JP2007320458A - Intervehicular distance controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intervehicular distance controller capable of securing the visibility of a signal irrespective of a road situation under which one's own vehicle travels, or irrespective of the installation situation of the signal. <P>SOLUTION: This intervehicular distance controller 1 which controls the intervehicular distance between the own vehicle and a proceeding vehicle comprises an image pickup means 2 for picking up a front image of the own vehicle, a detection means 4 for processing the image picked up by the image pickup means 2 and detecting a signal in front and the proceeding vehicle, a determination means 5a for determining a recognition failure of the signal when the signal is not detected after the detection of the signal and the proceeding vehicle by the detection means 4, and a vehicle control means 5c for controlling the vehicle so that the intervehicular distance between the own vehicle and the proceeding vehicle may be larger when the determination means determines the recognition failure of the signal. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an inter-vehicle distance control device that controls an inter-vehicle distance from a preceding vehicle based on a front state of the host vehicle, such as presence / absence of a traffic signal ahead and presence / absence of a preceding vehicle.

Conventionally, as an inter-vehicle distance control device that controls the inter-vehicle distance between the host vehicle and a preceding vehicle in order to ensure the visibility of a traffic light in front of the host vehicle, there is one described in Patent Document 1. In this inter-vehicle distance control device, for example, the height of the preceding vehicle is detected by a CCD camera or the like, and the traffic signal between the host vehicle and the preceding vehicle is detected based on the detected height of the preceding vehicle and a predetermined height of the traffic signal. The appropriate inter-vehicle distance is calculated in order to ensure the visibility of the vehicle, and the higher the height of the preceding vehicle, the longer the inter-vehicle distance between the own vehicle and the preceding vehicle, Ensuring visibility of traffic lights is being carried out.
JP 2004-301833 A

  However, in such an inter-vehicle distance control device, an appropriate inter-vehicle distance between the host vehicle and the preceding vehicle is calculated based on a predetermined traffic signal height, so that the host vehicle is traveling. When road conditions such as hills and downhills change, the calculated inter-vehicle distance does not take into account the road conditions even though it is necessary to change the inter-vehicle distance accordingly. There arises a problem that visibility cannot be secured. In addition, when the traffic signal on the actual road is not a predetermined height, the calculated inter-vehicle distance is not an appropriate inter-vehicle distance, and there is a problem that the visibility of the traffic signal cannot be secured.

  In view of the above problems, an object of the present invention is to provide an inter-vehicle distance control device that can ensure the visibility of a traffic light regardless of the road conditions on which the host vehicle is traveling or the traffic light installation conditions.

In order to solve the above problem, an inter-vehicle distance control device according to the present invention
An inter-vehicle distance control device that controls the inter-vehicle distance between the host vehicle and a preceding vehicle,
An imaging unit that images the front of the host vehicle, a detection unit that processes an image captured by the imaging unit and detects a traffic signal and a preceding vehicle ahead, and the detection unit detects the traffic signal and the preceding vehicle, A determination means for determining that the traffic light is not visible when the traffic light is not detected, and a distance between the host vehicle and the preceding vehicle is increased when the determination means determines that the traffic light is not visible. Vehicle control means for controlling the vehicle is provided.

  Here, it is preferable that the determination unit determines that the traffic light is not visible when the traffic signal moves in a direction other than above the image and becomes undetected. As a result, it is possible to more accurately determine that the traffic light is blocked by the preceding vehicle and cannot be viewed, and based on the determination, the distance between the preceding vehicle and the host vehicle is increased. The vehicle can be controlled to ensure the visibility of the traffic light from the host vehicle.

  In addition, when the said traffic signal moves above the said image and becomes undetected, it is a case where the said traffic signal comes out from the upper edge of the said image and becomes undetected when the said vehicle passes the said traffic signal. .

Alternatively, the inter-vehicle distance control device according to the present invention is an inter-vehicle distance control device that controls the inter-vehicle distance between the host vehicle and the preceding vehicle,
An image pickup means for picking up an image of the front of the host vehicle and a detection means for processing an image picked up by the image pickup means to detect a traffic light ahead, and after the detection means detects the traffic light, A determination unit that determines that the traffic light is not visible when the image moves in a direction other than the upper side and is not detected, and the host vehicle and the preceding vehicle when the determination unit determines that the traffic signal is not visible. Vehicle control means for controlling the vehicle so as to increase the distance between the vehicle and the vehicle may be provided.

  This also makes it possible to determine that the traffic light is blocked by the preceding vehicle and cannot be seen, and based on the determination, vehicle control is performed to increase the inter-vehicle distance between the preceding vehicle and the host vehicle. Thus, the visibility of the traffic light from the host vehicle can be ensured. The vehicle control includes means for reducing the speed of the host vehicle by reducing the engine speed, braking by a brake device, shifting the transmission gear ratio to the low speed side, and the like, and these means are appropriately combined. It is possible.

  In addition, when the traveling direction change detecting means detects the traveling direction change of the own vehicle, the determining means resets the determination when the traveling direction change detecting means detects the traveling direction change of the own vehicle. Is preferred. As a result, when the traveling direction of the host vehicle is changed (the course is changed or the lane is changed), the determination unit recognizes the traffic signal again based on the information on the preceding vehicle and the traffic signal detected by the detection unit after the traveling direction is changed. It can be determined whether or not it is impossible, and based on the determination, the vehicle control means can control the vehicle to ensure the visibility of the traffic light.

  Here, it is preferable that a steering angle detection unit that detects the steering angle of the host vehicle is provided, and that the traveling direction change detection unit detects a traveling direction change of the host vehicle based on the steering angle detected by the steering angle detection unit. .

  According to this, it is possible to accurately detect a change in the traveling direction of the host vehicle.

  Alternatively, the advancing direction change detecting means may detect the advancing direction change of the host vehicle based on the white line information on the road surface detected by the detecting means.

  According to this, since the change in the traveling direction of the host vehicle can be detected based on the white line on the road surface, which is information in the image captured by the imaging unit, the configuration of the apparatus can be simplified.

  Alternatively, the traveling direction change detecting means may detect the traveling direction change of the own vehicle when the traffic light detected by the detecting means moves in the left-right direction of the image and becomes undetected.

  This also makes it possible to detect a change in the traveling direction of the host vehicle based on the traffic light that is information in an image captured by the imaging means, thereby simplifying the configuration of the apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, the visibility of a traffic signal is securable irrespective of the road condition where the own vehicle drive | works, or the installation condition of a traffic signal.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing an embodiment of an inter-vehicle distance control device according to the present invention. FIGS. 2, 3 and 4 show the positions of a traffic light and a preceding vehicle detected by the inter-vehicle distance control device according to the present invention. It is a schematic diagram which shows a relationship.

  The inter-vehicle distance control device 1 includes a front recognition camera 2, a distance measuring sensor 3, an image processing ECU 4, a vehicle control ECU 5, a buzzer 6, a warning lamp 7, a steering sensor 8, and a steering ECU 9. Is done. The image processing ECU 4 is connected to the vehicle control ECU 5 according to a communication standard such as CAN (Controller Area Network) or FrexRay. The vehicle control ECU 5 includes a steering ECU 9, an engine ECU 10, a brake ECU 11, and a transmission ECU 12, such as CAN or FlexRay. Connection is made according to the communication standard.

  The front recognition camera 2 is, for example, a CCD camera or a CMOS camera. For example, the front recognition camera 2 is arranged at the center upper part of the windshield in the vehicle room so that the optical axis coincides with the front of the vehicle. Image white lines.

  The distance measuring sensor 3 is, for example, a laser radar or a millimeter wave radar, and measures an inter-vehicle distance between a preceding vehicle positioned in front of the own vehicle and the own vehicle, and is provided on a front grill or a front bumper of the own vehicle.

  An image processing ECU 4 (Electronic Control Unit) is composed of, for example, a CPU, a ROM, a RAM, and a data bus connecting them, and the CPU performs predetermined processing according to a program stored in the ROM. A detection unit 4a that detects a traffic signal located in the captured image by shape and wavelength matching (may be luminance processing), detects a preceding vehicle by shape matching, and detects a white line on the road surface by luminance or shading processing Is provided.

  The vehicle control ECU 5 (Electronic Control Unit) is also composed of, for example, a CPU, a ROM, a RAM, and a data bus connecting them, and the CPU performs predetermined processing according to a program stored in the ROM, and is detected by the image processing ECU 4 The determination unit 5a that determines that the traffic signal is not visible based on the traffic signal and the preceding vehicle, and the white line on the road surface detected by the image processing ECU 4 and the steering angle information detected by the steering sensor 8 Based on the traveling direction change detection unit 5b that detects whether or not there is a traveling direction change (a course change or a lane change at an intersection), based on the determination of the determination unit 5a and the presence or absence of the traveling direction change of the host vehicle detected by the traveling direction change detection unit 5b. And a vehicle control unit 5c that performs vehicle control to increase the inter-vehicle distance.

  The steering sensor 8 is provided in an electric power steering apparatus (not shown here) that detects an operation force of the driver's steering wheel and drives the electric motor in accordance with the operation force to assist the operation force. The steering angle is detected.

  The steering ECU 9 (Electronic Control Unit) is composed of, for example, a CPU, a ROM, a RAM, and a data bus connecting them, and the CPU performs predetermined processing in accordance with a program stored in the ROM. The steering angle information detected by the steering sensor 8 is transmitted to the vehicle control ECU 5.

  The engine ECU 10 (Electronic Control Unit) is composed of, for example, a CPU, a ROM, a RAM, and a data bus connecting them, and the CPU performs predetermined processing in accordance with a program stored in the ROM. A command from the vehicle control ECU 5 Based on the above, the engine speed is controlled.

  The brake ECU 11 (Electronic Control Unit) is composed of, for example, a CPU, a ROM, a RAM, and a data bus connecting them, and the CPU performs predetermined processing in accordance with a program stored in the ROM. A command from the vehicle control ECU 5 Based on the above, the braking device provided on each wheel of the vehicle is controlled to brake the vehicle.

  The transmission ECU 12 (Electronic Control Unit) is constituted by, for example, a CPU, a ROM, a RAM, and a data bus connecting them, and the CPU performs predetermined processing according to a program stored in the ROM. Based on the command, shift control of a transmission gear ratio (not shown) is performed here.

  After both the traffic signal and the preceding vehicle are detected as shown in FIG. 3, the determination unit 5a of the vehicle control ECU 5 decreases the distance between the host vehicle and the preceding vehicle as shown in FIG. It is determined that the traffic light has become invisible when the vehicle is moved to, and is not detected by the preceding vehicle.

  When the determination unit 5a determines that the traffic light cannot be visually recognized and the traveling direction change detection unit 5b does not detect a change in the vehicle traveling direction, the vehicle control unit 5c sets the engine ECU 10, the brake ECU 11, A command is output to the transmission ECU 12 to control the vehicle so as to reduce the speed of the host vehicle, and the image processing ECU 4 can detect the traffic light again.

  In addition, the vehicle control unit 5c issues a warning to the driver by sounding the buzzer 6 provided on the cab and turning on the warning lamp 7. When neither a traffic light nor a preceding vehicle is detected, the vehicle control unit 5c instructs the engine ECU 10, the brake ECU 11, and the transmission ECU 12 to control the speed of the host vehicle so that the detected inter-vehicle distance is constant. Is output.

  In addition, when the traffic light moves upward in the image and becomes undetected, as shown in FIG. 5, when the own vehicle passes through the traffic light, the traffic light comes out from the virtual upper edge of the image and becomes undetected. In this case, the determination unit 5a does not determine that the traffic light is blocked by the preceding vehicle and cannot be viewed.

  Hereinafter, the control content of the inter-vehicle distance control device 1 according to the first embodiment will be described with reference to flowcharts. FIG. 5 is a flowchart showing the control contents of the image processing ECU 4 of the inter-vehicle distance control apparatus 1 according to the present invention, and FIG. 6 is a flowchart showing the control contents of the vehicle control ECU 5 of the inter-vehicle distance control apparatus 1 according to the present invention.

  In S1, the detection unit 4a of the image processing ECU 4 inputs an image captured by the front recognition camera 2, and in S2, detects a traffic light in the image by shape and wavelength matching. In S3, the detection unit 4a of the image processing ECU 4 detects a preceding vehicle in the image by shape matching, and detects a white line on the road surface in the image by luminance processing in S4. In S <b> 5, the detection unit 4 a of the image processing ECU 4 detects the inter-vehicle distance between the preceding vehicle and the host vehicle using the distance measuring sensor 3. In S6, the detection unit 4a of the image processing ECU 4 determines whether or not it is IGOFF. When it is determined that it is IGOFF, the control is terminated, and when it is not determined that it is IGOFF, the process returns to S1.

  In S11, the determination unit 5a of the vehicle control ECU 5 inputs the traffic signal detection result transmitted from the image processing ECU 4. In S12, the determination unit 5a of the vehicle control ECU 5 receives the preceding vehicle detection result transmitted from the image processing ECU 4. Further, in S13, the determination unit 5a of the vehicle control ECU 5 inputs the white line detection result transmitted from the image processing ECU 4. In S14, the determination unit 5a of the vehicle control ECU 5 detects the steering angle from the steering ECU 9. In addition, in S15, the determination unit 5a of the vehicle control ECU 5 inputs the inter-vehicle distance detection result transmitted from the image processing ECU 4.

  In S16, the determination unit 5a of the vehicle control ECU 5 determines whether both the traffic signal and the preceding vehicle have been detected. If it is determined that both the traffic signal and the preceding vehicle have been detected, the process proceeds to S17, and both the traffic signal and the preceding vehicle are detected. If it is not determined that it has been detected, the process returns to S11. In S17, the determination unit 5a of the vehicle control ECU 5 determines whether the traffic light has moved in a direction other than the upper direction and is blocked by the preceding vehicle and has not been detected, and the traffic signal has become invisible. If it is determined that the traffic light has become undetectable due to being blocked by the preceding vehicle, the process proceeds to S18, the traffic light moves in a direction other than the upper direction and is blocked by the preceding vehicle, and is undetected. If it is not determined that the traffic light has become invisible, the process returns to S11.

  In S18, the traveling direction change detection unit 5b of the vehicle control ECU 5 moves in the vehicle traveling direction when the white line detected by the determination unit 5a in S13 moves in the left-right direction in the image or when the steering angle is equal to or greater than the threshold value α. When it is determined that there has been a change in the course (change of course or lane at the intersection) and it is determined that there has been a change in the vehicle traveling direction, the process returns to S11 and the determination unit 5a resets the determination as to whether or not the traffic light has become invisible If it is not determined that the vehicle traveling direction has been changed, the process proceeds to S19. In S19, the vehicle control unit 5c of the vehicle control ECU 5 instructs the engine ECU 10 to decrease the engine speed to increase the inter-vehicle distance, or instructs the brake ECU 11 to brake the vehicle, or Then, the transmission ECU 12 is instructed to shift the gear ratio to the low speed side to reduce the speed of the host vehicle, the driver is warned by the buzzer 6 and the warning lamp 7, and the process proceeds to S20.

  In S20, the determination unit 5a of the vehicle control ECU 5 determines whether or not the traffic light is detected again, and if it is determined that the traffic light is detected again and the traffic light is no longer visible, the process proceeds to S21 and the traffic light is detected again. If not, the process returns to S19, and the vehicle control unit 5c of the vehicle control ECU 5 instructs the engine ECU 10 to decrease the engine speed in order to further increase the inter-vehicle distance, or instructs the brake ECU 11 to the vehicle. The vehicle is instructed to be braked, or the transmission ECU 12 is instructed to shift the gear ratio to the low speed side to reduce the speed of the host vehicle. And the vehicle control part 5c of vehicle control ECU5 continues and performs the processing content of S19 until a traffic light is detected again.

  In S21, the determination unit 5a of the vehicle control ECU 5 determines whether or not it is IGOFF. If it is determined that it is IGOFF, the control is terminated, and if it is not determined that it is IGOFF, the process returns to S11.

  According to the inter-vehicle distance control apparatus 1 of the first embodiment realized by the control contents described above, it is accurately detected that the traffic light is blocked by a preceding vehicle and cannot be visually recognized regardless of road conditions or signal installation conditions. Thus, the visibility of the traffic light from the host vehicle can be ensured by controlling the vehicle so as to increase the inter-vehicle distance between the preceding vehicle and the host vehicle. Further, when the traveling direction is changed (the course is changed or the lane is changed), the vehicle control ECU 5 controls the distance between the preceding vehicle and the information on the preceding vehicle and the traffic light detected by the image processing ECU 4 after the changing of the traveling direction. And the visibility of the traffic light from the own vehicle can be ensured.

  In the first embodiment, the distance measuring sensor 3 is used to measure the inter-vehicle distance between the preceding vehicle and the host vehicle. However, as shown in FIG. 7, two front recognition cameras 2a and 2b are provided. Then, the inter-vehicle distance between the preceding vehicle and the host vehicle may be measured by the image processing ECU 4 detecting the deviation of the shape of the preceding vehicle in the images captured by both the front recognition cameras 2a and 2b. In the first embodiment, the inter-vehicle distance control device 1 is configured by combining the image processing ECU 4 and the vehicle control ECU 5. However, the vehicle control ECU 5 is provided with all functions and the image processing ECU 4 is eliminated. You can also.

  In the first embodiment described above, based on the traffic light detected by the image processing ECU 4 and the preceding vehicle, it is detected that the traffic light is blocked by the preceding vehicle and cannot be visually recognized. However, the traffic light is blocked by the preceding vehicle and cannot be viewed. In this case, by utilizing the fact that the traffic signal moves in a direction other than above and becomes undetected, only the traffic signal is detected and the detection of the preceding vehicle is abolished. It can also be made simpler.

  At the same time, in the first embodiment, the vehicle control ECU 5 determines whether or not the traveling direction of the host vehicle is changed based on the white line information on the road surface detected by the image processing ECU 4 and the steering angle information detected by the steering ECU 9. In changing the direction, the fact that the traffic light moves left and right in the image and becomes undetected is detected. By detecting this, the presence or absence of a change in the traveling direction of the host vehicle is determined, and the steering sensor 8 and The steering ECU 9 can be eliminated. A second embodiment in which the control contents and configuration are simplified will be described below.

  FIG. 8 is a block diagram showing another embodiment of the inter-vehicle distance control device according to the present invention. Since each component is the same as that shown in the first embodiment, the same reference numerals are given, and overlapping explanations are omitted, and the parts unique to the second embodiment will be described below.

  The inter-vehicle distance control device 31 includes a front recognition camera 2, a distance measuring sensor 3, an image processing ECU 4, a vehicle control ECU 5, a buzzer 6, and a warning lamp 7. The image processing ECU 4 is connected to the vehicle control ECU 5 according to a communication standard such as CAN (Controller Area Network) or FlexRay. The vehicle control ECU 5 is connected to the engine ECU 10, the brake ECU 11, and the transmission ECU 12 according to a communication standard such as CAN or FlexRay. Is done.

  The image processing ECU 4 (Electronic Control Unit) includes a detection unit 4a that performs processing for detecting a traffic light located in an image captured by the front recognition camera 2 by shape and wavelength matching (may be luminance processing).

  The vehicle control ECU 5 (Electronic Control Unit) is based on the information on the traffic light detected by the image processing ECU 4 and on the basis of the information on the traffic light detected by the image processing ECU 4 and the determination unit 5a for determining that the traffic light has become invisible. A traveling direction change detection unit 5b that detects whether or not there is a change in the vehicle traveling direction (course change or lane change at an intersection) and a vehicle control unit 5c that performs vehicle control to increase the inter-vehicle distance. The advancing direction change detection unit 5b detects a change in the advancing direction of the vehicle when the traffic light detected by the image processing ECU 4 moves in the left-right direction in the image and becomes undetected.

  At the same time, the determination unit 5a of the vehicle control ECU 5 indicates that after the traffic light is detected, the traffic light is invisible when the traffic light moves in a direction other than above and is blocked by the preceding vehicle and becomes undetected. When the determination unit 5a determines that the traffic light cannot be visually recognized and the traveling direction change detection unit 5b does not detect a change in the vehicle traveling direction, the vehicle control unit 5c sets the engine ECU 10 and the brake so as to increase the inter-vehicle distance. The ECU 11 and the transmission ECU 12 are instructed to control the vehicle so as to reduce the speed of the host vehicle so that the image processing ECU 4 can detect the traffic light again, and the buzzer 6 provided on the cab is sounded. The driver is warned by turning on the warning lamp 7. If no traffic light is detected, the vehicle control unit 5c controls the engine ECU 10, the brake ECU 11, and the transmission ECU 12 to control the speed of the host vehicle so that the inter-vehicle distance detected by the distance measuring sensor 3 is constant. Command is output.

  Hereinafter, the control content of the inter-vehicle distance control device 31 according to the present invention will be described with reference to flowcharts. FIG. 9 is a flowchart showing the control content of the image processing ECU 4 of the inter-vehicle distance control device 31 according to the present invention, and FIG. 10 is a flowchart showing the control content of the vehicle control ECU 5 of the inter-vehicle distance control device 31 according to the present invention.

  In S31, the image processing ECU 4 inputs an image picked up by the front recognition camera 2, and in S32, a traffic light in the image is detected by shape and wavelength comparison. In S33, the image processing ECU 4 detects the inter-vehicle distance between the preceding vehicle and the host vehicle by the distance measuring sensor 3, determines whether or not it is IGOFF in S34, and determines that it is IGOFF. When the control is terminated and it is not determined that the IGOFF is set, the process returns to S31.

  In S41, the determination unit 5a of the vehicle control ECU 5 inputs the traffic signal detection result transmitted from the image processing ECU 4. In S42, the determination unit 5a of the vehicle control ECU 5 receives the inter-vehicle distance detection result transmitted from the image processing ECU 4. input.

  In S43, the determination unit 5a of the vehicle control ECU 5 determines whether or not a traffic signal has been detected. If it is determined that a traffic signal has been detected, the process proceeds to S44, and if it is not determined that a traffic signal has been detected, the process returns to S41. In S45, the determination unit 5a of the vehicle control ECU 5 determines whether the traffic light has moved in a direction other than the upper side and is blocked by the preceding vehicle and has not been detected, and the traffic signal has become invisible. If it is determined that the vehicle has been moved and blocked by the preceding vehicle and has not been detected, the process proceeds to S45, and if it is not determined that the traffic light has moved in a direction other than the upper direction and has been blocked by the preceding vehicle and has not been detected, S41. Return to.

  In S45, the traveling direction change detection unit 5b of the vehicle control ECU 5 changes the traveling direction of the vehicle (changes the course at the intersection or when the traffic signal detected in S41 moves left and right in the image and becomes undetected). When it is detected that there is a lane change) and the traveling direction change detection unit 5b determines that there is a change in the vehicle traveling direction, the process returns to S41 and the determination unit 5a resets the determination as to whether the traffic light is invisible. If it is not determined that the vehicle traveling direction has changed, the process proceeds to S46.

  In S46, the vehicle control unit 5c of the vehicle control ECU 5 instructs the engine ECU 10 to reduce the engine speed, and instructs the brake ECU 11 to brake the vehicle in order to increase the inter-vehicle distance. The gear ratio is instructed to shift to a low speed side, the buzzer 6 is sounded and the warning lamp 7 is turned on to warn the driver and proceed to S47. In S47, the determination unit 5a of the vehicle control ECU 5 determines whether or not the traffic light is detected again. If it is determined that the traffic signal is detected again, the process proceeds to S48, and if it is not determined that the traffic signal is detected again, Return to S46. In S46, the vehicle control unit 5c of the vehicle control ECU 5 instructs the engine ECU 10 to reduce the engine speed, or instructs the brake ECU 11 to brake the vehicle in order to further increase the inter-vehicle distance. Alternatively, the transmission ECU 12 is instructed to shift the gear ratio to the low speed side to reduce the speed of the host vehicle, and the processing content of S46 is continuously performed until the traffic light is detected again.

  In S48, the determination unit 5a of the vehicle control ECU 5 determines whether or not it is IGOFF. If it is determined that it is IGOFF, the control is terminated, and if it is not determined that it is IGOFF, the process returns to S41.

  The inter-vehicle distance control device 31 according to the second embodiment, which is realized by the control contents described above, also accurately detects that the traffic light is blocked by a preceding vehicle and cannot be visually recognized regardless of the signal installation state. Thus, the visibility of the traffic light from the host vehicle can be ensured by controlling the vehicle so as to increase the inter-vehicle distance between the preceding vehicle and the host vehicle. Further, when the traveling direction is changed (the course is changed or the lane is changed), the vehicle control ECU 5 controls the distance between the preceding vehicle and the information on the preceding vehicle and the traffic light detected by the image processing ECU 4 after the changing of the traveling direction. And the visibility of the traffic light from the own vehicle can be ensured.

  In addition, the second embodiment eliminates the detection of the steering angle by the steering ECU 9 and the detection of the preceding vehicle and the white line on the road surface in the image processing ECU 4 as compared with the first embodiment. The control content can be simplified.

  In the second embodiment, the distance measuring sensor 3 is used to measure the inter-vehicle distance between the preceding vehicle and the own vehicle. However, two front recognition cameras 2 are provided, and the distance between the preceding vehicle and the own vehicle is determined. The distance may be measured. In the second embodiment, the inter-vehicle distance control device 31 is configured by combining the image processing ECU 4 and the vehicle control ECU 5. However, the vehicle control ECU 5 has the function of the image processing ECU 4 and the image processing ECU 4 is eliminated. You can also

  In the first and second embodiments, the non-detection of the traffic light includes a state in which the traffic light has approached the preceding vehicle and is partially invisible in the captured image.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

  The present invention relates to an inter-vehicle distance control device that detects a lane change of a running vehicle, and can ensure the visibility of a traffic light from the host vehicle and increase the safety of the vehicle. It is useful when applied to various vehicles such as buses.

It is a block diagram which shows one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a schematic diagram which shows an example of the image which the inter-vehicle distance control apparatus which concerns on this invention images. It is a schematic diagram which shows an example of the image which the inter-vehicle distance control apparatus which concerns on this invention images. It is a schematic diagram which shows an example of the image which the inter-vehicle distance control apparatus which concerns on this invention images. It is a flowchart which shows the control content of one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a block diagram which shows one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a block diagram which shows one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle distance control apparatus 2 Front recognition camera 3 Distance sensor 4 Image processing ECU
5 Vehicle control ECU
6 Buzzer 7 Warning lamp 8 Steering sensor 9 Steering ECU
10 Engine ECU
11 Brake ECU
12 Transmission ECU
21 Inter-vehicle distance control device 31 Inter-vehicle distance control device

Claims (7)

An inter-vehicle distance control device that controls the inter-vehicle distance between the host vehicle and a preceding vehicle,
An imaging unit that images the front of the host vehicle, a detection unit that processes an image captured by the imaging unit and detects a traffic signal and a preceding vehicle ahead, and the detection unit detects the traffic signal and the preceding vehicle, A determination means for determining that the traffic light is not visible when the traffic light is not detected, and a distance between the host vehicle and the preceding vehicle is increased when the determination means determines that the traffic light is not visible. An inter-vehicle distance control device comprising vehicle control means for controlling the vehicle.   2. The inter-vehicle distance control device according to claim 1, wherein the determination unit determines that the traffic light cannot be visually recognized when the traffic light moves in a direction other than above the image and is not detected. . An inter-vehicle distance control device that controls the inter-vehicle distance between the host vehicle and a preceding vehicle,
An image pickup means for picking up an image of the front of the host vehicle and a detection means for processing an image picked up by the image pickup means to detect a traffic light ahead, and after the detection means detects the traffic light, A determination unit that determines that the traffic light is not visible when the image moves in a direction other than the upper side and is not detected, and the host vehicle and the preceding vehicle when the determination unit determines that the traffic signal is not visible. An inter-vehicle distance control device comprising vehicle control means for controlling the vehicle so as to increase the inter-vehicle distance from the vehicle.   A traveling direction change detecting means for detecting a traveling direction change of the own vehicle is provided, and the determining means resets the determination when the traveling direction change detecting means detects a traveling direction change of the own vehicle. The inter-vehicle distance control device according to any one of claims 1 to 3.   A steering angle detection means for detecting a steering angle of the host vehicle is provided, and the traveling direction change detection means detects a traveling direction change of the host vehicle based on the steering angle detected by the steering angle detection means. Item 5. The inter-vehicle distance control device according to Item 4.   5. The inter-vehicle distance control device according to claim 4, wherein the traveling direction change detecting unit detects a traveling direction change of the host vehicle based on white line information on a road surface detected by the detecting unit.   The traveling direction change detecting means detects a traveling direction change of the host vehicle when the traffic light detected by the detecting means moves in the left-right direction of the image and becomes undetected. 4. The inter-vehicle distance control device according to 4.

Images