JP2009166537A - Travel control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel control system, equipped with a radar device which catches a vehicle traveling ahead and measures the inter-vehicle distance, a means of performing tracking control to make the inter-vehicle distance reach a target value, wherein sufficient acceleration is secured when the vehicle thereof changes lanes, while avoiding needlessly canceling the tracking control, since the vehicle traveling ahead may not be able to capture, for some reason. <P>SOLUTION: The travel control system is equipped with a means of deciding that the vehicle traveling ahead is missed, if the vehicle traveling ahead can not be caught again for a predetermined time, after the vehicle traveling ahead can not be caught while carrying on the tracking control based upon last measurement data, once the vehicle traveling ahead cannot be caught (S1→S4 in Fig.2 →S11 to S14 in Fig.3 →S2 to S3 in Fig.2 →S11 and S12→S15 in Fig.3); and a means of stopping the tracking control based on the measurement data, when the vehicle traveling ahead fails to be caught and starting fixed-speed control targeting a set vehicle speed, once detecting the vehicle thereof changing lanes (S1→S4 in Fig.2 →S11 to S14 in Fig.3 →S2 to S3 in Fig.2 →S11 to S13→S15 in Fig.3). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a system for controlling traveling of a vehicle.

  2. Description of the Related Art Conventionally, there is a technique that performs tracking control so that a measured value becomes a target value while capturing a preceding vehicle on a lane in which the vehicle travels using a radar device and measuring an inter-vehicle distance (Patent Document 1). .

During the follow-up control, the preceding vehicle may be out of the irradiation range of the radar device and cannot be captured for some reason. In order to avoid unnecessarily canceling the follow-up control by judging that the preceding vehicle was lost (lost of the preceding vehicle) every time the preceding vehicle could be recovered in a short period of time, the patent In the case of Document 1, even if the preceding vehicle cannot be captured during the follow-up control, it is based on the measurement data when the preceding vehicle cannot be captured until the time necessary for determining whether or not the preceding vehicle has been lost. The follow-up control is continued.
JP2007-69728A

  In the case of Patent Document 1, if the preceding vehicle cannot be captured during the follow-up control, the follow-up control based on the immediately preceding measurement data is continued. Even if it becomes impossible to catch the preceding vehicle due to the lane change of the vehicle, the tracking control based on the measurement data immediately before is continued, so the acceleration of the own vehicle cannot be obtained and the driver may feel uncomfortable Can be considered.

  An object of this invention is to provide an effective means for solving such a problem.

  A first aspect of the present invention is a travel control system comprising: means for capturing a preceding vehicle on a lane in which the host vehicle travels and measuring the inter-vehicle distance; and means for performing follow-up control to make the inter-vehicle distance coincide with a target value. When the preceding vehicle cannot be captured, the follow-up control is continued based on the immediately preceding measurement data, and the preceding vehicle is lost when the preceding vehicle cannot be captured for a predetermined time after the preceding vehicle cannot be captured. Means for determining, and means for stopping the follow-up control based on the measurement data when it becomes impossible to capture the preceding vehicle when detecting the lane change of the own vehicle and starting the constant speed control targeting the set vehicle speed It is characterized by.

  A second aspect of the present invention is a travel control system comprising: means for capturing a preceding vehicle on a lane in which the host vehicle travels and measuring the inter-vehicle distance; and means for performing follow-up control so that the inter-vehicle distance matches a target value. The means for counting the lapse of a predetermined time when the preceding vehicle cannot be captured, and clearing the timer count when the preceding vehicle is captured during the timer count or when the timer count reaches the predetermined time Means for determining that the preceding vehicle has been lost when the timer count reaches a predetermined time, means for starting constant speed control targeting the set vehicle speed upon receipt of this determination, and the timer count is activated. Until the count is cleared, a means to perform tracking control based on the measurement data when the preceding vehicle can no longer be captured, and a timer when a lane change of the own vehicle is detected If during the counting, characterized in that it comprises means for counting the timer clear, the.

According to a third aspect of the present invention, in the travel control system according to the first aspect, the target value of the constant speed control is an upper limit set value that regulates the vehicle speed during the follow-up control. In the travel control system according to the first or second invention, the lane change of the own vehicle is detected from an operation signal of a direction indicator of the own vehicle.

  According to a fifth invention, in the travel control system according to the first or second invention, the lane change of the own vehicle is detected from a steering angle of the own vehicle.

  In the first invention, when the preceding vehicle cannot be captured for a predetermined time by the inter-vehicle distance measuring means, it is determined that the preceding vehicle has been lost (lost of the preceding vehicle). In the meantime, the follow-up control based on the measurement data when the preceding vehicle can no longer be captured is continued, so that unnecessary cancellation of the follow-up control can be avoided. When the lane change of the host vehicle is detected, the follow-up control based on the measurement data when the preceding vehicle cannot be captured is stopped and the constant speed control with the set vehicle speed as the target value is started. Can be made. Therefore, it is possible to sufficiently ensure the acceleration performance when changing lanes while avoiding unnecessary cancellation of the follow-up control.

  In the second invention, when the preceding vehicle cannot be captured during the follow-up control, a timer that counts the elapse of a predetermined time is started. When the timer counts a predetermined time, it is determined that the preceding vehicle has been lost, and constant speed control with the set vehicle speed as a target value is started.

  The timer count is cleared after a predetermined time count or when the preceding vehicle is captured. From the start of the timer to the clear, follow-up control is performed based on the measurement data when the preceding vehicle can no longer be captured.

  When the lane change of the own vehicle is detected, the timer count is cleared, so even if the preceding vehicle cannot be captured due to the lane change of the own vehicle, tracking control based on measurement data when the preceding vehicle can not be captured Is not performed, and constant speed control is performed to keep the vehicle speed at the target value, so that the host vehicle can be accelerated quickly. Therefore, it is possible to sufficiently ensure the acceleration performance when changing lanes while avoiding unnecessary cancellation of the follow-up control.

  In the third aspect of the present invention, if there is no preceding vehicle to be measured for the inter-vehicle distance on the lane after the change due to the lane change of the own vehicle, the vehicle speed can be quickly accelerated to the upper limit set value.

  In 4th invention, if the direction indicator of the own vehicle is operated, the own vehicle can be accelerated rapidly from the time.

  In the fifth aspect of the invention, when the host vehicle is steered, the host vehicle can be quickly accelerated from that point.

  In FIG. 1, 10 is a radar device, and 12 is an inter-vehicle distance control device that controls an engine 13 and a brake 14 of the host vehicle.

The radar apparatus 10 measures the inter-vehicle distance, relative angle, and relative speed with respect to the preceding vehicle (target) while capturing the preceding vehicle on the own lane (the lane in which the own vehicle is traveling). These measurement data (vehicle distance, relative speed, relative angle) are stored in a rewritable memory as needed. As the radar device 10, the inter-vehicle distance control device 12 using a laser radar device or a millimeter wave radar device is used as measurement data (target information) of the radar device 10 when the preceding vehicle is captured by the radar device 10. On the basis of this, means A for performing the follow-up control by adjusting the braking / driving force (engine 13 and brake 14) of the own vehicle so that the inter-vehicle distance between the own vehicle and the preceding vehicle becomes the target inter-vehicle distance with the set vehicle speed as the upper limit. When S1 to S3 in FIG. 2 and the preceding vehicle cannot be captured, the follow-up control is continued based on the immediately preceding measurement data, and the preceding vehicle cannot be captured for a predetermined time after the preceding vehicle cannot be captured. Means B (S1 → S4 in FIG. 1 → S11 to S14 in FIG. 2 → S2 to S3 in FIG. 2 → S11 to S12 → S15 in FIG. 3); The lost vehicle is caught by this lost judgment. Means C for stopping the follow-up control based on the measurement data when it becomes impossible and starting the constant speed control with the set vehicle speed as the target vehicle speed (S1 → S4 in FIG. 1 → S11 to S14 in FIG. 2 → S2 in FIG. 2) S3->S11-S12->S15->S15->S2-> S5 in Fig. 2) When the lane change of the own vehicle is detected, the follow-up control based on the measurement data when the preceding vehicle cannot be captured is stopped and the set vehicle speed Means D (S1 → S4 in FIG. 1, S11 to S14 in FIG. 2, S2 to S3 in FIG. 2, S11 to S13 in FIG. 3) → S2 → S5) in FIG.

  A switch circuit of a blinker 15 (direction indicator) is connected to the inter-vehicle distance control device 12 so that the lane change of the own vehicle can be detected from the ON-OFF signal. It is also conceivable to detect the lane change of the own vehicle from other detection means, for example, the steering angle of the own vehicle. Further, detection means such as a winker and a rudder angle may be arbitrarily combined.

  As for the above-described means A to D, when the preceding vehicle cannot be captured, the means for counting the passage of a predetermined time (S1 → S4 → S11 in FIG. 2) and the preceding vehicle is captured during the timer counting. When the timer count reaches a predetermined time, means for clearing the timer count (S1 → S2 in FIG. 1 or S11 → S12 → S15 in FIG. 2), and when the timer count reaches the predetermined time Means for determining that the preceding vehicle has been lost (S11 → S12 → S15 → S4 → S2 in FIG. 2) and means for starting constant speed control with the target vehicle speed as a target (S4 in FIG. 1). → S2 → S5) and means for performing the follow-up control based on the measurement data when the preceding vehicle cannot be captured until the timer count is cleared after the timer count is activated (see FIG. 3). S11 to S14 → S2 → S3 in Fig. 2 And means for clearing the count of the timer if it is counting (S11 to S13 → S15 in the figure).

  Accordingly, when the preceding vehicle cannot be captured during the follow-up control, a timer that counts the elapse of a predetermined time is started. When the timer counts a predetermined time, it is determined that the preceding vehicle has been lost, and constant speed control with the set vehicle speed as a target value is started.

  The timer count is cleared after a predetermined time count or when the preceding vehicle is captured. From the start of the timer to the clear, follow-up control is performed based on the measurement data when the preceding vehicle can no longer be captured.

  When the lane change of the own vehicle is detected, the timer count is cleared, so even if the preceding vehicle cannot be captured due to the lane change of the own vehicle, tracking control based on measurement data when the preceding vehicle can not be captured Is not performed, and constant speed control is performed to keep the set vehicle speed at the target value, so that the host vehicle can be accelerated quickly. That is, if there is no preceding vehicle for which the inter-vehicle distance is to be measured on the lane after the change due to the lane change of the own vehicle, the vehicle speed can be quickly accelerated to the set upper limit value. As a result, it is possible to sufficiently ensure the acceleration of the host vehicle without depressing the accelerator pedal when changing the lane of the host vehicle while avoiding unnecessary cancellation of the follow-up control.

  FIG. 2 is a flowchart for explaining the processing contents of the inter-vehicle distance control device. In S1, the radar device 10 determines whether the preceding vehicle (target) is captured. When the determination of S1 is yes, the process proceeds to S2, while when the determination of S1 is no, the process proceeds to S4.

  In S2, it is determined whether there is target information (measurement data). When the determination in S2 is yes, in S3, follow-up control is performed so that the inter-vehicle distance between the host vehicle and the preceding vehicle coincides with the target inter-vehicle distance. On the other hand, when the determination in S2 is no, in S5, constant speed control is performed with the set vehicle speed (the own vehicle speed upper limit value of the follow-up control) as the target vehicle speed.

  FIG. 3 is a subroutine for explaining the processing content of S4 of FIG. 2. In S11, the timer counts the elapse of the predetermined time T in response to the determination (no) of S1. In S12, it is determined whether the count is less than a predetermined time T. In S13, it is determined whether or not the blinker is activated (ON).

  When the determination of S12 is yes and the determination of S13 is no, the measurement data when the preceding vehicle cannot be captured is set as the target information of S2 (FIG. 2). Therefore, following S2 → S3 in FIG. 2, the tracking control is continued with the measurement data when the preceding vehicle can no longer be captured as the target information of S2 (FIG. 2), regardless of the determination of S1 being no. .

  If the determination in S12 is no, the preceding vehicle cannot be captured for a predetermined time T, it is determined that the preceding vehicle has been lost (the preceding vehicle is lost), the process proceeds to S15, and the timer (counter) is cleared. To do. If the determination in S13 is yes, it means that a change in the lane of the vehicle is detected while the timer is counting, and the process proceeds to S15 to clear the timer (counter).

It is a block diagram of a system. It is a flowchart explaining the processing content of the inter-vehicle distance apparatus. It is a subroutine explaining the processing content of the inter-vehicle distance device.

Explanation of symbols

10 Radar device 12 Distance between vehicles 13 Engine 14 Brake 15 Winker (direction indicator)

Claims (5)

  In a travel control system comprising: means for capturing a preceding vehicle on a lane in which the host vehicle is traveling and measuring an inter-vehicle distance; and means for performing follow-up control so that the inter-vehicle distance matches a target value. Means for determining that the preceding vehicle has been lost if the preceding vehicle cannot be captured for a predetermined time after the preceding vehicle cannot be captured, while continuing the tracking control based on the immediately preceding measurement data when the capturing becomes impossible. Means for stopping the follow-up control based on the measurement data when it becomes impossible to capture the preceding vehicle upon detecting a lane change of the vehicle, and starting a constant speed control targeting the set vehicle speed. system.   In a travel control system comprising: means for capturing a preceding vehicle on a lane in which the host vehicle is traveling and measuring an inter-vehicle distance; and means for performing follow-up control so that the inter-vehicle distance matches a target value. Means for counting the elapse of a predetermined time when it cannot be captured, means for clearing the timer count when a preceding vehicle is captured during the timer count or when the timer count reaches a predetermined time, A means for determining that the preceding vehicle has been lost when the count reaches a predetermined time, a means for starting constant speed control targeting the set vehicle speed upon receipt of this determination, and the count is cleared after the timer count is activated. Until then, the timer is counting when it detects the lane change of its own vehicle and means to perform tracking control based on the measurement data when the preceding vehicle can no longer be captured Cruise control system characterized in that it comprises means for counting the timer clear, the if Re.   3. The travel control system according to claim 1, wherein the target value of the constant speed control is an upper limit set value that regulates a vehicle speed during the follow-up control.   The travel control system according to any one of claims 1 to 3, wherein the lane change of the host vehicle is detected from an operation signal of a direction indicator of the host vehicle.   The travel control system according to any one of claims 1 to 3, wherein the lane change of the host vehicle is detected from a steering angle of the host vehicle.

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