JP2007245835A - Running controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a running controller of a vehicle for issuing warning in a warning timing according to the feeling of a crew. <P>SOLUTION: This running controller of a vehicle is provided with an own vehicle speed detecting means 12 for detecting the speed of its own vehicle; a preceding vehicle recognition means 14 for recognizing a preceding vehicle; an inter-vehicle distance detection means 14 for detecting an inter-vehicle distance between the preceding vehicle and its own vehicle; a relative speed calculation means 14 for calculating a relative speed; a target inter-vehicle distance setting means 6c for setting a target inter-vehicle distance between its own vehicle and the preceding vehicle; a follow-up running means 4 for controlling its own vehicle to follow up the preceding vehicle so that the target inter-vehicle distance can be maintained; a predicted collision time calculation means 4 for calculating a predicted collision time from the inter-vehicle distance and the relative speed; and warning means 4, 16 and 22 for notifying the occupants of warning when the predicted collision time calculated by the collision prediction time calculation means becomes a warning operation threshold or less. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle travel control device, and more particularly to a vehicle travel control device that causes a host vehicle to travel following a preceding vehicle.

  Conventionally, if there is a preceding vehicle that travels ahead of the host vehicle, adjust the inter-vehicle distance (inter-vehicle time) with the preceding vehicle and follow the preceding vehicle. If there is no preceding vehicle, set 2. Description of the Related Art A travel control device that controls a vehicle so as to travel at a constant speed at a set vehicle speed is known.

  For example, in the device described in Patent Document 1, a plurality of target inter-vehicle distances (inter-vehicle time) are set according to the passenger's preference and driving environment, and the inter-vehicle distance (inter-vehicle time) is displayed to inform the occupant. ing.

  Furthermore, in the apparatus of Patent Document 2, the inter-vehicle distance is changed according to the target vehicle speed, that is, the inter-vehicle distance is set longer as the target vehicle speed is higher, and in addition, the occupant performs an accelerator operation. In this case, when the distance between the vehicles is shortened and the brake operation is performed, the time between the vehicles is lengthened so that comfortable follow-up traveling can be performed.

Further, in the conventional vehicle travel control device, when the inter-vehicle distance (inter-vehicle time) is within a predetermined distance (pre-determined time), an alarm is issued to notify the passenger to that effect. .
Further, in the conventional system, when the inter-vehicle distance (inter-vehicle time) is within a predetermined distance (pre-determined time) shorter than that for the alarm, the automatic brake is operated to decelerate the own vehicle. The collision with the preceding vehicle is avoided.

Japanese Patent Laid-Open No. 11-42957 JP-A-10-318209

  Here, generally, the higher the relative speed of the host vehicle with respect to the preceding vehicle, the longer the inter-vehicle distance that the occupant feels scared. Therefore, in the above-described conventional apparatus, the alarm activation threshold (inter-vehicle distance, inter-vehicle time) for issuing the alarm is uniformly defined by the inter-vehicle distance (inter-vehicle time) and the relative speed.

  On the other hand, as the vehicle speed of the host vehicle increases, the inter-vehicle distance that the occupant feels scary tends to increase. However, in the conventional apparatus, the relative speed is taken into consideration for the alarm activation threshold for issuing an alarm. Only. For this reason, in the conventional apparatus, the timing of issuing an alarm deviates from that predicted by the occupant, and the occupant feels uncomfortable at the timing of issuing this alarm, and the occupant's feeling deteriorates.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle travel control device capable of issuing an alarm at an alarm timing suitable for the occupant's feeling when traveling following a preceding vehicle.

In order to achieve the above object, a first aspect of the present invention is a travel control device for a vehicle that causes the host vehicle to travel following the preceding vehicle, the host vehicle speed detecting means for detecting the speed of the host vehicle, and A preceding vehicle recognition means for recognizing a preceding vehicle ahead of the own vehicle, an inter-vehicle distance detection means for detecting an inter-vehicle distance between the preceding vehicle recognized by the preceding vehicle recognition means and the own vehicle, and a preceding vehicle of the own vehicle Relative speed calculation means for calculating the relative speed, target inter-vehicle distance setting means for setting the target inter-vehicle distance between the host vehicle and the preceding vehicle, and the host vehicle following the preceding vehicle so as to maintain the target inter-vehicle distance. A follow-up traveling means for causing the vehicle to travel, a collision prediction time calculating means for calculating a collision prediction time from the inter-vehicle distance detected by the inter-vehicle distance detection means and the relative speed calculated by the relative speed calculation means, and the collision prediction time calculation Time prediction is calculated collision is characterized by having a an alarm means for informing a warning to an occupant when it is below alarm activation threshold by means.
In the first invention of the present invention configured as described above, when traveling following the preceding vehicle, the predicted collision time is calculated from the inter-vehicle distance and the relative speed, and the calculated predicted collision time is calculated from the alarm activation threshold value. Since the warning is notified to the occupant by the alarm means, the alarm can be issued at an alarm timing suitable for the occupant's feeling.

  According to a second aspect of the present invention, there is provided a travel control device for a vehicle that causes the host vehicle to follow the preceding vehicle, the host vehicle speed detecting means for detecting the speed of the host vehicle, and the preceding vehicle in front of the host vehicle. Preceding vehicle recognition means for recognizing the vehicle, inter-vehicle distance detection means for detecting the inter-vehicle distance between the preceding vehicle recognized by the preceding vehicle recognition means and the own vehicle, and a relative speed calculation means for calculating the relative speed of the own vehicle with respect to the preceding vehicle. And a target inter-vehicle time setting means for setting a target inter-vehicle time calculated from the inter-vehicle distance between the own vehicle and the preceding vehicle and the speed of the own vehicle, and the own vehicle with respect to the preceding vehicle so as to maintain the target inter-vehicle time. Follow-up traveling means for following-up traveling, collision prediction time calculating means for calculating a predicted collision time from the inter-vehicle distance detected by the inter-vehicle distance detecting means and the relative speed calculated by the relative speed calculating means, and the collision Is characterized by having, an alarm means for informing a warning to the occupant when the collision prediction time calculated by measuring the time calculating means is equal to or less than the alarm actuation threshold.

In the first invention or the second invention of the present invention, preferably, the warning means sets the warning threshold value to a longer value as the host vehicle speed detected by the host vehicle speed detection means becomes higher.
In the 1st invention or 2nd invention of this invention comprised in this way, a warning timing becomes what matched the speed of the own vehicle, and a warning can be issued at the warning timing which matched a passenger | crew's feeling.

In the first invention or the second invention of the present invention, preferably, the collision prediction time calculation means operates the seat belt pretensioner based on the calculated collision prediction time.
In the first or second aspect of the present invention configured as described above, the seat belt pretensioner operates based on the predicted collision time, so that an alarm is issued at an alarm timing that more effectively matches the occupant's feeling. Can be emitted.

In the first invention or the second invention of the present invention, preferably, the collision prediction time calculation means operates the brake based on the calculated collision prediction time.
In the first invention or the second invention of the present invention configured as described above, since the brake is operated based on the predicted collision time, it is possible to issue an alarm at an alarm timing that more effectively matches the occupant's feeling. it can.

  According to the present invention, when the vehicle follows the preceding vehicle, the alarm timing is based on the predicted collision time, so the vehicle travel control can issue an alarm at an alarm timing that matches the occupant's feeling. An apparatus can be provided.

Hereinafter, an embodiment of a vehicle travel control device of the present invention will be described with reference to the accompanying drawings.
First, an embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a conceptual diagram showing an inter-vehicle distance between a host vehicle on which a travel control device for a vehicle according to the present invention is mounted and a preceding vehicle, and FIG. 2 is a block diagram showing an embodiment of the travel control device for a vehicle according to the present invention. 3 is a front view showing a steering wheel of the host vehicle of FIG. 1, and FIG. 4 is a front view showing a display portion provided in a meter unit of the instrument panel of the host vehicle of FIG. FIG. 6 is a partial side view showing the host vehicle on which the vehicle travel device of the embodiment of the present invention is mounted, and FIG. 6 shows the estimated collision time (TCC), the vehicle speed of the host vehicle, the alarm operation in the embodiment of the present invention. FIG. 7 is a diagram showing a relationship with a threshold value, and FIG. 7 is a flowchart showing a control content of the embodiment of the present invention.

  First, the vehicle travel control apparatus according to the embodiment of the present invention adjusts the inter-vehicle distance D with the preceding vehicle B when the preceding vehicle B exists in front of the host vehicle A as shown in FIG. Drives following the preceding vehicle B (adaptive cruise control: ACC), and if the preceding vehicle B does not exist, the host vehicle A is controlled so as to run at a constant speed (constant speed running mode) at the set vehicle speed. 1 is a vehicle travel control device.

  As shown in FIG. 2, reference numeral 1 denotes the vehicle travel control device according to the present embodiment, and this travel control device 1 is fixed at the vehicle speed set when the preceding vehicle B does not exist in front of the host vehicle A. The distance D between the powertrain control module (PCM) 2 that performs speed control so as to travel at a high speed (constant speed travel mode) and the preceding vehicle B when the preceding vehicle B exists in front of the host vehicle A A PCS / ACC controller 4 is provided for performing speed control so as to adjust and follow the preceding vehicle B (adaptive cruise control: ACC) and to operate a pre-crash safety system (PCS) described later. Yes.

The PCM 2 includes four operation switches provided in the operation unit 6 in order to execute the constant speed running mode and ACC, that is, a main switch 6a, a cancel switch 6b, a target inter-vehicle distance setting switch 6c, and a target speed setting switch. Each information is input from 6d.
Specifically, as shown in FIG. 3, these four switches 6a, 6b, 6c, and 6d are provided on the right spoke portion 8a extending in the horizontal direction of the steering wheel 8 so as to be easily operated by the occupant. ing.

The main switch 6a is a switch for setting the constant speed traveling mode and the ACC by the traveling control device 1 of the present embodiment to the operating state or the non-operating state, and the cancel switch 6b is for canceling the control by the traveling control device. Switch.
The target inter-vehicle distance setting switch 6c is a switch for setting a target inter-vehicle distance between the host vehicle A and a preceding vehicle B traveling ahead. Here, the target inter-vehicle distance is determined by the occupant according to his / her preference and the driving environment (weather, visibility, road surface condition, road shape, etc.). It is possible to set the three-way distance between “medium” and “short”.

  The target speed setting switch 6d is a switch for setting a target speed when the host vehicle A is in the constant speed running mode. The target speed setting switch 6d also has a set switch function for setting to the constant speed traveling mode and a function as a resume switch for setting the target speed to the vehicle speed when the occupant previously set the target speed.

The target inter-vehicle distance set by the target inter-vehicle distance setting switch 6c and the target speed set by the target speed setting switch 6d are displayed on the display unit 10 shown in FIGS. .
As shown in FIG. 3, the display unit 10 is provided in a meter unit of an instrument panel of the host vehicle A, and includes a target speed indicator 10a that displays a target speed set by a target speed setting switch 6d, A target inter-vehicle distance indicator 10b that displays a target inter-vehicle distance that displays the target inter-vehicle distance set by the inter-vehicle distance setting switch 6c (displays three levels of inter-vehicle distances of “long”, “medium”, and “short”). Has been.

Further, a vehicle speed sensor 12 for detecting the actual vehicle speed of the host vehicle A is provided, and the actual vehicle speed of the host vehicle A is input to the PCM 2 from the vehicle speed sensor 12 as shown in FIG. ing.
Information on the preceding vehicle B is input to the PCS / ACC controller 4 from the inter-vehicle distance sensor 14. Specifically, the inter-vehicle distance sensor 14 is a scan type laserator, and detects the distance, direction, and relative speed from the reflected light to the preceding vehicle by sending a laser beam forward. Thus, the preceding vehicle information input from the inter-vehicle distance sensor 14 includes the direction of the preceding vehicle with respect to the own vehicle (the presence of the preceding vehicle B), the inter-vehicle distance D between the own vehicle A and the preceding vehicle B, and the preceding vehicle B. The relative speed of the host vehicle A is included.

  As shown in FIG. 2, the PCM 2 outputs a deceleration / acceleration instruction input from the PCS / ACC controller 4 to the auto actuator 16. The auto actuator 16 is for accelerating or decelerating the vehicle speed by controlling the throttle opening of the engine and the braking by the brake.

  The PCS / ACC controller 4 outputs an alarm generation signal to the alarm buzzer 18. As will be described in detail later, this alarm buzzer 18 is, for example, an alarm “pippy” to alert the passenger when the predicted collision time (TTC) becomes shorter than the alarm activation threshold (time). It is for making sound. As the alarm buzzer 18, the above-described display unit 10 may be blinked to alert the occupant. Moreover, you may make it use both these alarm sounds and blinking displays.

A PCS on / off switch 20 is provided so that the operation of the pre-crash safety system (PCS) can be turned on and off.
When the PCS on / off switch 20 is on, the PCS / ACC controller 4 outputs an operation signal to the seat belt pretensioner 22 which is a PCS. The seat belt pretensioner 22 is activated when the predicted collision time becomes equal to or less than the alarm activation threshold (time), restrains the occupant, and ensures safety.

  Here, the seat belt pretensioner 22 will be described in detail with reference to FIG. The seat belt pretensioner 22 includes a first pretensioner 26 and a second pretensioner 28 provided at the end of the seat belt 24 on the vehicle body side. The first pretensioner 26 is an electric motor, and operates when the predicted collision time (TTC) is equal to or lower than the alarm activation threshold value to wind the seat belt 22 and restrain the occupant to the seat. The restraining force at this time is relatively weak, and is such that the occupant can perform an operation for ensuring safety (such as a brake operation).

  In addition, a collision detection sensor 30 is provided. The second pretensioner 28 is an inflator, and operates when the collision detection sensor 30 detects a collision of the host vehicle, wraps the seat belt 22 and restrains the occupant to the seat. The restraining force at this time is relatively strong, and the occupant can be reliably restrained to the seat.

  Next, with reference to FIG. 6, the relationship between the predicted collision time (TCC), the vehicle speed of the host vehicle, and the alarm activation threshold according to the present embodiment will be described. First, the predicted collision time (TTC: second) when the host vehicle collides with the preceding vehicle can be calculated by “TTC = inter-vehicle distance / relative speed”. In the present embodiment, an alarm timing threshold value (TTC value) for ACC that is an alarm operation threshold value for operating the alarm buzzer 18 and the auto actuator (brake) 16, and an alarm operation by the seat belt pretensioner 20. A pre-crash warning timing threshold value (TTC value) which is a threshold value is set. The alarm timing threshold value for ACC has a longer TTC value as the vehicle speed of the host vehicle becomes higher, and becomes a constant value in a region higher than a certain vehicle speed. The pre-crash warning timing threshold is a constant value irrespective of the vehicle speed of the host vehicle.

  Thus, in the present embodiment, as shown in FIG. 6, when the host vehicle is following the preceding vehicle, the value of the predicted collision time (TTC) calculated from the inter-vehicle distance and the relative speed is the ACC alarm. If the timing threshold value is not reached, the alarm buzzer 18 issues an alarm sound to alert the occupant, and after the alarm sound is generated, the auto actuator (brake) 16 is operated to decelerate the host vehicle. I am doing so.

  Furthermore, in the present embodiment, as shown in FIG. 6, when the host vehicle is following the preceding vehicle, the value of the predicted collision time (TTC) calculated from the inter-vehicle distance and the relative speed is the pre-crash warning timing. When the value is less than or equal to the threshold value, the first pretensioner 26 of the seat belt pretensioner 22 is activated to restrain the occupant to the seat.

  Next, the operation of the vehicle travel control apparatus according to the embodiment of the present invention will be described. First, in order to execute the constant speed running mode and ACC, the main switch 6a, the cancel switch 6b, the target inter-vehicle distance setting switch 6c, and the target speed setting switch 6d, which are the four operation switches, ON or OFF, cancel switch ON, target inter-vehicle distance, target vehicle speed are input, and the actual vehicle speed of the host vehicle A is input from the vehicle speed sensor 12.

The PCM outputs the input switch information, the target inter-vehicle distance, the target vehicle speed, and the actual vehicle speed signal, which are input information, to the PCS / ACC Conotroller 4.
The PCS / ACC controller 4 receives information about the preceding vehicle B from the vehicle speed sensor 14, such as the direction of the preceding vehicle relative to the own vehicle (the presence of the preceding vehicle B), the inter-vehicle distance D between the own vehicle A and the preceding vehicle B, The relative speed of the preceding vehicle B with respect to the vehicle A is input.

  When there is no preceding vehicle B ahead of the host vehicle A, the PCS / ACC controller 4 enters the constant speed running mode, and the target vehicle speed of the host vehicle A is set based on the input information. A deceleration / acceleration instruction signal is output to the PCM 2 so that the vehicle speed is reached, and the PCM 2 controls the auto actuator 16 based on the deceleration / acceleration instruction signal. Specifically, when the actual vehicle speed of the own vehicle A is smaller than the target vehicle speed, the auto actuator 16 increases the throttle opening to increase the speed, and the actual vehicle speed of the own vehicle A is higher than the target vehicle speed. If the vehicle speed is larger, the slot opening is decreased by the auto actuator 16 and / or the brake is applied by the brake so that the actual vehicle speed of the host vehicle A becomes the target vehicle speed.

  Next, when the traveling vehicle B is traveling in front of the host vehicle A, the PCS / ACC controller 4 executes ACC, and the inter-vehicle distance D of the host vehicle A with respect to the preceding vehicle B is set as the set target. A deceleration / acceleration instruction signal is output to the PCM 2 so that the inter-vehicle distance is obtained, and the PCM 2 controls the auto actuator 16 based on the deceleration / acceleration instruction signal. Specifically, when the inter-vehicle distance D is larger than the target inter-vehicle distance, the auto actuator 16 increases the throttle opening to increase the speed, and the inter-vehicle distance D is shorter than the target inter-vehicle distance. In other words, the slot opening is reduced by the auto actuator 16 and / or the brake is braked by the brake so that the inter-vehicle distance D becomes the target inter-vehicle distance.

  As shown in FIG. 4, during the execution of the constant speed driving mode and ACC, the target speed indicator 10a of the display unit 10 displays the target speed, and the target inter-vehicle distance indicator 10b displays the set target inter-vehicle distance ( “Long”, “Medium”, or “Short” is displayed, which is easy for the passenger to recognize.

Next, the operation of the alarm buzzer 18 and the auto actuator (brake) 16 will be described with reference to FIG. In FIG. 7, S indicates each step.
First, in S1, it is determined whether or not ACC is being executed. If ACC is being executed, the process proceeds to S2, and it is determined whether or not a preceding vehicle exists. If there is a preceding vehicle, the process proceeds to S3, where it is determined whether or not the predicted collision time (TTC) is equal to or shorter than the alarm activation threshold (ACC alarm timing threshold). If the TTC is less than or equal to the alarm activation threshold value, the process proceeds to S4, where the alarm buzzer 18 and the auto actuator (brake) 16 are operated to alert the occupant and that the host vehicle is approaching the preceding vehicle. .

  As described above, according to the embodiment of the vehicle travel control device of the present invention, when the vehicle follows the preceding vehicle, the alarm timing is based on the predicted collision time. It is possible to provide a vehicle travel control device capable of issuing an alarm at an alarm timing.

  In the embodiment of the present invention described above, the target inter-vehicle distance is set, but as another embodiment, the target inter-vehicle time may be set instead of the target inter-vehicle time. In another embodiment, a target inter-vehicle time setting switch (not shown) may be provided instead of the target inter-vehicle distance setting switch 6c shown in FIG.

  Here, the inter-vehicle time is a physical quantity expressing the inter-vehicle distance in terms of time, and is expressed by “inter-vehicle time = inter-vehicle distance / vehicle speed”. Thus, the target inter-vehicle time corresponds to the target inter-vehicle distance 1: 1 when executing ACC.

Also in this other embodiment, a plurality of (three stages of “long”, “medium”, and “short”) inter-vehicle time are set by the target inter-vehicle time setting switch.
Also in this other embodiment, the alarm activation threshold shown in FIG. 6 can be applied.

It is a conceptual diagram which shows the inter-vehicle distance of the own vehicle carrying the vehicle travel control apparatus of this invention, and a preceding vehicle. 1 is a block diagram showing an embodiment of a vehicle travel control device of the present invention. It is a front view which shows the steering wheel of the own vehicle of FIG. It is a front view which shows the display part provided in the meter unit of the instrument panel of the own vehicle of FIG. 1 is a partial side view showing a host vehicle equipped with a vehicle travel device according to an embodiment of the present invention. It is a diagram which shows the relationship with the collision estimated time (TCC) in the embodiment of this invention, the vehicle speed of the own vehicle, and a warning threshold value. It is a flowchart which shows the control content of embodiment of this invention.

Explanation of symbols

1 Vehicle control system 2 Powertrain control module (PCM)
4 PCS / ACC controller 6 Operation unit 10 Display unit 12 Vehicle speed sensor 14 Distance sensor 16 Auto actuator (brake)
18 Alarm buzzer 20 PCS on / off switch 22 Seat belt pretensioner 26 First pretensioner

Claims (5)

A travel control device for a vehicle that causes the host vehicle to follow the preceding vehicle,
Own vehicle speed detecting means for detecting the speed of the own vehicle;
Preceding vehicle recognition means for recognizing a preceding vehicle ahead of the host vehicle;
An inter-vehicle distance detection means for detecting an inter-vehicle distance between the preceding vehicle recognized by the preceding vehicle recognition means and the host vehicle;
A relative speed calculating means for calculating a relative speed of the host vehicle with respect to a preceding vehicle;
Target inter-vehicle distance setting means for setting the target inter-vehicle distance between the host vehicle and the preceding vehicle;
Follow-up traveling means for causing the host vehicle to follow up the preceding vehicle so as to maintain the target inter-vehicle distance;
A predicted collision time calculation unit that calculates a predicted collision time from the inter-vehicle distance detected by the inter-vehicle distance detection unit and the relative speed calculated by the relative speed calculation unit;
Alarm means for notifying an occupant of an alarm when the estimated collision time calculated by the estimated collision time calculation means is below an alarm activation threshold;
A vehicle travel control device comprising: A travel control device for a vehicle that causes the host vehicle to follow the preceding vehicle,
Own vehicle speed detecting means for detecting the speed of the own vehicle;
Preceding vehicle recognition means for recognizing a preceding vehicle ahead of the host vehicle;
An inter-vehicle distance detection means for detecting an inter-vehicle distance between the preceding vehicle recognized by the preceding vehicle recognition means and the host vehicle;
A relative speed calculating means for calculating a relative speed of the host vehicle with respect to a preceding vehicle;
Target inter-vehicle time setting means for setting a target inter-vehicle time calculated from the inter-vehicle distance between the host vehicle and the preceding vehicle and the speed of the host vehicle;
Follow-up traveling means for causing the own vehicle to follow the preceding vehicle so as to maintain the target inter-vehicle time,
A predicted collision time calculation unit that calculates a predicted collision time from the inter-vehicle distance detected by the inter-vehicle distance detection unit and the relative speed calculated by the relative speed calculation unit;
Alarm means for notifying an occupant of an alarm when the estimated collision time calculated by the estimated collision time calculation means is below an alarm activation threshold;
A vehicle travel control device comprising:   3. The vehicle travel control device according to claim 1, wherein the warning means sets the warning threshold value to a longer value as the own vehicle speed detected by the own vehicle speed detection means becomes higher.   The vehicle travel control device according to any one of claims 1 to 3, wherein the predicted collision time calculation means operates the seat belt pretensioner based on the calculated predicted collision time.   The vehicle travel control device according to any one of claims 1 to 3, wherein the predicted collision time calculation means operates a brake based on the calculated predicted collision time.

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