JP2009184464A - Following-travel control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform following-travel by an adaptive cruise control (ACC) according to a driver's will without imposing a burden on the driver. <P>SOLUTION: Following-travel by an ACC is commenced by an operation of a set switch 7. Based on a speed of an own vehicle 1 detected by a vehicle speed sensor 4, and a regulation speed for the road where the vehicle is running, obtained by a camera 6 and a control processing part 2, a maximum vehicle speed for the following-travel control is set to the regulation speed for the road or the present speed of the own vehicle 1 by the control processing part 2. When the driver desires to perform following-travel at a speed within the regulation speed for the road where the driver's vehicle is running, the own vehicle 1 is controlled such that it follows a vehicle in front at a speed within the regulation speed for the road where the driver's vehicle is running. When the driver desires to perform following-travel at the present speed exceeding the regulation speed for the road where the own vehicle is running, the own vehicle is controlled such that it follows a vehicle in front at the present speed exceeding the regulation speed for the road where the own vehicle is running. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an adaptive cruise control (ACC) follow-up running control device, and more particularly, to an improvement in follow-up running performance.

  Conventionally, as one of the automatic driving support systems, there is an ACC follow-up travel control device.

  For example, this conventional follow-up control device turns on the main switch for follow-up, and then operates the lever or button of the set switch to start the follow-up run. The vehicle speed is set to the control target vehicle speed, and the control of the ACC follow-up running is started.

  During follow-up control, the distance between the preceding vehicle and the vehicle, which is measured from the result of exploration ahead of the vehicle by an infrared radar, ultrasonic radar, or other radar, is a constant distance (this distance is The vehicle speed of the host vehicle is controlled by controlling the acceleration / deceleration of the host vehicle so as to maintain a predetermined safety distance or a distance called an inter-vehicle time that changes according to the traveling speed (relative speed). Control within the vehicle speed. When the driver performs a brake operation or presses a dedicated release button, the ACC follow-up travel is canceled and the process ends.

  By the way, this type of follow-up running control device has not only a set switch but also a resume switch, and after the follow-up running of ACC is canceled by a brake operation or a release button pressing operation, a lever or button of the resume switch When the is operated, it is proposed that the control target vehicle speed (past value) of the follow-up travel before the release is read from the memory and reset, and the follow-up travel before the release is restored (see, for example, Patent Document 1). With this resume switch, for example, not only can the vehicle immediately return to the immediately following tracking control after the brake operation, but it can reach the immediately preceding control target vehicle speed by acceleration / deceleration even if there is no preceding vehicle after the brake operation, for example. There is an advantage that it can be controlled to travel at a constant speed.

  On the other hand, if it is determined that the vehicle has approached the pre-registration point, the speed limit of the road starting from the pre-registration point is acquired, and the speed stage of the vehicle is automatically set based on the acquired speed limit A transmission control device has been proposed (see, for example, Patent Document 2).

Japanese Unexamined Patent Application Publication No. 2004-161175 (paragraphs [0003]-[0006], [0029]-[0043], FIGS. 3-6, etc.) JP 2006-35951 A (abstract, paragraphs [0002], [0006], [0028]-[0030], FIG. 1, FIG. 2, etc.)

  In the conventional follow-up travel control device, even if the resume switch described in Patent Document 1 is provided, a set of switches to be operated when a preceding vehicle exists in principle and satisfies the conditions for follow-up run control. Based on the combination of the switch and the resume switch and the presence / absence of the previous setting condition, the control state is one of the following cases # 1, # 2, and # 3. The condition that allows the follow-up running control is a condition that the host vehicle is running normally at a certain speed or more. Specifically, the main switch is changed from off to on, and is currently normal. While traveling (not following tracking control), the vehicle speed of the host vehicle is 40 km / h or more, and the shift lever is an AND condition of each condition such as the D range.

(Case # 1)
When the set switch is pressed and the following traveling control is instructed, the vehicle speed (current vehicle speed) of the vehicle at that time is set as the control target vehicle speed, and the ACC following traveling control is executed.

(Case # 2)
When the resume switch is pressed and the previous follow-up driving control is reset, if the automatic release associated with the brake operation or the manual release due to the release button operation occurs immediately before that, ) Is set to the current control target vehicle speed, and the ACC follow-up running control is executed.

(Case # 3)
When the resume switch is pressed and the resetting of the immediately following tracking control is instructed, the control target vehicle speed is not held in the memory unless the manual or automatic release is generated immediately before, Since the upper limit vehicle speed cannot be set, the ACC follow-up control is not executed (no operation is performed).

  When the preceding vehicle exceeds the control target vehicle speed during the following traveling control in the cases # 1 and # 2, the host vehicle does not travel following the preceding vehicle (cannot be performed). In order to realize the follow-up traveling, the driver needs to change the control target vehicle speed by performing a speed setting switch operation or the like, which requires a complicated operation.

  In case # 3, the control target vehicle speed corresponding to the vehicle speed of the preceding vehicle is set by operating the set switch again or by operating the resume switch after performing the speed setting switch operation or the like. Otherwise, the vehicle will (cannot) follow the preceding vehicle. Therefore, even in this case, a complicated operation is required.

  Furthermore, in the case of the conventional device described in Patent Document 1, the speed limit of the road that is running is not taken into consideration. For this reason, when it is desired to follow the ACC within the speed limit of the running road, for example, during the follow-up running control, pay attention to the speed limit of the running road, and the control target vehicle speed is It is necessary to operate the speed setting switch so as not to exceed the speed limit of the road, and the burden on the driver is further increased.

  Further, in the case of the conventional apparatus described in Patent Document 2, only the gear stage of the own vehicle is set according to the speed limit of the road on which the vehicle is traveling, and ACC follow-up travel control cannot be performed.

  In this type of follow-up running control device, conventionally, ACC follow-up running can be performed within the control target vehicle speed, but the follow-up running control is performed in accordance with the driver's intention within the speed limit of the running road. There is a possibility that it cannot be set to travel control or follow-up travel control at a vehicle speed exceeding the limit vehicle speed, and ACC follow-up travel according to the driver's intention may not be performed.

  SUMMARY OF THE INVENTION An object of the present invention is to enable the ACC to follow the driver according to the driver's intention without imposing a burden on the driver.

  In order to achieve the above-described object, a follow-up travel control device according to the present invention includes a vehicle speed detection unit that detects a vehicle speed of the host vehicle, a speed limit acquisition unit that acquires a speed limit of a running road, and the vehicle speed detection unit. Speed determination means for determining whether the detected vehicle speed exceeds the speed limit, upper limit vehicle speed setting means for setting the speed limit acquired by the speed limit acquisition means as the upper limit vehicle speed of the follow-up travel, and the follow-up travel Start operation means and travel control means for controlling the follow-up travel of the vehicle so that the detected vehicle speed of the vehicle speed detection means does not exceed the upper limit vehicle speed based on the determination of the speed determination means by the operation of the start operation means The upper limit vehicle speed setting means sets the upper limit vehicle speed to the limit speed if the host vehicle speed is equal to or lower than the limit speed, and sets the upper limit vehicle speed if the host vehicle speed exceeds the limit speed. Vehicle speed It is characterized by setting the detected vehicle speed. (Claim 1).

  Further, the follow-up travel control device of the present invention stores the upper limit vehicle speed set by the upper limit vehicle speed setting means in a rewritable manner, and holds the upper limit vehicle speed immediately before the release as the reset vehicle speed after the follow-up running is canceled. It is determined whether storage means, return operation means for resuming control of the travel control means after release of the follow-up running and returning to the follow-up running, and whether the reset vehicle speed is held in the storage means. A storage determining unit; and an upper limit vehicle speed resetting unit that resets the upper limit vehicle speed based on a determination result of the speed determination unit and a determination result of the storage determination unit when the return operation unit is operated. The upper limit vehicle speed resetting means sets the upper limit vehicle speed to the resetting vehicle speed according to a determination result of holding of the storage determination means when the return operation means is operated, and the storage determination If the vehicle speed of the own vehicle is equal to or lower than the speed limit, the upper limit vehicle speed is set to the speed limit, and if the vehicle speed of the own vehicle exceeds the speed limit, the upper limit vehicle speed is It is characterized in that it is set to the detected vehicle speed of the vehicle speed detecting means (claim 2).

  In the case of the follow-up running control device according to the first aspect of the present invention, when the start operating means is operated and the follow-up running of the ACC is started, the vehicle speed of the own vehicle detected by the vehicle speed detecting means and the speed limit obtaining means are acquired. According to the determination result of the speed determination means based on the speed limit of the road that is running, the upper limit vehicle speed setting means sets the upper limit vehicle speed of the following travel control to the speed limit of the road or the current vehicle speed of the host vehicle.

  In other words, based on the determination result of the speed determination means, if the current vehicle speed is equal to or lower than the speed limit of the road, the driver wants to follow the speed limit of the road being traveled. The upper limit vehicle speed of the following traveling control is set to the speed limit of the road. On the other hand, if the current vehicle speed exceeds the speed limit of the road on which the vehicle is traveling, the driver wants to follow the vehicle at a speed exceeding the speed limit of the road on which the vehicle is traveling. The vehicle speed is set to the current vehicle speed.

  Then, when the driver wants to follow the vehicle within the speed limit of the road on which the driver is traveling by controlling the follow-up driving of the driving control means, the vehicle follows the preceding vehicle within the speed limit of the road on which the driver is driving. When the driving of the vehicle is controlled and the driver wants to follow the vehicle at the current speed exceeding the speed limit of the road on which it is traveling, the preceding vehicle is within the current speed exceeding the speed limit of the road on which it is driving. The vehicle is controlled to follow the vehicle.

  Therefore, it is possible to automatically follow the ACC according to the driver's intention without imposing a burden on the driver.

  In the follow-up running control device according to the second aspect of the present invention, when the follow-up running is canceled by a brake operation or the like, the upper limit vehicle speed set immediately before the release is held in the storage means as the reset vehicle speed.

  Then, when the driver operates the return operation means in order to return to the immediately following follow-up running, it is determined by the storage determination means whether or not the reset vehicle speed is held in the storage means.

  At this time, if the reset vehicle speed is held in the storage means, the upper limit vehicle speed resetting means sets the upper limit vehicle speed of the follow-up travel to the reset vehicle speed, that is, the same upper limit vehicle speed as the follow-up travel immediately before the release. The following traveling control is performed under the same conditions as before the cancellation. If the reset vehicle speed is not held in the storage means, the upper limit vehicle speed is set to the higher of the limit speed or the detected vehicle speed of the vehicle speed detection means according to the vehicle speed at that time. It is controlled to follow running within the range of the upper limit speed.

  Therefore, even if the follow-up running is canceled by a brake operation or the like, if the return operation means is operated, the control automatically returns to the follow-up run just before the release, and the ACC follow-up running can be performed more in line with the driver's intention.

  Next, in order to describe the present invention in more detail, an embodiment thereof will be described in detail with reference to FIGS.

  FIG. 1 is a circuit block diagram of a follow-up travel control device of this embodiment mounted on a host vehicle (vehicle) 1, and FIG. 2 shows the set switch (start operation means) and resume switch (return operation means) of FIG. An example of the operation lever for the concentrated operation of the follow-up running control that constitutes the operation lever is shown, (a) is an explanatory view of the mounting state of the operation lever, and (b) is a partial enlarged view.

  3 is a flowchart of the traveling control of FIG. 1, FIG. 4 is a flowchart of the traveling control for comparison, FIGS. 5 and 6 are explanatory diagrams of the difference between the traveling control of the present embodiment and the traveling control for comparison, and FIG. 7 is an explanatory diagram of the relationship between the travel control of this embodiment and the presence or absence of a preceding vehicle.

(Constitution)
In FIG. 1, reference numeral 2 denotes an ACC control processing unit, which consists of an ECU formed by a microcomputer, RAM, ROM, and the like.

  Reference numeral 3 denotes a radar that sweeps the front of the vehicle 1 in the vehicle width direction and searches, for example, a known infrared radar or ultrasonic radar, and emits infrared or ultrasonic pulses forward while sweeping in the vehicle width direction. Then, the reflected wave from the preceding vehicle or the like ahead of the host vehicle is received and the received output is output to the control processing unit 2.

  Reference numeral 4 denotes a known vehicle speed sensor forming the vehicle speed detection means of the present invention, which detects the vehicle speed of the host vehicle 1 that changes from moment to moment and outputs information on the detected vehicle speed to the control processing unit 2.

  Reference numeral 5 denotes a brake sensor for detecting a brake operation of the own vehicle 1, which includes a detection sensor for lighting a brake lamp, a detection sensor for depressing the brake pedal, and the like. Output.

  Reference numeral 6 denotes a camera that continuously captures the front of the vehicle 1, for example, a color or monochrome monocular video camera having a light receiving portion formed of a CCD, and the captured image output is a well-known pre-crash process (not shown). And used for the speed limit recognition process of the control processing unit 2, and forms the speed limit obtaining means of the present invention together with the control processing unit 2.

  Reference numeral 7 denotes an ACC set switch that forms the start operation means of the follow-up traveling of the present invention, and reference numeral 8 denotes an ACC resume switch that forms the return operation means of the present invention.

  Reference numeral 9 denotes a rewritable memory portion that forms the storage means of the present invention. For example, in the case of a vehicle equipped with an engine, when the engine of the host vehicle 1 is started by turning on the ignition key, the engine is then turned on by operating the ignition key. Until the vehicle stops, the upper limit vehicle speed set by the upper limit vehicle speed setting means of the control processing unit 2 is stored in a freely rewritable manner, and the upper limit vehicle speed immediately before the release is held as the reset vehicle speed after cancellation of the follow-up running.

  Reference numerals 10 and 11 denote an electronic throttle and a brake actuator of the own vehicle 1, which operate according to the acceleration / deceleration control of the traveling control means of the present invention formed by the control processing unit 2 to accelerate and brake the own vehicle 1.

  Then, for example, when the ACC main switch is turned on during traveling, the control processing unit 2 executes the set ACC follow-up traveling control program until the main switch is turned off, as shown in FIG. It operates according to the procedure shown in steps S1 to S12, and forms the speed limit acquisition means, speed determination means, upper limit vehicle speed setting means, travel control means, memory discrimination means, and upper limit vehicle speed resetting means of the present invention.

  The speed limit acquisition means is drawn in the red circular border located at a certain ground height above a certain level on the road side by the image recognition processing of the captured image of the camera 6 and unique to the speed limit display included in the captured image. Therefore, the speed limit of the road on which the vehicle 1 is traveling is acquired from the captured image.

  The speed determining means determines whether or not the vehicle speed detected by the vehicle speed sensor 4 exceeds the speed limit acquired by the speed limit acquiring means.

  The upper limit vehicle speed setting means sets the speed limit acquired by the speed limit acquisition means as the upper limit vehicle speed of the follow-up travel when performing control of the ACC follow-up travel based on the operation of the set switch 7.

  When the traveling control means controls the ACC following traveling based on the operation of the set switch 7 and the resume switch 8, the vehicle speed detected by the vehicle speed sensor 4 exceeds the set upper limit vehicle speed based on the judgment of the speed judging means. The follow-up travel of the own vehicle 1 is controlled by controlling the electronic throttle 10 and the brake actuator 11 so as not to be present.

  The memory determination unit determines whether or not the reset vehicle speed is held in the memory unit 9.

  The upper limit vehicle speed resetting means resets the upper limit vehicle speed as follows based on the determination result of the speed determination means and the determination result of the storage determination means when the resume switch 8 is operated. That is, when the resume switch 8 is operated, if the determination result of the storage determination means is held (when the reset vehicle speed is held), the upper limit vehicle speed is held in the memory unit 9. Set to the reset vehicle speed. On the other hand, when the resume switch 8 is operated, if the determination result of the storage determination means is not retained (if the reset vehicle speed is not retained), the vehicle speed of the host vehicle 1 should be equal to or less than the limit speed. For example, the upper limit vehicle speed is set to the limit speed, and if the vehicle speed of the host vehicle exceeds the limit speed, the upper limit vehicle speed is set to the vehicle speed sensor 4 at that time.

  Next, the set switch 7 of the ACC, the resume switch 8 and the main switch of the ACC are, for example, a follow-up running projecting from a mounting column (steering column) of the steering wheel (handle) 12 shown in FIG. A driver can perform a centralized operation with an operation lever 13 for centralized control. That is, as shown in FIG. 2 (b), the operation portion 13a of the main switch is provided at the tip of the operation lever 13, and by pressing this operation portion 13a as shown by an arrow line a in the drawing, The main switch alternately turns on (push-in lock) and off (lock release). When the operation lever 13 is pushed up as shown by the arrow line b1 in FIG. 2B, the resume switch 8 is turned on, and when the operation lever 13 is pushed down as shown by the arrow line b2 in FIG. The set switch 7 is turned on. Further, when the operation lever 13 is pulled toward the front as shown by the arrow c in FIG. 2B, the control of the ACC follow-up travel is canceled (cancelled) in the same manner as when the brake pedal is depressed.

(Operation)
The ACC follow-up control of the own vehicle 1 based on the above configuration will be described with reference to FIGS. In the case of this embodiment, if there is a preceding vehicle, ACC follow-up traveling control is performed, and if there is no preceding vehicle, constant speed traveling control at a set speed is performed.

  Then, for example, after the engine of the vehicle 1 is started, when the operation unit 13a in FIG. 2B is pressed to turn on the ACC main switch, the control processing unit 2 is in the on state in step S1 in FIG. After confirming this, whether or not the condition for enabling the following traveling control is satisfied in step S2, specifically, the main switch is changed from OFF to ON, and the vehicle speed sensor is currently in normal traveling. 4 determines whether the current vehicle speed of the host vehicle 1 detected by 4 is 40 km / h or more, and the shift lever (not shown) satisfies the AND condition of each condition such as the D range.

  If the condition is satisfied, it is determined in step S3 in FIG. 3 whether or not the set switch 7 is turned on.

  At this time, when the set switch 7 is operated and turned on, the ACC follow-up control is started, so that the process proceeds to step S4 in FIG. Determine if a car is present or absent.

  If there is a preceding vehicle, the process proceeds to step S5, where the vehicle speed detected by the vehicle speed sensor 4 (vehicle speed of the host vehicle 1) is the current vehicle speed of the host vehicle 1 (hereinafter referred to as the set vehicle speed) Vn, the camera 6 Vn <Vg (in this case, Vn = Vg is included), that is, the road on which the driver is traveling, where Vg is the speed limit of the traveling road acquired by the speed limit acquisition means by image processing of the captured image It is determined whether or not it is desired to follow the vehicle within the speed limit.

  Here, when Vn <Vg and the driver desires to follow the vehicle within the speed limit of the road on which the vehicle is traveling, the process proceeds from step S5 to step S6 in FIG. 3, and the upper limit vehicle speed (set vehicle speed) of ACC. Vm is set to the speed limit Vg.

  Then, the process proceeds from step S6 in FIG. 3 to step S7, and the travel control means makes the distance (safety distance) or the inter-vehicle time set to a predetermined value within the range of the speed limit Vg or less. Then, the electronic throttle 10 and the brake actuator 11 are controlled, and the control target vehicle speed is varied within a range not exceeding the speed limit Vg to control the ACC to follow.

  On the other hand, in step S5 of FIG. 3, if Vn> Vg and the driver desires to follow the vehicle even if it exceeds the speed limit Vg of the traveling road, the process proceeds from step S5 to step S8, where ACC The upper limit vehicle speed Vm is set to the own vehicle speed Vn at the time of setting.

  Then, the process proceeds from step S8 to step S7, and the travel control means makes the distance (safety distance) or the inter-vehicle time of a predetermined value set in the inter-vehicle distance or inter-vehicle time within a range equal to or less than the set vehicle speed Vn. Even if the electronic throttle 10 and the brake actuator 11 are controlled and the speed limit Vg is exceeded, if the vehicle speed is equal to or lower than the set vehicle speed Vn, the vehicle speed is controlled as a control target vehicle speed for follow-up running.

  Therefore, when the driver turns on the set switch 7, the vehicle speed of the host vehicle 1 at that time (the vehicle speed Vn at the time of setting) exceeds the speed limit Vg of the traveling road according to the driver's intention. Therefore, it is possible to control the following traveling within the limited vehicle speed Vg or the following traveling exceeding the limited vehicle speed Vg, and it is possible to realize the following traveling according to the driver's intention without imposing a burden on the driver.

  By the way, if the canceling operation is performed or the brake pedal is depressed during the follow-up running control in step S7 in FIG. 3, the process returns from step S9 to step S1 in FIG. Transition to normal travel control based on the operation of the accelerator pedal and brake pedal. At this time, the upper limit vehicle speed Vm immediately before the release is stored in the memory unit 9 and held as a reset vehicle speed (previous Vm value).

  Thereafter, if the set switch 7 is turned on in a condition where the following traveling control is satisfied, the current vehicle speed Vn of the own vehicle 1 and the speed limit Vg of the traveling road at that time are increased or decreased at step S5 in FIG. Based on the comparison, the following traveling control in steps S6 to S8 is performed as described above.

  On the other hand, when the follow switch is released and the resume switch 8 is turned on instead of the set switch 7, the process proceeds from step S3 in FIG. 3 to step S10, and the process proceeds to step S11 through step S10.

  If the reset vehicle speed (previous Vm value) is held in the memory unit 9 (with hold), the process proceeds from step S11 to step S12, and the upper limit vehicle speed Vm of ACC is set to the reset vehicle speed (previous Vm value). To do.

  Furthermore, the process proceeds from step S12 to step S7, and the traveling control unit controls the following traveling under the same speed condition as the previous time.

  Therefore, after the follow-up running is canceled by the brake operation or the release operation during the follow-up running, when the resume switch 8 is turned on, it is possible to easily return to the control of the follow-up running immediately before the release, and the operability is further improved. It is possible to realize the follow-up traveling more easily according to the intention of the driver.

  If the reset vehicle speed (previous Vm value) is not held in the memory unit 9 (no hold), the process proceeds from step S11 to step S4, and the vehicle is traveling at the upper limit vehicle speed Vm in step S6 based on the determination in step S5. Or the upper limit vehicle speed Vm is set to the own vehicle speed when the resume switch 8 is operated and turned on in Step S8 (hereinafter referred to as the vehicle speed during resume), and the process proceeds to Step S7. Then, the speed limit Vg or the vehicle speed at resume is set as the upper limit vehicle speed and the follow-up running is controlled.

  Next, in the present embodiment, when there is no preceding vehicle, it is determined that there is no preceding vehicle in step S4 in FIG. 3 in order to realize constant speed traveling control at the upper limit vehicle speed or the current vehicle speed of the host vehicle 1. If the vehicle speed is changed from step S4 to step S8, the set vehicle speed Vn or the resume vehicle speed Vn is set to the upper limit vehicle speed Vm, then the process proceeds to step S7 to control the vehicle at a constant speed with the upper limit vehicle speed Vm as the control target vehicle speed. To do. Thereby, traveling control performance improves further.

  Further, when the ACC main switch is turned off after the follow-up running release operation, the follow-up running control ends based on the determination in step S1 of FIG.

  3 and the following traveling control of FIG. 4 in which the control target vehicle speed is set to the operation-set set vehicle speed without the upper limit vehicle speed setting means of the present invention. 4, in the follow-up running control of FIG. 4, there is no processing corresponding to steps S4 to S6 of FIG. 3, and steps Q1 to Q3 and Q7 to Q corresponding to steps S1 to S3 and S7 to S12 of FIG. 3. Only the processing of Q12 is performed, and the vehicle speed Vm in the figure is not the upper limit vehicle speed of the present embodiment but a fixed set vehicle speed as the control target vehicle speed. In the follow-up running control of FIG. 4, the upper limit vehicle speed is set to the limit vehicle speed of the road that is running according to the driver's intention as in the present embodiment, and the control target vehicle speed is varied within the range of the limit vehicle speed to be optimal. It is not possible to control the vehicle to follow smoothly.

  That is, the case of the control of FIG. 3 of this embodiment differs from the case of the control of FIG. 4 as follows.

  For example, the difference between the case where the vehicle 1 follows the preceding vehicle traveling on a road with a speed limit of 100 km / h by the control of FIG. 3 of the present embodiment and the case of the vehicle following the control of FIG. Will be described below with reference to FIGS. (A) of both figures shows the case of following running by the control of this embodiment of FIG. 3, and (b) of both figures shows the case of following running by the control of FIG. In FIGS. 5 and 6, α is a preceding vehicle traveling in the same lane as the vehicle 1 on the road β, and γ is a road speed limit sign of the road β taken by the camera 6.

  5A and 5B show a case where the set switch 7 of the host vehicle 1 is operated when the preceding vehicle α is traveling at 80 km / h on a road with a speed limit of 100 km / h. In this case, in the control of FIG. 3 of the present embodiment, by operating the set switch 7, the upper limit vehicle speed (set vehicle speed) Vm is set to the limit speed of 100 km / h, and the control target vehicle speed is within the range of 100 km / h or less. Is automatically adjusted to 80 km / h, and the vehicle 1 follows the vehicle at the same vehicle speed 80 km / h as the preceding vehicle α. On the other hand, in the control of FIG. 4, the vehicle speed of the host vehicle 1 when the set switch 7 is operated (set vehicle speed) is set to the control target vehicle speed. At this time, if the set vehicle speed is 80 km / h, the host vehicle 1 In the same manner, the vehicle travels at the same speed of 80 km / h as the preceding vehicle α. However, if the vehicle speed at the time of setting is not 80 km / h, the vehicle speed of the own vehicle 1 deviates from the vehicle speed of the preceding vehicle α, and the own vehicle 1 keeps a certain distance. If the vehicle cannot follow the preceding vehicle α and is faster than the preceding vehicle α, the vehicle may approach.

  FIGS. 6A and 6B show a case where the preceding vehicle α is accelerated to the speed limit of 100 km / h from the state of FIGS. In this case, in the control of FIG. 3 of the present embodiment, even if the driver does nothing, the control target vehicle speed is automatically adjusted to the limit vehicle speed of 100 km / h according to the acceleration of the preceding vehicle α, and the own vehicle 1 is the preceding vehicle. Follows at the same vehicle speed of 100 km / h as α. On the other hand, in the control of FIG. 4, even if the preceding vehicle α accelerates to 100 km / h, the own vehicle 1 continues to travel at that vehicle speed because the control target vehicle speed is fixed at, for example, 80 km / h. It becomes impossible to follow. Therefore, the driver accelerates by depressing the accelerator pedal of the host vehicle 1, and when the vehicle catches up with the preceding vehicle α, the driver operates the set switch 7 again to change the control target speed to the vehicle speed of the host vehicle 1 at that time (set vehicle speed). This requires complicated operations.

  Next, when the resume switch 8 is operated, in particular, if the reset vehicle speed (previous Vm value) is not held in the memory unit 9, the control of FIG. 3 of this embodiment changes from step S11 to step S4 in FIG. By shifting, the upper limit vehicle speed is set in the same manner as when the set switch 7 is operated according to the presence or absence of the preceding vehicle α, and the follow-up traveling is automatically executed. In the control of FIG. Returning from step Q11 to step Q1, follow-up running cannot be performed. When the reset vehicle speed (previous Vm value) is held in the memory unit 9, the upper limit vehicle speed is set to the reset vehicle speed and the control target vehicle speed is set to the vehicle speed of the preceding vehicle in the control of FIG. On the other hand, the control target vehicle speed is fixed to the reset vehicle speed in the control of FIG. 4, whereas there is the same inconvenience as when the set switch 7 is operated.

  Next, regarding the relationship between the travel control of the host vehicle 1 and the presence / absence of the preceding vehicle α in the present embodiment, the state shifts from the state without the preceding vehicle α to the state in which the preceding vehicle α appears and the preceding vehicle α disappears again. A description will be given with reference to a case.

  As shown in FIG. 7, when the set switch 7 is turned on at T1 with no preceding vehicle α, the upper limit vehicle speed Vm is set to the limit vehicle speed Vg of the traveling road, for example, 100 km / h. Travels at a constant speed of 100 km / h. Next, by this constant speed traveling, when approaching a certain distance to the preceding vehicle α traveling at a speed slower than the limit vehicle speed Vg at T2, for example, 80 km / h, the constant speed traveling control is switched to the following traveling control. The vehicle speed is reduced to 80 km / h. Thereafter (T3), the host vehicle 1 travels following the preceding vehicle α at a vehicle speed of 80 km / h. When the preceding vehicle α disappears due to a lane change at T4, the own vehicle 1 switches to constant speed traveling control again and travels at a constant speed of 100 km / h.

  As described above, in the present embodiment, when there is a preceding vehicle α, when the driver turns on the set switch 7, the vehicle speed of the vehicle 1 at that time (the vehicle speed Vn at the time of setting) Based on whether or not the speed limit Vg is exceeded, according to the driver's intention, it is possible to control the following traveling within the limited vehicle speed Vg or the following traveling exceeding the limited vehicle speed Vg, without burdening the driver. It is possible to realize a follow-up running according to the driver's intention. In addition, if the resume switch 8 is turned on after canceling the follow-up travel, the control of the follow-up travel immediately before the release can be easily restored, and the operability is further improved and the follow-up travel more easily according to the driver's intention. Can be realized.

  Further, when there is no preceding vehicle α, the constant speed traveling control at the speed of the vehicle speed limit of the traveling road or the speed of the own vehicle 1 at that time is controlled by turning on the set switch 7 and the resume switch 8. Is performed, and the traveling control performance can be further improved.

  The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

  For example, the resume switch 8 as the return operation means may be omitted, and the following traveling control may be performed only by the operation of the set switch 7 as the start operation means. In this case, it is not possible to return to the previous follow-up control after the release operation, but since it can be easily reset to the follow-up control by operating the set switch 7, when emphasizing simplification of the configuration and control This is preferable because the resume switch 8 and the memory unit 9 can be omitted.

  Further, the start operation means and the return operation means are not limited to the set switch 7 and the resume switch 8, and needless to say, may be operation switches having various configurations. Furthermore, the software configuration of the control processing unit 2 may be whatever.

  Next, the speed limit acquisition means may be any means, for example, by reading the speed limit of the road included in the map information of the car navigation device mounted on the host vehicle 1, The speed limit may be obtained, or an information service of an intelligent road traffic system (ITS) may be received to obtain the speed limit of the road that is running.

  The present invention can be applied not only to engine-driven vehicles but also to follow-up running control of various vehicles such as battery-driven vehicles and hybrid vehicles.

It is a circuit block diagram of one embodiment of the present invention. FIGS. 1A and 1B show an example of an operation lever for centralized operation in the follow-up running control of FIG. 1, in which FIG. It is a flowchart of the traveling control of FIG. It is a flowchart of the traveling control for comparison with the traveling control of FIG. An example of the difference between the travel control of FIG. 3 and the travel control of FIG. 4 is shown, (a) is a schematic diagram of the travel control of FIG. 3, and (b) is a schematic diagram of the travel control of FIG. 3 shows another example of the difference between the travel control of FIG. 3 and the travel control of FIG. 4, wherein (a) is a schematic diagram of the travel control of FIG. 3, and (b) is a schematic diagram of the travel control of FIG. It is explanatory drawing of the relationship between the travel control of this embodiment, and the presence or absence of a preceding vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Control processing part 3 Radar 4 Vehicle speed sensor 5 Brake sensor 6 Camera 7 Set switch 8 Resume switch 9 Memory part 10 Electronic throttle 11 Brake actuator α Predecessor vehicle

Claims (2)

A vehicle tracking control device having a function of following a preceding vehicle,
Vehicle speed detection means for detecting the vehicle speed of the vehicle;
Speed limit acquisition means for acquiring the speed limit of the road that is running,
Speed determining means for determining whether or not the detected vehicle speed of the vehicle speed detecting means exceeds the speed limit;
Upper limit vehicle speed setting means for setting the speed limit acquired by the speed limit acquisition means as the upper limit vehicle speed of the following travel;
Start operation means for the follow-up running;
Travel control means for controlling the follow-up travel of the vehicle so that the vehicle speed detected by the vehicle speed detection means does not exceed the upper limit vehicle speed based on the determination of the speed determination means by the operation of the start operation means;
The upper limit vehicle speed setting means sets the upper limit vehicle speed to the limit speed if the host vehicle speed is equal to or lower than the limit speed, and detects the upper limit vehicle speed if the host vehicle speed exceeds the limit speed. A follow-up travel control device characterized in that the vehicle speed is set. In the following travel control device according to claim 1,
Storage means for rewritably storing the upper limit vehicle speed set by the upper limit vehicle speed setting means, and holding the upper limit vehicle speed immediately before the release as a reset vehicle speed after the follow-up running is released;
A return operation means for resuming the control of the travel control means and returning to the follow-up travel after releasing the follow-up travel;
Storage determination means for determining whether or not the reset vehicle speed is held in the storage means;
An upper limit vehicle speed resetting unit that resets the upper limit vehicle speed based on the determination result of the speed determination unit and the determination result of the storage determination unit when the return operation unit is operated;
The upper limit vehicle speed resetting means sets the upper limit vehicle speed to the resetting vehicle speed according to the determination result of holding of the memory determination means when the return operation means is operated, According to the determination result, if the vehicle speed of the host vehicle is equal to or lower than the limit speed, the upper limit vehicle speed is set to the limit speed, and if the vehicle speed of the host vehicle exceeds the limit speed, the upper limit vehicle speed is detected by the vehicle speed detection means. A follow-up travel control device characterized in that the vehicle speed is set.

Images