed when there is no preceding vehicle. The control system includes a travel locus estimation unit M1, a control target region setting unit M2, a control target determination unit M3, a control target value determination unit M4, a driver intention detection unit M5, and an external situation detection unit M6. The control target value correcting means M7 and the vehicle control means M8 are provided.

  A vehicle speed sensor 11 and a yaw rate sensor 12 are connected to the travel locus estimation means M1, a radar device 13 is connected to the control target determination means M3, a brake pedal switch 14 and an accelerator opening sensor 15 are connected to the driver intention detection means M5. The vehicle speed setting switch 16 and the inter-vehicle distance setting switch 17 are connected, the external state detection means M6 is connected to the radar device 13, the navigation system 18, the VICS receiving means 19 and the road-to-vehicle communication means 20, and the vehicle control means M8 is connected to the vehicle control means M8. A display 21, a deceleration actuator 22 and an acceleration actuator 23 are connected.

  The external situation detection means M6 includes a travel road width detection means m1, an interrupt vehicle detection means m2, a traffic volume detection means m3, an acceleration / deceleration frequency detection means m4, a visual distance detection means m5, and a vehicle width detection means m6.

  The travel locus estimation means M1 estimates the future travel locus of the host vehicle based on the vehicle speed detected by the vehicle speed sensor 11 and the yaw rate detected by the yaw rate sensor 12. That is, since the turning radius of the own vehicle can be calculated from the current vehicle speed and the yaw rate, the future traveling locus of the own vehicle can be estimated by connecting the arc of the turning radius in the current traveling direction of the own vehicle.

  The control target area setting means M2 sets a belt-like control target area having a predetermined width and a predetermined length on the travel locus estimated by the travel locus estimation means M1.

  The control target determining unit M3 determines whether or not a preceding vehicle detected by the radar device 13 in the control target region set by the control target region setting unit M2 can be a control target. In this case, when there are a plurality of control target candidates, the preceding vehicle closest to the host vehicle is determined as the control target, and when only one control target candidate exists, the preceding vehicle is determined as the control target. .

  The control target value determining means M4 sets a set vehicle speed and a set inter-vehicle distance, which are parameters for causing the subject vehicle to follow the subject vehicle to be controlled and for making the subject vehicle run at a constant speed, respectively. 16 and the output of the inter-vehicle distance setting switch 17 are set.

  The driver intention detection means M5 detects the driver's intention to decelerate from the output of the brake pedal switch 14 or the accelerator opening sensor 15, detects the driver's intention to accelerate from the output of the accelerator opening sensor 15, or a vehicle speed setting switch. The set vehicle speed for constant speed travel control intended by the driver is detected from the output of 16, or the set inter-vehicle distance for follow-up travel control intended by the driver is detected from the output of the inter-vehicle distance setting switch 17.

  The external situation detection means M6 has a plurality of functions. The travel path width detection means m1 detects the width of the travel path ahead of the host vehicle based on information from the navigation system 18, and the interrupting vehicle detection means m2 is a radar device. 13 detects an interrupting vehicle that tries to interrupt the vehicle ahead, and the traffic volume detection means m3 detects the traffic volume around the vehicle based on the information from the VICS reception means 19 and the road-to-vehicle communication means 20. The acceleration / deceleration frequency detection means m4 detects the frequency of acceleration and deceleration of the preceding vehicle based on information from the radar device 13, and the visual distance detection means m5 detects fog, heavy rain, snowstorm, etc. based on the information from the radar device 13. Therefore, the visible distance in front of the own vehicle that changes for this purpose is detected, or the vehicle width detection means m6 detects the vehicle width of the preceding vehicle based on information from the radar device 13.

  There are two specific determination methods for detecting the interrupting vehicle by the interrupting vehicle detecting means m2. The first is to determine that a vehicle that has a lateral relative distance from the own vehicle that is equal to or greater than a predetermined value and that moves in a direction approaching the own vehicle is an interrupting vehicle. The determination accuracy can be improved. The second is to determine that the arbitrary vehicle is an interrupting vehicle based on the relative distance between the own vehicle and the preceding vehicle and the relative distance between the own vehicle and an arbitrary vehicle. For example, it is possible to determine an interrupted vehicle at an early stage before the arbitrary vehicle starts lateral movement.

  The control target value correcting means M7 is a control target determined by the control target value determining means M4 according to the external situation detected by the external situation detecting means M6 when the driver intention detecting means M5 detects the driver's intention to decelerate. Correct the value.

  The vehicle control means M8 drives the deceleration actuator 22 and the acceleration actuator 23 based on the control target value corrected by the control target value correction means M7, and opens and closes the throttle valve or operates the brake device to perform follow-up running control or The constant speed running control is executed, and the current control state of the vehicle is displayed on the display 23 to notify the driver. As a result, when there is a preceding vehicle to be controlled determined by the control object determining means M3, the own vehicle follows the preceding vehicle at a predetermined inter-vehicle distance set by the inter-vehicle distance setting switch 17, and the control object When there is no preceding vehicle to become, the own vehicle travels at a constant speed at a predetermined vehicle speed set by the vehicle speed setting switch 16.

  Next, the operation of the first embodiment will be described based on the flowchart of FIG.

  First, at step S1, the vehicle is following the preceding vehicle. At step S2, the driver intention detection means M5 detects, for example, the driver's intention to decelerate when the brake pedal switch 14 is turned on, and at step S3, the external situation is detected. The road width detection means m1 of the means M6 detects that the width of the road ahead of the host vehicle is decreasing, and the interrupting vehicle detection means m2 of the external situation detection means M6 interrupts the front of the host vehicle in step S4. When an interrupting vehicle to be detected is detected, the control target value correcting means M7 corrects in the direction to increase the set inter-vehicle distance for follow-up running control in step S5, and the set vehicle speed for constant speed running control is To remain. As a result, it is possible to perform vehicle control that reflects the driver's psychology to increase the inter-vehicle distance from the preceding vehicle and smoothly interrupt the interrupted vehicle that is about to interrupt the vehicle ahead.

  If the interrupting vehicle detecting means m2 of the external situation detecting means M6 does not detect the interrupting vehicle that is about to interrupt the front of the host vehicle in step S4, the control target value correcting means M7 determines the set inter-vehicle distance in step S6. While maintaining the state, correct the vehicle speed to decrease. As a result, vehicle control that reflects the driver's psychology of wanting to drive safely by reducing the vehicle speed set for constant speed control, for example, when the road width in front is reduced when entering an urban road from an automobile-only road It becomes possible.

  It should be noted that when the vehicle does not follow the preceding vehicle at step S1, when the driver's intention to decelerate is not detected at step S2, and when the width of the traveling road ahead of the host vehicle does not decrease at step S3. In step S7, the set inter-vehicle distance and the set vehicle speed are maintained as they are.

  Next, the operation of the second embodiment will be described based on the flowchart of FIG.

  First, in step S11, the host vehicle is following the preceding vehicle. In step S12, the driver intention detection means M5 detects, for example, the driver's intention to decelerate when the brake pedal switch 14 is turned on. When the road width detection means m1 of the detection means M6 detects that the width of the road ahead of the host vehicle is decreasing, in step S14, a correction is made in the direction to increase the set inter-vehicle distance for follow-up driving control, In addition, the deceleration of the own vehicle by the automatic braking is made larger than the normal time, or the deceleration timing of the own vehicle is made earlier than the normal time. As a result, for example, in the case where the width of the road ahead decreases when entering an urban road from an automobile-only road, vehicle control reflecting the psychology that the driver wants to drive while watching the surroundings on a narrow road becomes possible.

  It should be noted that when the vehicle is not following the preceding vehicle at step S11, when the driver's intention to decelerate is not detected at step S12, and when the width of the traveling road ahead of the vehicle is not decreasing at step S13. In step S15, the set inter-vehicle distance and the set vehicle speed are maintained as they are.

  Next, the operation of the third embodiment will be described based on the flowchart of FIG.

  First, in step S21, the host vehicle is following the preceding vehicle. In step S22, the driver intention detection means M5 detects, for example, the driver's intention to decelerate when the brake pedal switch 14 is turned on. When the traffic volume detection means m3 of the detection means M6 detects that the traffic volume around the host vehicle is small, in step S24, correction is made in the direction of increasing the set inter-vehicle distance for the follow-up travel control, and the constant speed travel control is performed. The set vehicle speed is maintained as it is. As a result, vehicle control that reflects the psychology that the driver wants to drive slowly while ensuring a sufficient distance from the preceding vehicle while driving on a road with low traffic volume is possible.

  It should be noted that the case where the vehicle does not follow the preceding vehicle in step S21, the case where the driver's intention to decelerate is not detected in step S22, and the case where the road traffic volume is not small in step S23 are set in step S25. Maintain the vehicle distance and the set vehicle speed as they are.

  Next, the operation of the fourth embodiment will be described based on the flowchart of FIG.

  First, in step S31, the host vehicle is following the preceding vehicle. In step S32, the driver intention detection means M5 detects, for example, the driver's intention to decelerate when the brake pedal switch 14 is turned on. When the acceleration / deceleration frequency detection means m4 of the detection means M6 detects that the acceleration / deceleration frequency of the preceding vehicle is greater than or equal to a predetermined value, in step S34, correction is made in the direction of increasing the set inter-vehicle distance for follow-up travel control, The set vehicle speed for constant speed running control is maintained as it is. As a result, it is possible to perform vehicle control that reflects the psychology that a driver running behind a preceding vehicle with rough driving sufficiently secures the distance between the preceding vehicle and the vehicle does not want to repeat unpleasant acceleration / deceleration.

  In the case where the vehicle is not following the preceding vehicle in step S31, the case where the driver's intention to decelerate is not detected in step S32, and the case where the acceleration / deceleration frequency of the preceding vehicle is not greater than a predetermined value in step S33. In step S35, the set inter-vehicle distance and the set vehicle speed are maintained as they are.

  Next, the operation of the fifth embodiment will be described based on the flowchart of FIG.

  First, in step S41, the host vehicle is following the preceding vehicle. In step S42, the driver intention detection means M5 detects, for example, the driver's intention to decelerate when the brake pedal switch 14 is turned on. When the visual distance detection means m5 of the detection means M6 detects that the visual distance in front of the host vehicle is less than or equal to a predetermined value, in step S44, correction is made in the direction of increasing the set inter-vehicle distance for follow-up control, Correction is made in the direction of decreasing the set vehicle speed for constant speed traveling control. As a result, when visibility is reduced due to fog, heavy rain, snowstorm, etc., we want to drive safely under bad weather by increasing the inter-vehicle distance for follow-up travel control and decreasing the set vehicle speed for constant-speed travel control. Vehicle control reflecting the psychology of the driver.

  It should be noted that when the vehicle is not following the preceding vehicle at step S41, when the driver's intention to decelerate is not detected at step S42, and when the visual distance in front of the vehicle is not less than a predetermined value at step S43. In step S45, the set inter-vehicle distance and the set vehicle speed are maintained as they are.

  Next, the operation of the sixth embodiment will be described based on the flowchart of FIG.

  First, in step S51, the host vehicle travels following the preceding vehicle. In step S52, the driver intention detection means M5 detects, for example, the driver's intention to decelerate when the brake pedal switch 14 is turned on. When the vehicle width detection means m6 of the detection means M6 detects that the vehicle width of the preceding vehicle is greater than or equal to a predetermined value, in step S54, correction is made in the direction to increase the set inter-vehicle distance for follow-up running control, and constant speed The set vehicle speed for traveling control is maintained as it is. As a result, it is possible to perform vehicle control reflecting the psychology of a driver who follows a large truck or trailer sufficiently securing the distance between the vehicle and the preceding vehicle and securing a wide field of view.

  It should be noted that when the vehicle does not follow the preceding vehicle at step S51, when the driver does not detect the intention to decelerate at step S52, and when the vehicle width of the preceding vehicle is not greater than or equal to a predetermined value at step S53, In step S55, the set inter-vehicle distance and the set vehicle speed are maintained as they are.

  Although the embodiments of the present invention have been described above, various design changes can be made without departing from the scope of the present invention.

  For example, in the embodiment, the driver's intention to decelerate is detected from the output of the brake pedal switch 14, but it can also be detected from the output of the accelerator opening sensor 15, the shift position of the transmission, the conversation of the occupant, and the like.

  In the embodiment, the traveling road width detection means m1 detects the width of the traveling road ahead of the host vehicle based on the information from the navigation system 18, but in addition to that, it detects from the output of the radar device 13, the camera image, etc. Can do.

  In the embodiment, the traffic volume detecting means m3 detects the traffic volume around the own vehicle based on the information from the VICS receiving means 19 and the road-to-vehicle communication means 20, but in addition to this, from the output of the radar device 13, the camera image, etc. Can be detected.

  In the embodiment, the acceleration / deceleration frequency detection means m4 detects the frequency of acceleration or deceleration of the preceding vehicle from the output of the radar device 13, but it can also be detected from a camera image or the like.

  In the embodiment, the visual distance detection means m5 detects the visual distance in front of the host vehicle from the output of the radar device 13, but in addition to that, the camera image, the navigation system 18, the VICS reception means 19, and the road-vehicle communication means 20 Etc. can be detected.

  In the embodiment, the vehicle width detection means m6 detects the vehicle width of the preceding vehicle from the output of the radar device 13, but it can also be detected from a camera image or the like.

ACC system control system block diagram Flowchart for explaining the operation of the first embodiment Flowchart for explaining the operation of the second embodiment Flowchart for explaining the operation of the third embodiment Flowchart for explaining the operation of the fourth embodiment Flowchart for explaining the operation of the fifth embodiment Flowchart for explaining the operation of the sixth embodiment

Explanation of symbols

16 Vehicle speed setting switch (vehicle speed setting means)
17 Inter-vehicle distance setting switch (inter-vehicle distance setting means)
M5 Driver intention detection means (deceleration intention detection means)
M6 External condition detection means M7 Control target value correction means M8 Vehicle control means m1 Traveling road width detection means m2 Interrupted vehicle detection means m3 Traffic volume detection means m4 Acceleration / deceleration frequency detection means m5 Visual distance detection means m6 Vehicle width detection means

Claims (10)

When there is a preceding vehicle, the vehicle travels following the preceding vehicle based on the set inter-vehicle distance set by the inter-vehicle distance setting means (17), and when there is no preceding vehicle, the vehicle speed setting means (16) sets the vehicle. In the vehicular travel control device including vehicle control means (M8) for driving the vehicle at a constant speed based on the set vehicle speed,
A deceleration intention detection means (M5) for detecting the driver's intention to decelerate;
An external situation detection means (M6) for detecting the external situation of the vehicle;
Based on the external situation of the host vehicle detected by the external situation detection means (M6) when the deceleration intention detection means (M5) detects the driver's intention to slow down, the vehicle control means (M8) performs vehicle control. Control target value correcting means (M7) for correcting the control target value;
A vehicle travel control device comprising: The external situation detecting means (M6) includes a traveling road width detecting means (m1) for detecting the width of the own vehicle traveling path, and an interrupting vehicle detecting means for detecting an interrupting vehicle that is about to interrupt the traveling road ahead of the own vehicle. (M2)
The deceleration intention detection means (M5) detects the driver's intention to decelerate, the travel road width detection means (m1) detects a decrease in the width of the own vehicle travel path, and the interrupt vehicle detection means (m2) interrupts. The vehicle travel control apparatus according to claim 1, wherein when the vehicle is detected, the control target value correcting means (M7) increases the set inter-vehicle distance and maintains the set vehicle speed. The external situation detecting means (M6) includes a traveling road width detecting means (m1) for detecting the width of the own vehicle traveling path, and an interrupting vehicle detecting means for detecting an interrupting vehicle that is about to interrupt the traveling road ahead of the own vehicle. (M2)
The deceleration intention detection means (M5) detects the driver's intention to decelerate, the travel road width detection means (m1) detects a decrease in the width of the own vehicle travel path, and the interrupt vehicle detection means (m2) interrupts. 2. The vehicle travel control device according to claim 1, wherein when the vehicle is not detected, the control target value correcting means (M7) maintains the set inter-vehicle distance and decreases the set vehicle speed.   The interrupting vehicle detection means (m2) determines that a vehicle having a lateral relative distance to the own vehicle that is equal to or greater than a predetermined value and moving in a direction approaching the own vehicle is an interrupting vehicle. The vehicle travel control device according to claim 2 or claim 3.   The interrupting vehicle detection means (m2) determines that the arbitrary vehicle is an interrupting vehicle based on a relative distance between the own vehicle and a preceding vehicle and a relative distance between the own vehicle and an arbitrary vehicle. The vehicle travel control device according to claim 2 or 3. The external situation detection means (M6) includes travel road width detection means (m1) for detecting the width of the host vehicle travel road,
When the deceleration intention detection means (M5) detects the driver's intention to decelerate, and the travel road width detection means (m1) detects a decrease in the width of the host vehicle travel path, the control target value correction means (M7) 2) increases the allowable deceleration of the vehicle deceleration control by the vehicle control means (M8), or accelerates the deceleration start timing of the vehicle deceleration control. . The external situation detection means (M6) includes traffic volume detection means (m3) for detecting the traffic volume of the own vehicle traveling path,
When the deceleration intention detection means (M5) detects the driver's intention to decelerate and the traffic volume detection means (m3) detects that the traffic volume on the own vehicle traveling path is less than or equal to a predetermined value, the control target The vehicle travel control device according to claim 1, wherein the value correction means (M7) increases the set inter-vehicle distance and maintains the set vehicle speed. The external condition detection means (M6) includes acceleration / deceleration frequency detection means (m4) for detecting the acceleration / deceleration frequency of the preceding vehicle,
When the deceleration intention detection means (M5) detects the driver's intention to decelerate and the acceleration / deceleration frequency detection means (m4) detects that the acceleration / deceleration frequency of the preceding vehicle is a predetermined value or more, the control target The vehicle travel control device according to claim 1, wherein the value correction means (M7) increases the set inter-vehicle distance and maintains the set vehicle speed. The external situation detection means (M6) includes a visual distance detection means (m5) for detecting a visual distance in the traveling direction of the host vehicle.
When the deceleration intention detection means (M5) detects the driver's intention to decelerate and the visual distance detection means (m5) detects that the visual recognition distance is equal to or less than a predetermined value, the control target value correction means (M7) The vehicle travel control device according to claim 1, wherein the vehicle travel control device increases the set inter-vehicle distance and decreases the set vehicle speed. The external situation detection means (M6) includes vehicle width detection means (m6) for detecting the vehicle width of the preceding vehicle,
When the deceleration intention detection means (M5) detects the driver's intention to decelerate and the vehicle width detection means (m6) detects that the vehicle width of the preceding vehicle is greater than or equal to a predetermined value, the control target value correction The vehicle travel control device according to claim 1, wherein the means (M7) increases the set inter-vehicle distance and maintains the set vehicle speed.

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