JP2009001106A - Vehicle running controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle running controller for ensuring safety by preventing collision with a preceding vehicle and starting the vehicle without annoying a driver. <P>SOLUTION: This vehicle running controller changes a gradient of rising of acceleration when starting in accordance with the situation of the stopped vehicle. That is, when the preceding vehicle is highly likely to start by gradual acceleration, the gradient of rising is kept at a usual value to prevent the own vehicle from colliding against the preceding vehicle, and when the preceding vehicle is highly likely to start by sudden acceleration the gradient of rising is increased to accelerate the own vehicle quickly and prevent the own vehicle from being separated from the preceding vehicle. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle travel control device that controls a travel state of a vehicle to follow a preceding vehicle.

Conventionally, as described in Japanese Patent Application Laid-Open No. 10-147160, for example, when there is a request to start from the driver while the vehicle is stopped due to traffic light or traffic jam, One that responds only to a start request after confirming that the preceding vehicle has started is known.
JP-A-10-147160

  However, in such a vehicle travel control device, it is possible to prevent rear-end collision with the preceding vehicle at the time of starting and to ensure safety, but depending on the situation where the vehicle is placed during the stop, In some cases, the vehicle is pulled away from the preceding vehicle at the time of departure, and the driver may feel uncomfortable. For example, a preceding vehicle waiting for a signal tends to start more rapidly than when there is a traffic jam, so the possibility of being separated from the preceding vehicle is increased.

  Accordingly, an object of the present invention is to provide a vehicle travel control device that can ensure safety with a preceding vehicle and can start without causing discomfort to the driver.

  A vehicle travel control device according to the present invention is a vehicle travel control device that controls the travel state of a vehicle in order to follow a preceding vehicle, in which a situation of a vehicle is determined from surrounding traffic information when the vehicle is stopped. The apparatus includes: a determination unit; and an acceleration control unit that changes a rising gradient of acceleration when the vehicle starts based on the determination of the situation determination unit.

  In this vehicle travel control device, it is possible to change the rising gradient of the acceleration at the start in accordance with the situation where the stopped vehicle is placed. Therefore, when there is a high possibility that the preceding vehicle will start while gently accelerating, it is possible to prevent the vehicle from colliding with the preceding vehicle by keeping the rising slope small, and the preceding vehicle may start with rapid acceleration. When the vehicle is in a high situation, it accelerates quickly by increasing the rising gradient, and is prevented from being separated from the preceding vehicle. As a result, safety with the preceding vehicle can be ensured and the vehicle can be started without discomfort to the driver.

  In the vehicle travel control device of the present invention, it is preferable that the acceleration control means increases the rising slope when the situation determination means determines that the vehicle is waiting for a signal. According to this, particularly when waiting for a signal, which is a situation in which the preceding vehicle is likely to accelerate rapidly, it is prevented from being separated from the preceding vehicle by increasing the rising slope of the acceleration.

  ADVANTAGE OF THE INVENTION According to this invention, while ensuring safety | security with a preceding vehicle, it can start, without giving a driver discomfort.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 shows a schematic configuration diagram of a vehicle travel control apparatus 1 according to an embodiment of the present invention.

  As shown in FIG. 1, a vehicle travel control device 1 according to this embodiment is a device mounted on a vehicle, and includes an ECU (Electronic Control Unit) 2, a follow-up control setting unit 3, a start operation detection unit 4, a traffic The information acquisition unit 11, the inter-vehicle distance detection unit 12, the travel drive unit 21, the braking unit 22, and the notification unit 23 are provided.

  The ECU 2 is an electronic control unit that controls the entire apparatus. The ECU 2 is mainly composed of a CPU, for example, and includes a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like. The ECU 2 functions as a stop state determination unit that determines whether or not the vehicle is in a stop state during the follow-up control. Also, it functions as a situation judging means for judging the situation of the vehicle from the surrounding traffic information when the vehicle is stopped. Further, it functions as an acceleration control means for changing the rising gradient of the acceleration when the vehicle starts based on the judgment of the situation judgment means. Moreover, it functions as a preceding vehicle start determining means for determining whether or not the preceding vehicle has started based on the inter-vehicle distance from the preceding vehicle. Moreover, it functions as a start operation determination means for determining the presence or absence of a driver's start operation.

  The ECU 2 also functions as a travel control unit that outputs a travel drive signal to the travel drive unit 21 when the vehicle is started in response to a start operation from the driver. Further, the ECU 2 functions as a braking control unit that outputs a braking command signal to the braking unit 22 when it is necessary to stop the preceding vehicle during the tracking control due to the stopping. Further, the ECU 2 functions as a notification control unit that outputs a notification command signal to the notification unit 23 when it is necessary to notify the driver that the preceding vehicle has started while the vehicle is stopped.

  The follow-up control setting unit 3 functions as follow-up control setting means for setting control on / off in the follow-up control for running control so as to follow the preceding vehicle, the inter-vehicle distance, and the like. It is configured with a distance setting button. The tracking control setting unit 3 outputs setting information to the ECU 2 when receiving an operation from the driver.

  The start operation detecting unit 4 functions as start operation detecting means for detecting that the driver has performed an operation for starting the vehicle, and is configured by an accelerator pedal, for example. The start operation detection part 4 will output a detection signal to ECU2, if a driver | operator's start operation is detected.

  The traffic information acquisition unit 11 functions as a traffic information acquisition unit that acquires traffic information such as signals around the vehicle, railroad crossings, and traffic jams when the vehicle is stopped. For example, an image sensor that acquires an image around the vehicle, The navigation information includes map information and road type information, or a navigation system that acquires infrastructure information received from outside the vehicle. The traffic information acquisition part 11 will output to ECU2, if traffic information is acquired.

  The inter-vehicle distance detector 12 functions as inter-vehicle distance detection means for detecting the inter-vehicle distance from the preceding vehicle, and for example, a millimeter wave radar type or laser radar type distance detector is used. The inter-vehicle distance detection unit 41 is provided in the front part of the vehicle, and is configured to be able to transmit a millimeter wave, a laser, or the like toward the front of the vehicle. When the inter-vehicle distance detection unit 12 detects the inter-vehicle distance from the preceding vehicle, the inter-vehicle distance detection unit 12 outputs it to the ECU 2.

  The travel drive unit 21 functions as travel drive means for driving the vehicle, and is configured by, for example, a throttle motor or an injector. The travel drive unit 21 operates in response to a travel drive signal from the ECU 2 and executes vehicle travel drive according to the travel drive signal.

  The braking unit 22 functions as a braking unit that brakes the vehicle, and includes, for example, an electromagnetic valve that adjusts the brake hydraulic pressure and a pump motor that generates the brake hydraulic pressure. The braking unit 22 operates in response to a braking command signal from the ECU 2 and executes vehicle braking according to the braking command signal.

  The notification unit 23 functions as a notification unit that notifies the driver that the preceding vehicle has started when the vehicle is stopped. For example, the notification unit 23 receives a notification command signal from the ECU 2 and performs a notification operation. For example, the notification unit 23 is a unit that performs notification through the driver's hearing, and performs notification by voice and warning sound such as a buzzer. In addition, the notification unit 23 may perform notification through a driver's vision such as a display display, a warning light such as lamp lighting. Furthermore, the alerting | reporting part 23 may perform alerting | reporting through a driver | operator's tactile sense, such as a handle | steering-wheel and the vibration of a driving seat.

  Next, with reference to FIG. 2, operation | movement of the vehicle travel control apparatus 1 which concerns on this embodiment is demonstrated. FIG. 2 is a flowchart showing a vehicle travel process in the vehicle travel control apparatus 1 according to the present embodiment.

  This process is repeatedly executed at a predetermined timing while the ECU 2 performs the follow-up control by receiving the operation of the follow-up control setting unit 3 from the driver.

  During the follow-up control, based on the inter-vehicle distance detected by the inter-vehicle distance detection unit 12, the vehicle is controlled so as to travel while maintaining a certain distance from the preceding vehicle. Braking control is performed when stopped by, for example.

  First, it is determined whether the braking control is maintained and the vehicle is stopped (S10).

  If it is determined in S10 that the braking control is not maintained, the acceleration rising gradient is set to a normal value as shown in FIG. 3A (S18). If it is determined that the braking control is held, traffic information is acquired from the traffic information acquisition unit 11 (S12), and from the acquired traffic information, whether the vehicle is waiting for a signal or waiting for a crossing, Alternatively, it is determined whether or not the vehicle is stopped due to traffic jam (S14).

  If it is determined in S14 that the vehicle is not waiting for a signal, it is determined that the preceding vehicle is likely to start while slowly accelerating, and the rising gradient of acceleration is set to a normal value (S18). If it is determined that the vehicle is waiting for a signal, it is assumed that the preceding vehicle is likely to start with rapid acceleration, and the rising slope of acceleration is set to a value larger than the normal value as shown in FIG. 3B (S16). .

  Once the acceleration rising gradient is set, the inter-vehicle distance from the preceding vehicle is acquired from the inter-vehicle distance detection unit 12 (S20), and it is determined whether the preceding vehicle has started (S22). If it is determined in S22 that the preceding vehicle has not started, the inter-vehicle distance is acquired again (S20), and it is determined whether or not the preceding vehicle has started (S22). If it is determined in S22 that the preceding vehicle has started, the driver is notified via the notification unit 23 that the preceding vehicle has started (S24).

  After the notification, it is determined whether or not there is a driver's start operation based on a detection signal from the start operation detection unit 4 (S26). If it is determined that there is no start operation, the process returns to S10 and the same processing is repeated. . If it is determined in S26 that there is a transmission operation, the traveling drive unit 21 is operated to perform vehicle start control with the set rising slope (S28). When the process so far is completed, the process returns to S10 again, and the same process is repeated.

  As described above, according to the vehicle travel control device 1 according to the present embodiment, it is possible to change the rising gradient of the acceleration at the start in accordance with the situation where the stopped vehicle is placed. Therefore, when there is a high possibility that the preceding vehicle will start while slowly accelerating, it is possible to prevent the vehicle from colliding with the preceding vehicle by keeping the rising slope at a normal value, and the preceding vehicle can start with rapid acceleration. When the situation is highly likely, the rising gradient is set to a large value to accelerate quickly and prevent the vehicle from being separated from the preceding vehicle. As a result, safety with the preceding vehicle can be ensured and the vehicle can be started without discomfort to the driver.

  In particular, when waiting for a signal, which is a situation where there is a high possibility that the preceding vehicle will accelerate rapidly, the acceleration rising slope is set to a large value to prevent the preceding vehicle from being separated from the preceding vehicle.

  The present invention is not limited to the embodiment described above.

  For example, if it is determined in S14 that the vehicle is stopped due to a traffic jam, the preceding vehicle may be considered to start slowly and the acceleration rising gradient may be set to a value smaller than the normal value.

  In addition, in the case of waiting for a signal, in addition to setting the acceleration rising gradient to a large value, it may be applied at the time of starting after a crossing or a temporary stop.

1 is a schematic configuration diagram of a vehicle travel control device according to an embodiment of the present invention. It is a flowchart which shows the vehicle travel process in the vehicle travel control apparatus which concerns on this embodiment. It is a figure which shows the rising gradient of an acceleration, (a) shows a normal value, (b) shows the gradient when set to a value larger than a normal value.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle travel control apparatus, 2 ... ECU (situation judgment means, acceleration control means).

Claims (2)

A vehicle travel control device that controls a travel state of a vehicle to follow a preceding vehicle,
Situation judging means for judging the situation of the vehicle from surrounding traffic information when the vehicle is stopped;
Acceleration control means for changing a rising gradient of acceleration at the start of the vehicle based on the determination of the situation determination means;
A vehicle travel control device comprising:   2. The vehicle travel control device according to claim 1, wherein the acceleration control means increases the rising slope when the situation determination means determines that the vehicle is waiting for a signal.

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