JP2009001107A - Vehicle running control means - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle running controller for controlling running of one's own vehicle, which follows a preceding vehicle without annoying a driver in consideration of possibility that the preceding vehicle cannot be detected due to noise. <P>SOLUTION: When the own vehicle changes a lane to overtake the preceding vehicle or accelerates because the preceding vehicle changes a lane even while the own vehicle keeps a control state for a predetermined time before releasing the following control in consideration that the preceding vehicle is not detected due to noise, this controller can release the control state based on a steering condition by the driver. Consequently, when the preceding vehicle disappears actually even if it is not detected, the control for following the preceding vehicle is quickly released to enable the driver to run and control the own vehicle as intended. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle travel control device that performs follow-up control for following a preceding vehicle.

Conventionally, as tracking control, for example, as described in Japanese Patent Application Laid-Open No. 2003-267085, when the absence of a preceding vehicle is detected, there is a possibility that the preceding vehicle is not detected due to rain or noise. In view of this, there has been known one that maintains the control state for a predetermined time before canceling the follow-up control.
JP 2003-267085 A

  However, in such a vehicle travel control device, the control state is maintained even when the preceding vehicle actually disappears, and the driver may feel uncomfortable.

  In view of the above, an object of the present invention is to provide a vehicle travel control device that can perform the follow-up control without giving the driver a sense of incongruity while considering the possibility that the preceding vehicle has not been detected due to noise or the like.

  A vehicle travel control device according to the present invention is a vehicle travel control device that performs follow-up control for following a preceding vehicle. When the absence of the preceding vehicle is detected, the vehicle travel control device is in a control state for a predetermined time before canceling the follow-up control. Control state holding means for holding the control state, and control state release means for releasing the held control state based on the operation state of the host vehicle while the control state holding means holds the control state. It is characterized by providing.

  In this vehicle travel control device, even when holding the control state for a predetermined time before canceling the follow-up control in consideration of the non-detection of the preceding vehicle due to noise or the like, when changing the lane to overtake the preceding vehicle, When accelerating because the preceding vehicle has changed lanes, the control state can be canceled based on the operation state by the driver. Therefore, even when the vehicle is not detected, when the preceding vehicle actually disappears, the tracking control can be promptly canceled to perform the traveling control according to the driver's intention. As a result, the possibility of undetection of the preceding vehicle due to noise or the like can be taken into consideration, and the follow-up control can be performed without causing the driver to feel uncomfortable.

  A vehicle travel control device according to the present invention is a vehicle travel control device that performs follow-up control for following a preceding vehicle. When the absence of the preceding vehicle is detected, the vehicle travel control device is in a control state for a predetermined time before canceling the follow-up control. Control state holding means for holding the control state, the control state release means for detecting the lane change of the host vehicle while the control state holding means is holding the control state, and releasing the held control state, It is characterized by providing.

  In this vehicle travel control device, it is assumed that the preceding vehicle is gone when the lane is changed even while the control state is maintained for a predetermined time before canceling the follow-up control in consideration of the non-detection of the preceding vehicle due to noise or the like. Therefore, the control state can be canceled. Therefore, even if the vehicle has not been detected, if the preceding vehicle actually disappears due to a change in the lane of the host vehicle, traveling control can be performed in accordance with the driver's intention by quickly canceling the follow-up control. As a result, the possibility of undetection of the preceding vehicle due to noise or the like can be taken into consideration, and the follow-up control can be performed without causing the driver to feel uncomfortable.

  The vehicle travel control device according to the present invention preferably detects a lane change of the host vehicle based on image information. Thereby, the lane change of the own vehicle can be detected accurately.

  According to the present invention, it is possible to perform the follow-up control without giving the driver a sense of incongruity while considering the possibility that the preceding vehicle has not been detected due to noise or the like.

  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 the present embodiment is a device mounted on a vehicle, and includes an ECU (Electronic Control Unit) 2, a follow-up control setting unit 3, an operation state detection unit 4, an image. The information acquisition unit 5, the inter-vehicle distance detection unit 6, 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 preceding vehicle absence detection unit that detects the absence of the preceding vehicle by calculating a relative speed or the like based on the inter-vehicle distance from the preceding vehicle. Further, when the absence of the preceding vehicle is detected, it functions as a control state holding unit that holds the control state for a predetermined time before canceling the follow-up control. Moreover, it functions as an operation state determination means for determining whether or not there is an operation by the driver based on the operation state of an accelerator, a winker, or the like. Moreover, it functions as a lane change detection means for detecting a lane change of the host vehicle based on the image information. Further, while the control state holding means is holding the control state, it functions as a control state releasing means for releasing the held control state based on the operation state of the host vehicle or the detection of the lane change.

  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 operation state detection unit 4 functions as an operation state detection unit that detects that the driver has performed an operation for changing the lane of the host vehicle, and includes, for example, an accelerator pedal, a blinker switch, and the like. The operation state detection part 4 will output a detection signal to ECU2, if the operation state by a driver | operator's operation is detected.

  The image information acquisition unit 5 functions as a photographing unit that acquires image information of a white line on the road in order to detect that the host vehicle has changed lanes, and is a CCD attached to the center of the front surface of the host vehicle. Consists of a camera or the like. The image information acquisition unit 5 outputs the image information to the ECU 2 after acquiring the image information.

  The inter-vehicle distance detection unit 6 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. This inter-vehicle distance detection unit 6 is provided in the front part of the host vehicle, and is configured to be able to transmit a millimeter wave, a laser, or the like toward the front of the host vehicle. When the inter-vehicle distance detection unit 6 detects the inter-vehicle distance from the preceding vehicle, the inter-vehicle distance detection unit 6 outputs it to the ECU 2.

  The travel drive unit 21 functions as travel drive means for driving the vehicle, and is constituted 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 vehicle is in the low speed range in the follow-up control, and performs a notification operation in response to a notification command signal from the ECU 2. 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 6, the vehicle is controlled to travel while maintaining a certain distance from the preceding vehicle. Braking control is performed when stopped. In the follow-up control, when the preceding vehicle is traveling at a low speed, the vehicle travels in a low speed range (for example, 40 km / h or less) according to the preceding vehicle.

  First, it is determined whether or not the vehicle is traveling in a low speed region in accordance with the speed of the preceding vehicle (S10).

  If it is determined in S10 that the vehicle is not traveling in a low speed range, the follow-up control is continued as it is (S16), the process returns to S10 again, and the same processing is repeated. If it is determined that the vehicle is traveling in a low speed range, the vehicle distance is detected from the inter-vehicle distance detection unit 6 (S12), and the relative speed with the preceding vehicle is calculated from the acquired inter-vehicle distance, so that there is a preceding vehicle. It is detected whether or not (S14).

  When the presence of the preceding vehicle is detected in S14, the follow-up control is continued as it is (S16), the process returns to S10 again, and the same processing is repeated. When the absence of the preceding vehicle is detected, the control state is maintained for a predetermined time (about 0.5 to 1 second) in consideration of the possibility that the preceding vehicle has not been detected due to noise or the like (S18). During the holding of the control state, it is determined whether or not a predetermined time has passed (S20). When it is determined that the predetermined time has passed, the held control state is released (S26). As a result, the tracking control is quickly released and the vehicle travels according to the driver's operation. After the cancellation, the process returns to S10 again, and the same processing is repeated.

  In S20, when it is determined that the predetermined time has not elapsed, the driver determines the lane based on the operation state of the accelerator pedal, the blinker, etc. by the driver by referring to the detection signal from the operation state detection unit 4. It is determined whether or not an operation for change has been performed (S22). In S22, when it is determined that there is no operation by the driver, the process returns to S20, and it is determined again whether a predetermined time has elapsed.

  In S22, when it is determined that there is an operation by the driver, whether or not the vehicle has passed the white line on the road based on the image information acquired from the image information acquisition unit 5 is changed. It is detected whether or not there is (S24). In S24, when a lane change is not detected, it returns to S20 and it is determined again whether predetermined time passed.

  If a lane change is detected in S24, the held control state is canceled (S26). As a result, the tracking control is quickly released and the vehicle travels according to the driver's operation. 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, even when the control state is held for a predetermined time before canceling the follow-up control in consideration of undetected preceding vehicles due to noise or the like, When changing lanes to overtake the preceding vehicle, or when accelerating because the preceding vehicle has changed lanes, the control state can be released based on the operation state by the driver. Therefore, even when the vehicle is not detected, when the preceding vehicle actually disappears, the tracking control can be promptly canceled to perform the traveling control according to the driver's intention. As a result, the possibility of undetection of the preceding vehicle due to noise or the like can be taken into consideration, and the follow-up control can be performed without causing the driver to feel uncomfortable.

  In addition, even if the control state is maintained for a predetermined time before canceling the follow-up control in consideration of the non-detection of the preceding vehicle due to noise or the like, if the lane is changed, it is considered that the preceding vehicle is gone and the control state is changed. It can be canceled. Therefore, even if the vehicle has not been detected, if the preceding vehicle actually disappears due to a change in the lane of the host vehicle, traveling control can be performed in accordance with the driver's intention by quickly canceling the follow-up control. As a result, the possibility of undetection of the preceding vehicle due to noise or the like can be taken into consideration, and the follow-up control can be performed without causing the driver to feel uncomfortable.

  Moreover, the lane change of the own vehicle can be accurately detected by detecting the lane change of the own vehicle based on the image information.

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

  For example, the vehicle travel processing according to the present embodiment may be applied not only to the low speed range but also to other speed ranges.

  Further, in the present embodiment, it is determined that the driver has performed an operation for changing the lane based on the operation state (S22), and the control retained after detecting the lane change based on the image information (S24). Although the state is released (S26), the control state may be released by determining only one of S22 and S24.

  Further, after determining that there has been a lane change, it may be determined whether there is a new preceding vehicle. When it is determined that there is a new preceding vehicle, follow-up control is performed again according to the preceding vehicle, and when it is determined that there is no new preceding vehicle, the control state is released.

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.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle travel control apparatus, 2 ... ECU (control state holding | maintenance means, control state cancellation | release means).

Claims (3)

A vehicle travel control device that performs follow-up control for following a preceding vehicle,
Control state holding means for holding the control state for a predetermined time before canceling the follow-up control when the absence of the preceding vehicle is detected;
While the control state holding means is holding the control state, the control state releasing means for releasing the held control state based on the operation state of the host vehicle,
A vehicle travel control means comprising: A vehicle travel control device that performs follow-up control for following a preceding vehicle,
Control state holding means for holding the control state for a predetermined time before canceling the follow-up control when the absence of the preceding vehicle is detected;
While the control state holding means is holding the control state, the control state releasing means for detecting the lane change of the host vehicle and releasing the held control state;
A vehicle travel control means comprising:   3. The vehicle control means according to claim 2, wherein a lane change of the host vehicle is detected based on the image information.

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