JP2007304815A - Controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform warning in a proper timing even to a sharply decelerating preceding vehicle. <P>SOLUTION: This controller 10 for a vehicle is provided with: a preceding vehicle detection means 1c for detecting a preceding vehicle preceding to its own vehicle; an inter-vehicle distance detection means 2 for detecting an inter-vehicle distance S1 between its own vehicle and a preceding vehicle; a temporary stop spot detection means 1a for detecting a temporary stop spot existing ahead of its own vehicle and the preceding vehicle and where its own vehicle and the preceding vehicle are made to temporarily stop; a warning control means 1b for controlling warning by a warning device 4 based on the inter-vehicle distance S1 detected by the inter-vehicle detection means 2. When the preceding vehicle is detected by the preceding vehicle detection means 1c, and the temporary stop spot is detected by the temporary stop spot detection means 1a, the warning control means 1b controls the timing of warning by the warning device 4 to be quickened. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle control device that detects, for example, a temporary stop point that is present in front of the host vehicle and a preceding vehicle and temporarily stops the host vehicle and the preceding vehicle.

2. Description of the Related Art Conventionally, there is known an obstacle presence possibility detection device that detects the traveling environment of a host vehicle with a navigation system and detects the magnitude of the possibility that an obstacle exists in front of the host vehicle based on the detection result. (For example, refer to Patent Document 1). The apparatus determines that the preceding vehicle is an obstacle on the travel lane when the time during which the preceding vehicle can be continuously detected by the inter-vehicle distance sensor is equal to or longer than the preceding vehicle detection time. In addition, the device reduces the preceding vehicle detection time when there is a large possibility that an obstacle exists in front of the host vehicle due to traffic jam or the like, and on the other hand, when the possibility that an obstacle exists ahead of the host vehicle is small Increases the preceding vehicle detection time.
JP 2003-141698 A

  For example, when there is a temporary stop point in front of the traveling vehicle and the preceding vehicle, the vehicle may suddenly decelerate when the preceding vehicle preceding the own vehicle approaches the temporary stopping point. However, the conventional obstacle existence possibility detection device determines the relationship between the host vehicle and the preceding vehicle based on the traveling environment such as traffic jam detected by the navigation system. For this reason, there is a possibility that the alarm timing for the preceding vehicle that suddenly decelerates to stop at the temporary stop point as described above may be delayed.

  The present invention is for solving such a problem, and has as its main object to issue an alarm at an appropriate timing.

In order to achieve the above object, one embodiment of the present invention provides:
Preceding vehicle detection means for detecting a preceding vehicle preceding the host vehicle;
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and the preceding vehicle;
A temporary stop point detection means for detecting a temporary stop point that exists in front of the host vehicle and the preceding vehicle and temporarily stops the host vehicle and the preceding vehicle;
An alarm control means for controlling an alarm by an alarm device based on the inter-vehicle distance detected by the inter-vehicle distance detection means, and a vehicle control device comprising:
When the preceding vehicle is detected by the preceding vehicle detection means and the temporary stop point is detected by the temporary stop point detection means, the alarm control means is configured so that the alarm timing by the alarm device is advanced. A control apparatus for a vehicle that performs control.

  According to this aspect, when the preceding vehicle is detected by the preceding vehicle detection means and the temporary stop point is detected by the temporary stop point detection means, the alarm control means causes the alarm timing by the alarm device to be advanced. To control. Thereby, it is possible to eliminate the driver's uncomfortable feeling that the timing of the alarm by the alarm device is delayed. That is, an alarm can be given at an appropriate timing.

In this one aspect, the preceding vehicle detection means detects a deceleration state in which the preceding vehicle decelerates,
When the preceding vehicle detection means does not detect the deceleration state of the preceding vehicle and the temporary stop point detection means detects the temporary stop point, the alarm control means determines the timing of the alarm by the alarm device. You may control so that it may become early. Thus, it is possible to predict in advance that the preceding vehicle will decelerate so as to stop at the temporary stop point, and to advance the alarm timing for notifying that the preceding vehicle has approached.

In this one aspect, when the alarm control means determines that the inter-vehicle distance detected by the inter-vehicle distance detection means is a predetermined distance or less, the alarm control means performs control so that the alarm device issues an alarm,
The predetermined distance may be increased when the temporary stop point is detected by the temporary stop point detection means. Thereby, it is possible to advance the alarm timing by the alarm device for notifying that the vehicle approaches the preceding vehicle with a simple configuration.

  In this aspect, the temporary stop point detection means may detect the temporary stop point based on the travel route information of the host vehicle detected by the navigation device. For example, it is possible to detect a temporary stop point using a navigation device previously installed in the vehicle. Therefore, a temporary stop point can be detected with a simple configuration.

In order to achieve the above object, one embodiment of the present invention provides:
Deceleration state detecting means for detecting a deceleration state in which the preceding vehicle preceding the host vehicle decelerates;
Distance detection means for detecting a temporary stop distance between the own vehicle and a temporary stop point that is present in front of the own vehicle and the preceding vehicle and temporarily stops the own vehicle and the preceding vehicle;
An alarm control means for controlling an alarm by an alarm device based on the temporary stop distance detected by the distance detection means, and a vehicle control device comprising:
When the deceleration state detection unit detects a deceleration state of the preceding vehicle, the alarm control unit performs control so that an alarm timing by the alarm device is advanced. There may be.

  According to this aspect, when the deceleration state of the preceding vehicle is detected by the deceleration state detection unit, the alarm control unit performs control so that the alarm timing by the alarm device is advanced. Thereby, the timing of the alarm for notifying the approach of the temporary stop point can be advanced in consideration of the deceleration of the preceding vehicle to stop at the temporary stop point. Therefore, it is possible to eliminate the driver's uncomfortable feeling that the timing of the alarm by the alarm device is delayed. That is, an alarm can be given at an appropriate timing.

In this one aspect, the alarm control unit performs control so that the alarm device issues an alarm when it is determined that the temporary stop distance detected by the distance detection unit is a predetermined distance or less.
Further comprising an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and the preceding vehicle;
When the deceleration state of the preceding vehicle is detected by the deceleration state detection unit, the alarm control unit determines whether the inter-vehicle distance detected by the inter-vehicle distance detection unit is equal to or less than the predetermined distance; When it is determined that the distance is equal to or less than the predetermined distance, the alarm device may be controlled to perform an alarm. Thereby, the timing of the alarm by the alarm device for notifying the approach of the temporary stop point can be advanced in consideration of the fact that the preceding vehicle decelerates to stop at the temporary stop point with a simple configuration.

  In these aspects, the temporary stop points are: a stop set at an intersection, a railroad crossing, a branch, a merger or a toll booth, a temporary stop due to lighting / flashing of a traffic light disposed at the intersection, and a temporary stop due to a traffic jam. It is good also as including at least one of them.

In these embodiments, further comprising an operation state detection means for detecting the operation state of the vehicle,
The alarm control unit may vary the predetermined distance according to the operation state of the vehicle detected by the operation state detection unit. Thereby, an appropriate predetermined distance can be set according to the operation state of the vehicle.

  In these aspects, the operation state of the vehicle may include an on state / off state of the wiper device of the vehicle and an on state / off state of the light device of the vehicle. Thereby, for example, an appropriate predetermined distance can be set according to the traveling environment of the vehicle such as sunny weather or rainy weather, daytime or nighttime.

  According to the present invention, an alarm can be given at an appropriate timing.

Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings.
(First embodiment)
FIG. 1 is a block diagram showing an example of a system configuration of the vehicle control device according to the first embodiment of the present invention. A vehicle control device 10 according to the present embodiment is mounted on a host vehicle and is mainly configured of an ECU (Electronic Control Unit) 1 that performs various types of control and arithmetic processing described later.

  The ECU 1 is composed of a microcomputer, and executes various processes in accordance with control and calculation programs, and stores a CPU that controls each part of the apparatus 10, a ROM that stores the execution program of the CPU, calculation results, and the like. A readable / writable RAM (Random Access Memory), a timer, a counter, an input / output interface, and the like.

  The ECU 1 is connected to an inter-vehicle distance sensor 2 that detects an inter-vehicle distance S1 between the host vehicle and a preceding vehicle that precedes the host vehicle. For example, a radar sensor that outputs radio waves to the preceding vehicle is used as the inter-vehicle distance sensor 2, but an ultrasonic sensor that outputs ultrasonic waves, a laser sensor that outputs laser light, or the like may be used.

  Specifically, the radar sensor disposed on the front grille radiates electromagnetic waves toward the front of the vehicle, and out of the radiated electromagnetic waves, reflects the reflected waves reflected by the preceding vehicle in the detection zone of the radar sensor. Receive. Thereby, the radar sensor detects the inter-vehicle distance S1 between the preceding vehicle and the host vehicle and the relative direction of the preceding vehicle with respect to the host vehicle.

  The ECU 1 is connected to a navigation device 3 that detects travel route information of the host vehicle. The navigation device 3 uses a HDD (Hard Disk Drive) or the like to search a travel route to a destination based on a map information storage unit 3a storing map information and a destination set by the user. And a GPS (Global Positioning System) receiving unit 3c that detects the current position of the vehicle.

  Further, the map information stored in the map information storage unit 3a is provided with road information and at intersections, railroad crossings, branches, junctions, entrances and exits of toll roads, and temporarily stops the vehicle (including deceleration of the vehicle). The location information of the point is included.

  The ECU 1 is connected with an alarm device 4 that issues an alarm to the user. When the warning device 4 receives a warning signal from the ECU 1, it gives a warning to the user. The alarm device 4 includes, for example, at least one of a speaker that outputs sound to the user, a warning light that lights or blinks light, and a display device such as a liquid crystal display that displays a warning message. .

  The ECU 1 includes a temporary stop point detection unit 1a, an alarm control unit 1b, and a preceding vehicle detection unit 1c. The temporary stop point detection unit 1a, the warning control unit 1b, and the preceding vehicle detection unit 1c are realized by a program stored in the ROM of the ECU 1 and executed by the CPU, for example.

  The temporary stop point detection unit 1a exists on the travel route based on the travel route of the host vehicle detected by the travel route search unit 3b of the navigation device 3 and the map information stored in the map information storage unit 3a. The position of the temporary stop point to be detected is detected.

  For example, the temporary stop point detection unit 1a is detected by the travel route detected by the travel route search unit 3b of the navigation device 3, the current position of the host vehicle detected by the GPS reception unit 3c, and the inter-vehicle distance sensor 2. Based on the inter-vehicle distance S1 between the host vehicle and the preceding vehicle, a temporary stop point existing in front of the traveling host vehicle and the preceding vehicle is detected.

  For example, when the alarm control unit 1b determines that the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 is equal to or less than the predetermined distance ST1, and the host vehicle is approaching the preceding vehicle, An alarm signal is transmitted to the alarm device 4. When the warning device 4 receives the warning signal from the warning control unit 1b, the warning device 4 issues a warning to the user by outputting a warning sound through a speaker, for example. As a result, the driver can reliably recognize that the host vehicle is approaching the preceding vehicle. For the predetermined distance ST1, for example, an optimum value is experimentally obtained in advance and stored in the ROM of the ECU 1.

  The preceding vehicle detection unit 1c detects the preceding vehicle preceding the host vehicle by the inter-vehicle distance sensor 2. The preceding vehicle detection unit 1c detects a deceleration state in which the preceding vehicle is decelerated based on the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2.

  For example, the preceding vehicle detection unit 1c calculates a relative speed of the preceding vehicle with respect to the own vehicle by performing a differentiation process on the inter-vehicle distance S1 between the own vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2. Further, the preceding vehicle detection unit 1c calculates the speed of the preceding vehicle based on the calculated relative speed and the speed detected by the vehicle speed sensor 5 of the host vehicle, and based on the speed of the preceding vehicle, The deceleration state of the preceding vehicle is detected.

  By the way, when there is a temporary stop point ahead of the own vehicle and the preceding vehicle preceding the own vehicle, the preceding vehicle may perform a relatively large deceleration to stop at the temporary stop point. In this case, conventionally, the inter-vehicle distance between the host vehicle and the preceding vehicle has drastically decreased, and the inter-vehicle distance becomes a predetermined distance or less in a short time. There is a risk of giving.

  Therefore, in the vehicle control apparatus 10 according to the present embodiment, the alarm control unit 1b detects that the preceding vehicle detection unit 1c does not detect the deceleration state of the preceding vehicle, and the temporary stop point detection unit 1a detects the own vehicle and the preceding vehicle. When a temporary stop point in front of the vehicle is detected, the predetermined distance ST1 is increased so that the alarm timing by the alarm device 4 is advanced (FIG. 2).

  Accordingly, it is possible to predict in advance that the preceding vehicle will greatly decelerate so that the preceding vehicle stops at the temporary stop point, so that the alarm timing by the alarm device 4 can be advanced. Therefore, the driver's uncomfortable feeling that the alarm by the alarm device 4 is delayed as described above can be eliminated.

  Next, a control processing flow of the vehicle control apparatus 10 according to the first embodiment will be described. FIG. 3 is a flowchart showing an example of a control processing flow of the vehicle control apparatus 10 according to the first embodiment. Note that the control processing routine shown in FIG. 3 and FIG. 6 described later is repeatedly executed every predetermined minute time.

  The preceding vehicle detection unit 1c of the ECU 1 detects the preceding vehicle preceding the own vehicle based on the inter-vehicle distance S1 between the own vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 (S100).

  When the preceding vehicle is detected based on the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 (Yes in S100), the preceding vehicle detection unit 1c is further detected by the inter-vehicle distance sensor 2. The deceleration state of the preceding vehicle is detected based on the inter-vehicle distance S1 between the own vehicle and the preceding vehicle and the speed of the own vehicle detected by the vehicle speed sensor 5 of the own vehicle (S110). On the other hand, when the preceding vehicle is not detected based on the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2, the preceding vehicle detection unit 1c ends this control processing routine.

  When the preceding vehicle detection unit 1c does not detect the deceleration state of the preceding vehicle (No in S110), the temporary stop point detection unit 1a includes the travel route detected by the travel route search unit 3b of the navigation device 3 and the GPS reception unit. Based on the current position of the host vehicle detected by 3c and the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2, the vehicle is in front of the traveling host vehicle and the preceding vehicle. A temporary stop point to be detected is detected (S120). On the other hand, when the preceding vehicle detection unit 1c detects the deceleration state of the preceding vehicle (Yes in S110), the present control processing routine ends.

  When the temporary stop point detection unit 1a detects a temporary stop point existing ahead of the traveling host vehicle and the preceding vehicle (Yes in S120), the alarm control unit 1b is operated by the alarm device 4 as shown in FIG. The predetermined distance ST1 is increased so that the alarm timing is advanced (S130).

  It should be noted that an optimum value for the increase amount of the predetermined distance ST1 is experimentally obtained in advance and stored in the ROM of the ECU 1. The increase amount of the predetermined distance ST1 may be set according to the speed of the host vehicle detected by the vehicle speed sensor 5. For example, the increase amount of the predetermined distance ST1 may be increased as the speed of the host vehicle detected by the vehicle speed sensor 5 increases.

  On the other hand, when the temporary stop point detection unit 1a does not detect a temporary stop point existing ahead of the traveling host vehicle and the preceding vehicle (No in S120), the present control processing routine ends.

  The alarm controller 1b determines whether or not the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 is equal to or less than the predetermined distance ST1 (S140).

  When it is determined that the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 is equal to or less than the predetermined distance ST1 (Yes in S140), the alarm control unit 1b sends an alarm signal to the alarm device 4. Send. When receiving the alarm signal from the alarm control unit 1b, the alarm device 4 issues an alarm to the user (S150). On the other hand, when the alarm control unit 1b determines that the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 is not equal to or less than the predetermined distance ST1 (No in S140), the control processing routine ends.

  As described above, in the vehicle control device 10 according to the first embodiment, the alarm control unit 1b of the ECU 1 does not detect the deceleration state of the preceding vehicle by the preceding vehicle detection unit 1c, and the temporary stop point detection unit 1a. When a temporary stop point existing in front of the host vehicle and the preceding vehicle is detected, the predetermined distance ST1 is increased so that the alarm timing by the alarm device 4 is advanced.

  Accordingly, it is possible to predict in advance that the preceding vehicle is greatly decelerated so as to stop at the temporary stop point, and to advance the timing of the alarm by the alarm device 4 for notifying that the preceding vehicle has approached. Therefore, the driver's uncomfortable feeling that the timing of the alarm by the alarm device 4 is delayed can be eliminated. That is, an alarm can be given at an appropriate timing.

(Second Embodiment)
FIG. 4 is a block diagram illustrating an example of a system configuration of the vehicle control device according to the second embodiment.

  The ECU 21 of the vehicle control device 20 according to the second embodiment includes a preceding vehicle detection unit 1c, a distance detection unit 21a, and an alarm control unit 21b.

  The distance detection unit 21a detects a temporary stop distance S2 between the host vehicle and the temporary stop point. For example, the distance detection unit 21a is based on the travel route detected by the travel route search unit 3b of the navigation device 3 and the current position of the host vehicle detected by the GPS reception unit 3c. Is detected as a temporary stop distance S2.

  For example, the alarm control unit 21b has a temporary stop distance S2 between the own vehicle detected by the distance detection unit 21a and the temporary stop point that is equal to or less than the predetermined distance ST2, and the own vehicle is approaching the temporary stop point. When judged, an alarm signal is transmitted to the alarm device 4.

  When the warning device 4 receives the warning signal from the warning control unit 21b, the warning device 4 gives a warning to the user that the temporary stop point is approaching. Accordingly, the user can surely recognize that the host vehicle is approaching the temporary stop point, and can reliably stop the host vehicle at the temporary stop point. Note that, for the predetermined distance ST2, for example, an optimum value is experimentally obtained in advance and stored in the ROM of the ECU 21.

  Further, the warning control unit 21b detects the inter-vehicle distance S1 detected by the inter-vehicle distance sensor 2 when the preceding vehicle detection unit 1c detects the deceleration state of the preceding vehicle, and the temporary stop distance S2 detected by the distance detection unit 21a. As a replacement, it is determined whether or not the inter-vehicle distance S1 is equal to or less than a predetermined distance ST2. The warning control unit 21b controls the warning device 4 to issue a warning when it is determined that the inter-vehicle distance S1 is equal to or less than the predetermined distance ST2.

  As a result, when the inter-vehicle distance S1 that is shorter than the temporary stop distance S2 is equal to or less than the predetermined distance ST2, an alarm is issued by the alarm device 4, so that the alarm timing is normal (the temporary stop distance S2 is Compared with a case where an alarm is issued by the alarm device 4 when the distance is equal to or less than the predetermined distance ST2, the operation is faster.

  In addition, in the vehicle control device 20 according to the second embodiment shown in FIG. 4 and FIG. 5, the same part as the vehicle control device 10 according to the first embodiment shown in FIG. 1 and FIG. The same reference numerals are given and detailed description is omitted.

  Next, a control processing flow of the vehicle control device 20 according to the second embodiment will be described. FIG. 6 is a flowchart showing a control processing flow of the vehicle control device 20 according to the second embodiment.

  The preceding vehicle detection unit 1c of the ECU 21 detects a preceding vehicle preceding the own vehicle based on the inter-vehicle distance S1 between the own vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 (S200).

  When the preceding vehicle is detected based on the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 (Yes in S200), the preceding vehicle detection unit 1c is further detected by the inter-vehicle distance sensor 2. The deceleration state of the preceding vehicle is detected based on the inter-vehicle distance S1 between the own vehicle and the preceding vehicle and the speed of the own vehicle detected by the vehicle speed sensor 5 of the own vehicle (S210).

  On the other hand, when the preceding vehicle is not detected based on the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2, the preceding vehicle detection unit 1c ends this control processing routine.

  When the preceding vehicle detection unit 1c detects the deceleration state of the preceding vehicle (Yes in S210), the alarm control unit 21b temporarily detects the inter-vehicle distance S1 detected by the inter-vehicle distance sensor 2 by the distance detection unit 21a. Replaced as the stop distance S2 (S220), it is determined whether or not the inter-vehicle distance S1 is equal to or less than a predetermined distance (threshold value of the temporary stop distance S2) ST2 (S230). On the other hand, when the preceding vehicle detection unit 1c does not detect the deceleration state of the preceding vehicle (No in S210), the routine by this control process is terminated.

  When the alarm control unit 1b determines that the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 is equal to or less than the predetermined distance ST2 (Yes in S230), an alarm signal is sent to the alarm device 4. Send. When receiving the alarm signal from the alarm control unit 1b, the alarm device 4 issues an alarm to the user (S240).

  On the other hand, when the alarm control unit 1b determines that the inter-vehicle distance S1 between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 is not equal to or less than the predetermined distance ST2 (No in S230), the present control processing routine ends.

  As described above, in the vehicle control device 20 according to the second embodiment, the alarm control unit 21b detects the inter-vehicle distance detected by the inter-vehicle distance sensor 2 when the preceding vehicle detection unit 1c detects the deceleration state of the preceding vehicle. S1 is replaced with the temporary stop distance S2 detected by the distance detector 21a, and it is determined whether or not the inter-vehicle distance S1 is equal to or less than the predetermined distance ST2.

  Thereby, the timing of the alarm by the alarm device 4 for notifying the approach of the temporary stop point can be advanced in consideration of the fact that the preceding vehicle decelerates greatly in order to stop at the temporary stop point. Therefore, the driver's uncomfortable feeling that the timing of the alarm by the alarm device 4 is delayed can be eliminated. That is, an alarm can be given at an appropriate timing.

  As mentioned above, although the best mode for carrying out the present invention has been described using the embodiment, the present invention is not limited to such an embodiment and is within the scope not departing from the gist of the present invention. Various modifications and substitutions can be made to the above-described embodiment.

  In the first and second embodiments, the inter-vehicle distance sensor 2 detects the inter-vehicle distance S1 between the host vehicle and the preceding vehicle, but the inter-vehicle time or the head time may be detected. For example, the alarm control units 1b and 21b have determined that the inter-vehicle time between the host vehicle and the preceding vehicle detected by the inter-vehicle distance sensor 2 is equal to or less than a predetermined time and the host vehicle is approaching the preceding vehicle, for example. Sometimes, an alarm by the alarm device 4 may be performed.

  In the first and second embodiments, when the preceding vehicle detection unit 1c detects that the brake lamp of the preceding vehicle is lit based on the photographed image of the preceding vehicle photographed by the camera, You may detect the deceleration state of a vehicle. Moreover, the preceding vehicle detection part 1c may detect the deceleration state of a preceding vehicle based on the deceleration information of a preceding vehicle acquired by inter-vehicle communication between the own vehicle and a preceding vehicle.

  In the first and second embodiments, the alarm controllers 1b and 21b may vary the predetermined distances ST1 and ST2 according to the operation state of the vehicle. Thereby, the optimal predetermined distances ST1 and ST2 are set according to the operation state of the vehicle. For example, the alarm control units 1b and 21b may increase the predetermined distances ST1 and ST2 and detect the alarm timing by the alarm device 4 earlier when detecting that the wiper device is in the on state. Accordingly, appropriate predetermined distances ST1 and ST2 are set according to the road surface state of the travel route (for example, it is easy to slip when the road surface is wet in rainy weather and is difficult to slip when the road surface is dry in fine weather). The

  Further, when the alarm control units 1b and 21b detect that the vehicle light device such as a headlight is on, the alarm control units 1b and 21b increase the predetermined distances ST1 and ST2 to make the alarm timing by the alarm device 4 earlier. It may be. Thus, appropriate predetermined distances ST1 and ST2 are set according to the field of view of the travel route (for example, the field of view is poor at night and good during the day). Thus, the optimal predetermined distances ST1 and ST2 are set according to the traveling environment of the vehicle.

  In the first and second embodiments, when a preceding vehicle is not detected (No in S100 or S200), a temporary stop point (such as paint indicating a temporary stop) is recognized by the camera on which the vehicle is disposed. May be. The alarm control units 1 b and 21 b transmit an alarm signal to the alarm device 4 when recognizing the temporary stop point. The warning device 4 warns the driver that there is a temporary stop point ahead. When the alarm controllers 1b and 21b do not recognize the temporary stop point, the alarm device 4 does not issue an alarm.

  In the first and second embodiments, the temporary stop points at which the vehicle is temporarily stopped include vehicle congestion on the travel route that has occurred in front of the host vehicle and the preceding vehicle, and red lighting / flashing of traffic lights at intersections. It may be. For example, traffic jam information such as the location of a vehicle traffic jam on the travel route is detected by a VICS (Vehicle Information and Communication System) built in the navigation device 3. In addition, the information on the lighting / flashing state of the traffic signal at the intersection is acquired by so-called road-to-vehicle communication performed between the own vehicle and the communication device disposed on the travel route.

  In the first and second embodiments, the control processing flow shown in FIG. 3 and the control processing flow shown in FIG. 6 may be combined.

  In the first embodiment, the preceding vehicle detection unit 1c of the ECU 1 corresponds to the preceding vehicle detection means and the deceleration state detection means described in the claims.

  INDUSTRIAL APPLICABILITY The present invention can be used, for example, in a vehicle control device that warns a driver that a preceding vehicle or a temporary stop point exists in front of the host vehicle.

It is a block diagram which shows an example of the system configuration | structure of the vehicle control apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows an example of the temporary stop point which exists ahead of the own vehicle and a preceding vehicle, the distance between vehicles, and a predetermined distance. It is a flowchart which shows an example of the control processing flow of the vehicle control apparatus which concerns on 1st Embodiment. It is a block diagram which shows an example of the system configuration | structure of the vehicle control apparatus which concerns on 2nd Embodiment. It is a figure which shows an example of the temporary stop point which exists ahead of the own vehicle and a preceding vehicle, a distance between vehicles, a temporary stop distance, and a predetermined distance. It is a flowchart which shows the control processing flow of the vehicle control apparatus which concerns on 2nd Embodiment.

Explanation of symbols

1 ECU
DESCRIPTION OF SYMBOLS 1a Temporary stop point detection part 1b Alarm control part 1c Leading vehicle detection part 2 Inter-vehicle distance sensor 3 Navigation apparatus 4 Alarm apparatus 10 Control apparatus for vehicles

Claims (9)

Preceding vehicle detection means for detecting a preceding vehicle preceding the host vehicle;
An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and the preceding vehicle;
A temporary stop point detection means for detecting a temporary stop point that exists in front of the host vehicle and the preceding vehicle and temporarily stops the host vehicle and the preceding vehicle;
An alarm control means for controlling an alarm by an alarm device based on the inter-vehicle distance detected by the inter-vehicle distance detection means, and a vehicle control device comprising:
When the preceding vehicle is detected by the preceding vehicle detection means and the temporary stop point is detected by the temporary stop point detection means, the alarm control means is configured so that the alarm timing by the alarm device is advanced. A vehicle control device that performs control. The vehicle control device according to claim 1,
The preceding vehicle detection means detects a deceleration state in which the preceding vehicle decelerates,
When the preceding vehicle detection means does not detect the deceleration state of the preceding vehicle and the temporary stop point detection means detects the temporary stop point, the alarm control means determines the timing of the alarm by the alarm device. A control apparatus for a vehicle, characterized in that control is performed so as to be faster. The vehicle control device according to claim 1 or 2,
The alarm control means performs control so that the alarm device issues an alarm when it is determined that the inter-vehicle distance detected by the inter-vehicle distance detection means is a predetermined distance or less,
The vehicle control apparatus, wherein the predetermined distance is increased when the temporary stop point is detected by the temporary stop point detecting means. The vehicle control device according to any one of claims 1 to 3,
The vehicle control device, wherein the temporary stop point detection means detects the temporary stop point based on travel route information of the host vehicle detected by the navigation device. Deceleration state detecting means for detecting a deceleration state in which the preceding vehicle preceding the host vehicle decelerates;
Distance detection means for detecting a temporary stop distance between the own vehicle and a temporary stop point that is present in front of the own vehicle and the preceding vehicle and temporarily stops the own vehicle and the preceding vehicle;
An alarm control means for controlling an alarm by an alarm device based on the temporary stop distance detected by the distance detection means, and a vehicle control device comprising:
When the deceleration state detection means detects a deceleration state of the preceding vehicle, the alarm control means performs control so that the alarm timing by the alarm device is advanced. The vehicle control device according to claim 5,
When the alarm control means determines that the temporary stop distance detected by the distance detection means is less than or equal to a predetermined distance, the alarm control means performs control so that the alarm device issues an alarm,
Further comprising an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the host vehicle and the preceding vehicle;
When the deceleration state of the preceding vehicle is detected by the deceleration state detection unit, the alarm control unit determines whether the inter-vehicle distance detected by the inter-vehicle distance detection unit is equal to or less than the predetermined distance; The vehicle control device, wherein when it is determined that the distance is equal to or less than the predetermined distance, the alarm device performs control so as to issue an alarm. The vehicle control device according to any one of claims 1 to 6,
The temporary stop point is at least one of a stop set at an intersection, a level crossing, a branch, a merger or a toll booth, a stop due to lighting / flashing of a traffic light arranged at the intersection, and a temporary stop due to a traffic jam A vehicle control device comprising: The vehicle control device according to any one of claims 1 to 7,
An operation state detecting means for detecting an operation state of the vehicle;
The vehicle control apparatus, wherein the alarm control means varies the predetermined distance according to the operation state of the vehicle detected by the operation state detection means. The vehicle control device according to claim 8,
The vehicle operation state includes an on / off state of a vehicle wiper device and an on / off state of a vehicle light device.

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