JP2009208650A - Travel control device of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To raise safety of a vehicle in a travel control device of a vehicle which has an ACC (Adaptive Cruise Control) function, even if a preceding vehicle does not exist ahead of the vehicle and a roadblock exists in an adjacent traffic lane. <P>SOLUTION: The travel control device of the vehicle includes: a vehicle speed sensor 13; a target speed setting part 3a which sets up a target speed; a PCM 3 which controls acceleration or deceleration of the vehicle so as to make the travel speed of the vehicle in agreement with the target speed; a preceding vehicle recognition part 1c which recognizes a preceding vehicle ahead of the vehicle; and an ACC controller 1 which controls follow up travel of the vehicle so as to travel following the preceding vehicle. The travel control device of the vehicle further includes: a roadblock recognition part 1d which recognizes the roadblock ahead of the vehicle; and an acceleration limiting means 1e which limits acceleration by the PCM 3. The acceleration limiting part 1e is constituted so as to operate when the preceding vehicle can no longer be recognized by the preceding vehicle recognition part 1c under control of follow up travel by the ACC controller 1 and when the roadblock is recognized at the adjacent traffic lane by the roadblock recognition part 1d. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention controls the vehicle so that the traveling speed of the vehicle coincides with the set target speed. When a preceding vehicle exists in front of the vehicle, the vehicle has a predetermined distance from the preceding vehicle. The present invention relates to a travel control device for a vehicle having an ACC (Adaptive Cruise Control) function for controlling the vehicle so as to follow the vehicle while maintaining a distance.

  In this type of travel control device, when there is a preceding vehicle that travels at a speed lower than the target speed in front of the host vehicle, acceleration / deceleration control of the host vehicle is performed so that the host vehicle follows the preceding vehicle, When the preceding vehicle is lost (lost), acceleration control of the host vehicle is performed so that the traveling speed of the host vehicle matches the target speed. For this reason, for example, even when the preceding vehicle is temporarily lost when turning a curve, the acceleration control of the own vehicle is performed. Therefore, when the curve is finished, the distance between the own vehicle and the preceding vehicle is short. There is a problem of becoming.

In order to solve such a problem, for example, in Patent Document 1, the following traveling control is continued for a predetermined time even after the preceding vehicle is lost, and the predetermined time is shortened as the lateral displacement of the preceding vehicle with respect to the own vehicle increases. A vehicle travel control device is disclosed. According to this travel control device, when the preceding vehicle is temporarily lost as when turning a curve, the follow-up travel control is continued by increasing the predetermined time, while the preceding vehicle changes the lane. As described above, when the preceding vehicle is continuously lost, it is possible to prevent the control for limiting the acceleration of the host vehicle from being unnecessarily continued by shortening the predetermined time.
JP 2003-267085 A

  By the way, for example, if there are obstacles (for example, a faulty vehicle) in the left lane of a three-lane road, there are many people (occupants etc. of the faulty vehicle) around them. It is easy for people to jump into the lane. Further, since the vehicle traveling in the left lane where the obstacle exists is forced to change the lane, the vehicle is likely to interrupt the central lane in the vicinity of the obstacle. Such a person jumping out to the central lane or an interruption of the vehicle may occur when the distance between the vehicles traveling in the central lane is not narrowed, for example, when the vehicle traveling in the central lane is in front of the obstacle. This is especially likely to occur when the lane is changed to the right lane.

  However, in the thing of the said patent document 1, when the preceding vehicle changes lane, since the continuation time of follow-up driving control is shortened, it is because of the obstacle on the road as mentioned above, and the person ahead of the own vehicle There is also a risk of accelerating the host vehicle when a jump or a vehicle interruption occurs.

  The present invention has been made in view of such points, and the object of the present invention is to provide a vehicle travel control device having an ACC function, in which no preceding vehicle exists in front of the host vehicle and in an adjacent lane. It is an object of the present invention to provide a technique for improving the safety of a host vehicle even in a situation where a person jumps out or a vehicle interrupt is likely to occur, such as an obstacle in front of the host vehicle.

  The first aspect of the present invention is a travel speed detecting means for detecting a travel speed of the host vehicle, a target speed setting means for setting a target speed of the host vehicle, and a travel speed detected by the travel speed detecting means. Travel speed control means for performing acceleration / deceleration control for controlling the host vehicle to match the target speed set by the setting means, preceding vehicle recognition means for recognizing a preceding vehicle ahead of the host vehicle, and the host vehicle Is provided with follow-up running control means for carrying out follow-up running control for controlling the own vehicle so as to follow the preceding vehicle recognized by the preceding vehicle recognition means while maintaining a predetermined inter-vehicle distance. An obstacle recognizing means for recognizing an obstacle ahead of the host vehicle, the following traveling control by the following traveling control means, and the obstacle recognizing means by the obstacle recognizing means. Acceleration control by the travel speed control means when the vehicle is recognized in an adjacent lane adjacent to the traveling lane in which the host vehicle is traveling and the preceding vehicle is no longer recognized by the preceding vehicle recognition means And an acceleration limiting means for limiting the above.

  As described above, when the following traveling control is performed by the following traveling control unit and the obstacle is recognized by the obstacle recognizing unit in the adjacent lane adjacent to the traveling lane in which the host vehicle is traveling, the preceding vehicle When the preceding vehicle is no longer recognized by the recognizing device, the acceleration limiting device restricts the acceleration control by the traveling speed control device, so that the acceleration of the host vehicle when passing through the vicinity of the obstacle can be suppressed. Therefore, it is possible to improve the safety of the host vehicle even in a situation in which a person jumps forward of the host vehicle or the vehicle is easily interrupted.

  In a second aspect based on the first aspect, the acceleration limiting means is located on a side opposite to an adjacent lane in which the obstacle is recognized by the obstacle recognition means in the preceding vehicle from the traveling lane. When the preceding vehicle is no longer recognized by the preceding vehicle recognition means due to the lane change to the adjacent lane, the acceleration control by the travel speed control means is limited. is there.

  Thus, when the preceding vehicle is no longer recognized by the preceding vehicle recognizing means because the preceding vehicle has changed from the traveling lane to the adjacent lane opposite to the adjacent lane where the obstacle exists, the acceleration limiting means Therefore, it is possible to limit the acceleration of the own vehicle at the time of changing the lane of the preceding vehicle in which the own vehicle is easily accelerated, and to reduce the opportunity to limit the acceleration. Therefore, the host vehicle can be driven safely and smoothly even in a situation where a person jumps forward of the host vehicle or a vehicle interrupt is likely to occur.

  A third invention further comprises vehicle recognition means for recognizing a vehicle traveling in an adjacent lane in which the obstacle is present in the second invention, wherein the acceleration limiting means is based on the vehicle recognition means. The acceleration control by the travel speed control means is limited only when a vehicle traveling in the adjacent lane where the obstacle is present is recognized.

  Thus, the acceleration limiting means limits the acceleration control by the traveling speed control means only when the vehicle recognizing means recognizes a vehicle traveling in an adjacent lane where an obstacle is present. In a situation where there is a high possibility that the vehicle will interrupt the vehicle, acceleration of the host vehicle can be limited, and opportunities for limiting acceleration can be reduced. Therefore, the host vehicle can be run more safely and smoothly.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the vehicle further includes passage determination means for determining whether or not the host vehicle has passed the side of the obstacle, and the acceleration limitation is performed. The means is configured to stop the operation when the passage determination means determines that the host vehicle has passed the side of the obstacle.

  In this way, the acceleration limiting means stops operating when it is determined by the passage determining means that the host vehicle has passed the side of the obstacle, so that the state where the acceleration is limited is continued more than necessary. Can be suppressed.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the image processing apparatus further includes an imaging unit that images the front of the host vehicle, and the obstacle recognition unit applies an image captured by the imaging unit. Based on this, it is configured to recognize the obstacle.

  Thus, the obstacle recognizing unit recognizes the obstacle based on the image picked up by the image pickup unit, so that the obstacle ahead of the host vehicle can be clearly identified. Therefore, the acceleration of the host vehicle can be quickly limited by reliably predicting a person jumping out or a vehicle interruption.

  A sixth invention according to any one of the first to fourth inventions, further comprising imaging means for imaging the front of the host vehicle, wherein the obstacle recognizing means is imaged by the imaging means. The present invention is characterized in that it is configured to recognize the obstacle based on the posted information on the posted items on the road.

  In this way, the obstacle recognition means recognizes the obstacle based on the posting information of the posting on the traveling road imaged by the imaging means, so that the person jumps out or the vehicle is interrupted before approaching the obstacle. I can foresee. Therefore, even if the preceding vehicle suddenly changes lanes, it is possible to quickly limit the acceleration of the host vehicle.

  According to the present invention, the following traveling control is performed by the following traveling control unit, and the obstacle is recognized by the obstacle recognizing unit in the adjacent lane adjacent to the traveling lane in which the host vehicle is traveling, When the preceding vehicle is no longer recognized by the preceding vehicle recognizing means, the acceleration limiting means restricts the acceleration control by the traveling speed control means, so that even if a person jumps out ahead of the host vehicle or the vehicle interrupts easily The safety of the own vehicle can be improved.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 shows a schematic configuration of a vehicle (corresponding to the host vehicle, which is an automobile in the present embodiment) 5 equipped with the travel control device according to the present embodiment. In the figure, reference numeral 1 denotes an ACC controller as follow-up traveling means, reference numeral 3 denotes a PCM (engine controller) as traveling speed control means, and reference numeral 7 denotes a CCD camera as imaging means for imaging the front of the vehicle 5. Reference numeral 9 denotes a radar device that is provided at the front end of the vehicle 5 and detects an object existing in front of the vehicle 5. The CCD camera 7 and the radar device 9 are connected to the ACC controller 1 and output the information to the ACC controller 1.

  As shown in FIG. 3, the imaging area 17 of the CCD camera 7 (region surrounded by a one-dot chain line in FIG. 3) has a substantially isosceles triangular shape with the apex angle located on the vehicle 5 side in plan view. The vehicle 5 extends from the center upper end portion of the windshield toward the front of the vehicle 5 so that its width increases. The CCD camera 7 captures not only the preceding vehicle and obstacles in front of the vehicle 5 but also a traveling division line (white line) that divides the traveling lane. As shown in FIG. 2, the image data captured by the CCD camera 7 is input to a lane marking detector 1a in the ACC controller 1 and an obstacle recognition unit 1d described later.

  The lane marking detection unit 1a is configured to detect a travel lane marking such as a white line provided in front of the vehicle 5 on the road based on the image data. In the example of FIG. 3, the white lines 27a and 27b on the left and right sides of the vehicle 5, the white line 27c on the left side of the white line 27a on the left side of the vehicle 5, and the white line 27d on the right side of the white line 27b on the right side of the vehicle 5 are recognized. The lane line detection result in the lane line detection unit 1a is input to the travel lane recognition unit 1b in the ACC controller 1, and the travel lane recognition unit 1b is based on the travel lane line detected by the lane line detection unit 1a. Specifically, the section between the detected travel lane markings is recognized as a lane. In the example of FIG. 3, the traveling lane (center lane) 37a in which the vehicle 5 is traveling and the adjacent lanes 37b and 37c on both the left and right sides of the traveling lane 37a are recognized by the traveling lane recognition unit 1b. 1 is input to the preceding vehicle recognition unit 1c and the obstacle recognition unit 1d.

  As shown in FIG. 2, the radar device 9 includes a transmitter 9 b that transmits a radar wave toward the front of the vehicle 5 while scanning a predetermined angle range in a substantially horizontal direction, and the radar wave is an object in front of the vehicle 5. A receiving unit 9a that receives the reflected wave that has been reflected by the receiving unit 9a, and a data processing unit 9c that performs processing for detecting an object based on data received by the receiving unit 9a.

  The transmitter 9b is configured to be able to transmit a radar wave to a preset transmission area. As shown in FIG. 3, this transmission area (area surrounded by a broken line in the figure) 19 has a substantially isosceles triangle shape whose apex angle is located on the vehicle 5 side in plan view. From the front end, it extends so that the width | variety becomes large toward the vehicle 5 front.

  The data processing unit 9c is configured to perform data processing such as filter processing and FFT processing on the data received by the receiving unit 9a. In the example of FIG. 3, the object 15 moving in the travel lane 37a, the object 25 stopped in the adjacent lane 37b, and the moving object 35 are processed. Information on the object 15 in the travel lane 37a (such as the distance between the vehicle 5 and the relative speed with respect to the vehicle 5) is input to the preceding vehicle recognition unit 1c in the control unit 1, and the object 25 in the adjacent lane 37b. , 35 (position of the object, relative speed with respect to the vehicle 5, etc.) is input to the obstacle recognition unit 1d.

  FIG. 2 is a block diagram illustrating a configuration of the travel control apparatus according to the present embodiment. When the travel control device is set to the constant speed travel mode (auto cruise mode) by the operation of the switch operation unit 11 of the driver (occupant) of the vehicle 5, the actual speed of the vehicle 5 is set by the driver. When the preceding vehicle 15 is present in front of the vehicle 5, the following traveling mode is set to follow the preceding vehicle 15 and detected by the radar device 9. The vehicle has an ACC (Adaptive Cruise Control) function for controlling the vehicle 5 so that the inter-vehicle distance to the preceding vehicle 15 is maintained at the target inter-vehicle distance set by the driver.

  The travel control device includes the ACC controller 1 and the PCM 3, and the ACC controller 1 and the PCM 3 input / output information to / from the PCM 3 to the ACC controller 1, for example, a steering wheel 41 of the vehicle 5. The operation information of the operation switch 11 provided in is output, and information on the deceleration or acceleration instruction in the follow-up traveling mode is output from the ACC controller 1 to the PCM 3. Note that it is also possible for the PCM 3 to have the function of the ACC controller 1 so that the PCM 3 performs control in the follow-up running mode.

  In order to set the inter-vehicle distance between the vehicle 5 and the preceding vehicle 15, the operation switch 11 is a main switch 11a that activates or deactivates the cruise system, a cancel switch 11b that cancels the control by the travel control device, and the like. The target inter-vehicle distance setting switch 11c and the set switch 11d for setting the target speed of the vehicle 5 are provided so that operation information from these switches 11a, 11b, 11c, and 11d is input to the PCM 3. It has become.

  The PCM 3 is connected to an accelerator sensor 21 that detects that the accelerator pedal has been depressed, a vehicle speed sensor (travel speed detecting means) 13 that detects the travel speed of the vehicle 5, and the like. Information is input to the PCM 3.

  On the other hand, the ACC controller 1 is connected to a navigation device 39 having a GPS sensor 39 a that detects the current position of the vehicle 5, and inputs information regarding obstacles to the ACC controller 1. The navigation device 39 is configured to perform navigation based on the current position information of the vehicle 5 detected by the GPS sensor 39a.

  The ACC controller 1 also includes a DSC device 29 that performs vehicle stability control (Dynamic Stability Control) for controlling the attitude of the vehicle 5 in the yawing direction by individually controlling the braking force on each wheel, and the instrument of the vehicle 5. It is connected to a meter unit 31 or the like provided on a panel (not shown), and instruction information from the ACC controller 1 is input to these devices.

  Next, control in the constant speed travel mode and the follow travel mode will be described. When the main switch 11a of the operation switch 11 is turned on by the driver while the vehicle is running, the on-operation information is input to the PCM 3 and the ACC controller 1, and the cruise system is activated. Then, when the set switch 11d of the operation switch 11 is turned on by the driver while the cruise system is operating, the constant speed running mode is set, and this on operation information is stored in the target speed setting section in the PCM 3. It is input to 3a. At this time, the vehicle speed sensor 13 detects the actual traveling speed (for example, 80 km / h) of the vehicle 5 at the time of the on operation, and the detected traveling speed is input to the target speed setting unit 3a.

  When the on-operation information of the set switch 11d is input, the target speed setting unit (target speed setting means) 3a uses the traveling speed (80 km / h) at the on-operation detected by the vehicle speed sensor 13 as the target of the vehicle 5. Set as speed. This target speed is input to the acceleration / deceleration control unit 3b in the PCM 3 and also to the ACC controller 1.

  The acceleration / deceleration control unit 3b matches (maintains) the actual traveling speed of the vehicle 5 detected by the vehicle speed sensor 13 with the target speed (80 km / h) when the preceding vehicle 15 does not exist in front of the vehicle 5. In addition, acceleration / deceleration control for controlling the vehicle 5 is performed. More specifically, the acceleration / deceleration control unit 3b operates the auto actuator 23 including a throttle so that the deviation between the traveling speed of the vehicle 5 detected by the vehicle speed sensor 13 and the target speed converges to zero. It is configured.

  On the other hand, when there is a preceding vehicle ahead of the vehicle 5, the ACC controller 1 follows the preceding vehicle while maintaining the predetermined inter-vehicle distance set by the target inter-vehicle distance setting switch 11c with respect to the preceding vehicle. Then, the vehicle 5 is accelerated or decelerated. More specifically, as described above, the preceding vehicle recognition unit 1c recognizes the object 15 as the preceding vehicle 15 ahead of the vehicle 5 when information on the object 15 in the traveling lane 37a is input from the data processing unit 9c. At the same time, the ACC controller 1 outputs information on a deceleration or acceleration instruction to the PCM 3 based on information related to the preceding vehicle 15 recognized by the preceding vehicle recognition unit 1c (such as a distance between the vehicle 5 and a relative speed with respect to the vehicle 5). . For example, when the preceding vehicle 15 is traveling at 60 km / h, in order to maintain a predetermined inter-vehicle distance, the vehicle 5 is caused to travel at 60 km / h instead of the target speed of 80 km / h. Outputs deceleration instruction information. The acceleration / deceleration control unit 3b operates the auto actuator 23 in accordance with the deceleration instruction from the ACC controller 1 to perform acceleration / deceleration control of the vehicle 5.

  As described above, when the set switch 11d of the switch operation unit 11 is turned on by the driver, the travel control device according to the present embodiment enters the constant speed travel mode when the preceding vehicle 15 does not exist in front of the vehicle 5. When the preceding vehicle 15 is present in front of the vehicle 5, the following traveling mode is set. However, when the preceding vehicle 15 is lost (lost) in the following traveling mode, the mode is unconditionally shifted to the constant speed traveling mode. Instead, it is configured to limit the acceleration of the vehicle 5 by the acceleration / deceleration control unit 3b when the predetermined condition is satisfied (continue the follow running mode). Specifically, as shown in FIG. 3, the travel control device is in an adjacent lane (adjacent left side) adjacent to a travel lane (central lane) 37 a in which the ACC controller 1 is following the travel control and the vehicle 5 is traveling. Lane) 37b when the obstacle 25 is recognized, and the preceding vehicle 15 changes the lane from the traveling lane 37a to the adjacent lane (right adjacent lane) 37c opposite to the left adjacent lane 37b. When the preceding vehicle 15 is no longer recognized by the vehicle recognition unit 1c (when the preceding vehicle 15 is lost), the acceleration control by the acceleration / deceleration control unit 3b is limited. As described above, the acceleration of the vehicle 5 is limited when the predetermined condition is satisfied for the following reason.

  That is, when the preceding vehicle 15 is lost (disappeared) in the follow-up running mode, for example, on a straight road as shown in FIG. 3, the preceding vehicle 15 exceeds the target speed of the vehicle 5 from 60 km / h to 80 km / h. When the vehicle is accelerated to a speed (for example, 100 km / h) and the inter-vehicle distance between the vehicle 5 and the preceding vehicle 15 exceeds a predetermined distance, the preceding vehicle recognition unit 1c loses the preceding vehicle 15, or 60 km / h It is assumed that the preceding vehicle 15 that travels in the direction of the preceding vehicle 15 loses the preceding vehicle 15 by changing the lane from the traveling lane 37a to the right adjacent lane 37c.

  Here, when the preceding vehicle 15 is lost due to acceleration of the preceding vehicle 15, the vehicle 5 follows the preceding vehicle 15 until the vehicle 5 reaches the target speed. When the preceding vehicle 15 loses the preceding vehicle 15 by changing the lane, the acceleration of the vehicle 5 is gradually performed while maintaining the inter-vehicle distance between the preceding vehicle 15 and the preceding vehicle 15. The acceleration control of the vehicle 5 from 60 km / h to 80 km / h is performed in an open state (a state in which no other vehicle exists in front of the vehicle 5).

  On the other hand, as shown in FIG. 3, when the vehicle 25 is stopped on the left adjacent lane 37b due to a failure or the like, there are many passengers (people) in the vicinity of the failed vehicle 25. When the vehicle is not traveling on the traveling lane 37a, or when the position where the broken vehicle 25 is stopped and the position of the vehicle 5 traveling on the traveling lane 37a are separated to some extent, the vicinity of the broken vehicle 25 There is a possibility that a person in the area jumps out to the traveling lane 37a.

  And when the lane change of the preceding vehicle 15 is performed when the broken vehicle 25 exists in the left adjacent lane 37b, for example, as shown in FIG. 4A, the vehicle 5 is a preceding vehicle on a three-lane road on one side. 15, while traveling in the driving lane 37a while following the vehicle 15 and the faulty vehicle 25 is stopped in the adjacent lane 37b on the left side (upper side in FIG. 4), as shown in FIG. When 15 changes lanes to the adjacent lane 37c on the right side (lower side in FIG. 4), acceleration control is performed in order to make the traveling speed coincide with the target speed, but the distance between the vehicle 5 and the preceding vehicle is clogged. Therefore, there is a high possibility that the person P in the vicinity of the failed vehicle 25 will jump out ahead of the vehicle 5 on which acceleration control is being performed.

  Therefore, the travel control device according to the present embodiment further includes an obstacle recognition unit 1d that recognizes an obstacle ahead of the vehicle 5, and an acceleration limiting unit 1e that limits acceleration by the acceleration / deceleration control unit 3b.

  The obstacle recognition unit (obstacle recognition means) 1d is configured to recognize the obstacle 25 based on the image captured by the CCD camera 7 and input information from the radar device 9. For example, the obstacle recognizing unit 1d recognizes that the obstacle is a vehicle based on the image data, and recognizes that the vehicle is a faulty vehicle when the hazard flasher of the vehicle is blinking. And the recognition information of this broken vehicle 25 is input into the said acceleration restriction | limiting part 1e.

  In the acceleration limiting unit (acceleration limiting means) 1e, the vehicle 5 travels following the preceding vehicle 15 by the ACC controller 1, and the faulty vehicle 25 is recognized in front of the vehicle 5 in the left adjacent lane 37b by the obstacle recognition unit 1d. The preceding vehicle 15 to be tracked is configured to operate when the preceding vehicle 15 is lost due to the lane change from the traveling lane 37a to the right adjacent lane 37c. Has been. Thus, since acceleration of the vehicle 5 is limited when predetermined conditions (the presence of the failed vehicle 25 and the lane change of the preceding vehicle 15) are satisfied, when the preceding vehicle 15 changes the lane, the failed vehicle 25 Even if the person P in the vicinity should jump out ahead of the vehicle 5, it can respond quickly (brake operation etc.).

  Furthermore, the recognition information of the broken vehicle 25 by the obstacle recognition unit 1d is input to the passage determination unit 1f in the ACC controller 1. The passage determination (passage determination means) unit 1f is configured to determine whether or not the vehicle 5 has passed the side of the failed vehicle 25 recognized by the obstacle recognition unit 1d. Specifically, the presence or absence of the failed vehicle 25 in front of the vehicle 5 is confirmed from the relative predicted position of the vehicle 5 with respect to the failed vehicle 25 calculated based on the elapsed time and the image data obtained by the CCD camera 7. Thus, it is determined whether or not the vehicle 5 has overtaken the failed vehicle 25. Since the acceleration by the acceleration / deceleration control unit 3b does not need to be limited if the vehicle 5 passes by the side of the failed vehicle 25, the acceleration limiting unit 1e causes the passage determining unit 1f to make the vehicle 5 beside the failed vehicle 25. When it is determined that the vehicle has passed, the operation is stopped.

-Operation of the travel control device-
Here, the processing operation of the travel control device will be described based on the flowchart of FIG.

  First, in step SA1, it is determined whether or not the ACC function is operating, that is, whether or not it is a follow-up running mode. If the determination in step SA1 is NO, the processing operation is terminated. On the other hand, if the determination in step SA1 is yes, the process proceeds to step SA2.

  In the next step SA2, it is determined whether there is a broken vehicle 25 ahead of the vehicle 5 in the left adjacent lane 37b. If the determination in step SA2 is NO, the processing operation is terminated. On the other hand, when the determination in step SA2 is YES, the process proceeds to step SA3.

  In step SA3, it is determined whether or not the preceding vehicle 15 to be followed is lost. When the determination in step SA3 is NO, that is, when the preceding vehicle 15 is traveling ahead of the vehicle 5 and the preceding vehicle recognition unit 1c recognizes the preceding vehicle 15, the processing operation is terminated. On the other hand, when the determination in step SA3 is YES, the process proceeds to step SA4.

  In the next step SA4, it is determined whether or not the preceding vehicle 15 lost in step SA3 has been changed to the right adjacent lane 37c opposite to the failed vehicle 25. If the determination in step SA4 is NO The processing operation is finished. On the other hand, when the determination in step SA4 is YES, the process proceeds to step SA5.

  In the next step SA5, the acceleration of the vehicle 5 by the acceleration / deceleration control unit 3b is limited, and then the process proceeds to step SA6. In the next step SA6, it is determined whether or not the vehicle 5 has passed the side of the broken vehicle 25. If the determination in step SA6 is NO, the process returns to step SA5 to limit acceleration by the acceleration limiting unit 1e. And the determination in step SA6 is performed again. On the other hand, when the determination in step SA6 is YES, that is, when the vehicle 5 passes by the side of the failed vehicle 25, the process proceeds to step SA7.

  In the next step SA7, the limitation on acceleration by the acceleration limiting unit 1e is released, and then the processing operation is terminated.

-Effect-
According to the present embodiment, the following vehicle control is being performed by the ACC controller 1 and the obstacle vehicle 25 is recognized by the obstacle recognition unit 1d in the left adjacent lane 37b, and the preceding vehicle recognition unit 1c performs the preceding vehicle. When 15 is no longer recognized, the acceleration limiting unit 1e limits the acceleration control by the PCM 3, so that the acceleration of the vehicle 5 when passing through the vicinity of the failed vehicle 25 can be suppressed. Therefore, the safety of the vehicle 5 can be improved even in a situation where a person P jumps out of the vehicle 5 or an interruption of the vehicle 35 easily occurs.

  Since the preceding vehicle 15 is not recognized by the preceding vehicle recognizing unit 1c because the preceding vehicle 15 has changed from the traveling lane 37a to the right adjacent lane 37c, the acceleration limiting unit 1e is activated. As a result, the acceleration of the vehicle 5 can be limited when the lane of the preceding vehicle 15 is easily changed, and the opportunity to limit the acceleration can be reduced. Therefore, the vehicle 5 can be run safely and smoothly even in a situation where a person P jumps out of the vehicle 5 or an interruption of the vehicle 35 easily occurs.

  Furthermore, since the acceleration limiting unit 1e stops operating when the passage determining unit 1f determines that the vehicle 5 has passed the side of the failed vehicle 25, the state where the acceleration is limited is continued more than necessary. Can be suppressed.

  Further, since the obstacle recognition unit 1d recognizes the failed vehicle 25 based on the image captured by the CCD camera 7, it is possible to clearly identify the failed vehicle 25 in front of the vehicle 5. Therefore, the acceleration of the vehicle 5 can be quickly limited by reliably predicting the jumping out of the person P or the interruption of the vehicle 35.

(Embodiment 2)
The present embodiment is different from the first embodiment in that the processing operation of the acceleration limiting unit 1e and the vehicle recognition unit 1g are provided. Hereinafter, differences from the first embodiment will be described.

  For example, as shown in FIG. 6 (a), the vehicle 5 travels on the traveling lane 37a while following the preceding vehicle 15 on a road with three lanes on one side, and the broken vehicle 25 is placed on the adjacent lane 37b on the left side (upper side in FIG. 6). When the vehicle stops and the other vehicle 35 is traveling in the adjacent lane 37b, as shown in FIG. 6B, the preceding vehicle 15 lanes to the adjacent lane 37c on the right side (lower side in FIG. 6). When the change is made, acceleration control is performed in order to make the traveling speed coincide with the target speed. However, since the distance between the vehicle 5 and the preceding vehicle is not reduced, the vehicle 5 in front of which acceleration control is being performed is shown in FIG. As shown to c), there exists a possibility that the other vehicle 35 may interrupt.

  Since the frequency of such an interruption of the vehicle 35 is particularly high, the acceleration limiting unit 1e determines that the preceding vehicle 15 is in a state where the broken vehicle 25 is recognized in the left adjacent lane 37b by the obstacle recognition unit 1d. By changing the lane from the driving lane 37a to the right adjacent lane 37c, not only the condition that the preceding vehicle recognition unit 1c loses the preceding vehicle 15 but also the left recognition lane 37b is driven by the vehicle recognition unit 1g (see FIG. 7). It is configured to operate only when the vehicle 35 is recognized.

  That is, as shown in FIG. 7, the travel control device according to the present embodiment further includes a vehicle recognition unit (vehicle recognition unit) 1 g, which includes an image captured by the CCD camera 7 and Based on the input information from the radar device 9, the vehicle 35 traveling in the left adjacent lane 37b is recognized. And the recognition information of this traveling vehicle 35 is input into the said acceleration restriction | limiting part 1e.

  The acceleration limiting unit 1e is in the case where the ACC controller 1 is performing follow-up traveling control and the obstacle recognition unit 1d recognizes the failed vehicle 25 in the left adjacent lane 37b, and the preceding vehicle 15 is in the traveling lane 37a. Since the preceding vehicle recognition unit 1c no longer recognizes the preceding vehicle 15 and the vehicle recognition unit 1g recognizes the vehicle 35 traveling in the left adjacent lane 37b. The acceleration control by the deceleration control unit 3b is limited.

-Operation of the travel control device-
Here, the processing operation of the travel control device will be described based on the flowchart of FIG. Note that steps SB1 to SB4 in FIG. 8 are the same as steps SA1 to SA4 in the flowchart shown in FIG.

  In step SB5, it is determined whether another vehicle 35 is traveling in the left adjacent lane 37b. When the determination in step SB5 is NO, that is, when it is determined that there is no possibility that another vehicle 35 will be in the traveling lane 37a, the processing operation is terminated. On the other hand, when the determination in step SB5 is YES, the process proceeds to step SB6.

  In the next step SB6, acceleration of the vehicle 5 by the acceleration / deceleration control unit 3b is limited, and then the process proceeds to step SB7. In the next step SB7, it is determined whether or not the vehicle 5 has passed the side of the failed vehicle 25. If the determination in step SB7 is NO, the process returns to step SB6 to limit acceleration by the acceleration limiting unit 1e. And the determination in step SB7 is performed again. On the other hand, when the determination in step SB7 is YES, that is, when the vehicle 5 has passed the side of the failed vehicle 25, the process proceeds to step SB8.

  In the next step SB8, the limitation on acceleration by the acceleration limiting unit 1e is released, and then the processing operation is terminated.

-Effect-
According to the present embodiment, the acceleration limiting unit 1e limits the acceleration control by the PCM 3 only when the vehicle 35 traveling in the left adjacent lane 37b is recognized by the vehicle recognition unit 1g. As a result, it is possible to limit the acceleration of the vehicle 5 in a situation where there is a high possibility that the vehicle 35 will interrupt, and to reduce the opportunity to limit the acceleration. Therefore, the vehicle 5 can travel more safely and smoothly.

(Embodiment 3)
In the present embodiment, the processing operation of the obstacle recognition unit 1d is different from those in the first and second embodiments. Hereinafter, differences from the first and second embodiments will be described.

  The obstacle recognizing unit 1d is configured to recognize the failed vehicle 25 on the basis of bulletin board information posted on an electric bulletin board (posted item) taken by the CCD camera 7. Specifically, for example, character information such as “Accident occurred 2 km ahead” or “Warning about the presence of a faulty car” posted on the electronic bulletin board on the road is imaged by the CCD camera 7, and the obstacle recognition unit is used as imaging data. 1d. Thereby, the obstacle recognizing unit 1d can recognize the presence of the failed vehicle 25, for example, 2 km before the position where the failed vehicle 25 exists, and the acceleration limiting unit to which the recognition information of the failed vehicle 25 is input. 1e can quickly limit acceleration when the preceding vehicle 15 changes lanes.

-Effect-
According to the present embodiment, the obstacle recognizing unit 1d recognizes the failed vehicle 25 based on the information posted on the electric bulletin board on the traveling road imaged by the CCD camera 7, so that the person P before approaching the failed vehicle 25 can be recognized. Can be predicted and an interruption of the vehicle 35 can be foreseen. Therefore, even if the preceding vehicle 15 suddenly changes lanes, the acceleration of the vehicle 5 can be quickly limited. The posted material is not limited to the electronic bulletin board, and may be a construction signboard, for example.

(Other embodiments)
In each of the above-described embodiments, when the preceding vehicle 15 changes the lane from the traveling lane 37a to the right adjacent lane 37c, when the preceding vehicle recognition unit 1c loses the preceding vehicle 15, the acceleration limiting unit 1e is activated. However, the present invention is not limited to this. For example, the preceding vehicle 15 suddenly accelerates at a speed exceeding the speed limit, and the distance between the vehicle 5 and the vehicle 5 becomes longer than a predetermined value. The acceleration limiting unit 1e may be operated when lost.

  Moreover, in each said embodiment, although the obstruction recognition part 1d is comprised so that the failure vehicle 25 may be recognized based on the posting information of the electronic bulletin board on the target object or driving path imaged with the CCD camera 7. FIG. Not limited to this, for example, the failed vehicle 25 may be recognized based on traffic information of VICS (Vehicle Information And Communication System) output from the navigation device 39.

  Further, in each of the above embodiments, the passage determination unit 1 f is configured to determine whether or not the vehicle 5 has passed the side of the failed vehicle 25 using the front camera (CCD camera) 7 and the radar device 9. However, for example, a rear camera that captures the rear of the vehicle 5 is installed, and it is determined whether the vehicle 5 has passed the side of the failed vehicle 25 using image data obtained by the rear camera. Good.

  The present invention is not limited to the embodiments, and can be implemented in various other forms without departing from the spirit or main features thereof.

  As described above, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  As described above, according to the present invention, while the traveling speed of the vehicle coincides with the target speed, when a preceding vehicle exists in front of the vehicle, the vehicle follows the traveling while maintaining a predetermined inter-vehicle distance with respect to the preceding vehicle. Thus, the present invention is useful for a travel control device for a vehicle having an ACC function for controlling the vehicle.

1 is a perspective view showing a schematic configuration of a vehicle equipped with a travel control device according to the present invention. It is a block diagram which shows schematic structure of a traveling control apparatus. It is a top view which shows typically the transmission area of a radar apparatus, and the imaging area of a CCD camera. FIG. 2 is a schematic plan view for explaining a traveling state during ACC operation, in which FIG. (A) shows a state of following the preceding vehicle and FIG. (B) shows a state in which the preceding vehicle is lost. It is a flowchart which shows operation | movement of a traveling control apparatus. FIG. 4 is a schematic plan view for explaining a traveling state during ACC operation, where FIG. (A) is a state of traveling following a preceding vehicle, FIG. (B) is a state in which the preceding vehicle is lost, and FIG. Is a state in which another vehicle has interrupted. It is a block diagram which shows schematic structure of a traveling control apparatus. It is a flowchart which shows operation | movement of a traveling control apparatus.

Explanation of symbols

1 ACC controller (follow-up running control means)
1c Prior vehicle recognition unit (preceding vehicle recognition means)
1d Obstacle recognition unit (obstacle recognition means)
1e Acceleration limiting part (acceleration limiting means)
1f Passing judgment unit (passing judgment means)
1g Vehicle recognition unit (vehicle recognition means)
3 PCM (travel speed control means)
3a Target speed setting section (target speed setting means)
5 Vehicle (own vehicle)
7 CCD camera (imaging means)
9 Radar device (preceding vehicle recognition means) (obstacle recognition means) (vehicle recognition means)
13 Vehicle speed sensor (travel speed detection means)
15 Leading vehicle 25 Faulty vehicle (obstacle)
35 Vehicle 37a traveling in left adjacent lane 37a Traveling lane 37b Adjacent lane 37c where obstacle exists Right adjacent lane

Claims (6)

Travel speed detection means for detecting the travel speed of the host vehicle, target speed setting means for setting the target speed of the host vehicle, and the travel speed detected by the travel speed detection means are set by the target speed setting means. Traveling speed control means for performing acceleration / deceleration control for controlling the host vehicle so as to match the target speed, preceding vehicle recognition means for recognizing a preceding vehicle ahead of the own vehicle, and the own vehicle being the preceding vehicle recognition means The vehicle travel control device includes follow-up travel control means for performing follow-up travel control for controlling the host vehicle so as to follow the preceding vehicle recognized by the vehicle while maintaining a predetermined inter-vehicle distance. And
Obstacle recognition means for recognizing an obstacle ahead of the host vehicle;
The following traveling control is performed by the following traveling control unit, and the obstacle is recognized by the obstacle recognizing unit in the adjacent lane adjacent to the traveling lane in which the host vehicle is traveling, A vehicle travel control device, further comprising: an acceleration limiting unit that limits acceleration control by the travel speed control unit when the preceding vehicle is no longer recognized by the preceding vehicle recognition unit. The vehicle travel control apparatus according to claim 1,
The acceleration limiting means recognizes the preceding vehicle by changing the lane from the traveling lane to the adjacent lane opposite to the adjacent lane where the obstacle recognized by the obstacle recognizing means exists. A travel control device for a vehicle, characterized in that when the preceding vehicle is no longer recognized by the means, the acceleration control by the travel speed control means is limited. The vehicle travel control apparatus according to claim 2,
Vehicle recognition means for recognizing a vehicle traveling in an adjacent lane where the obstacle exists,
The acceleration limiting means is configured to limit acceleration control by the traveling speed control means only when a vehicle traveling in an adjacent lane where the obstacle exists is recognized by the vehicle recognition means. A vehicle travel control apparatus characterized by the above. In the vehicle travel control device according to any one of claims 1 to 3,
The vehicle further comprises passage determining means for determining whether or not the vehicle has passed the side of the obstacle,
The acceleration control means is configured to stop the operation when the passage determination means determines that the host vehicle has passed the side of the obstacle. . In the travel control device for a vehicle according to any one of claims 1 to 4,
It further comprises imaging means for imaging the front of the host vehicle,
The vehicle obstacle control device, wherein the obstacle recognition means is configured to recognize the obstacle based on an image taken by the imaging means. In the travel control device for a vehicle according to any one of claims 1 to 4,
It further comprises imaging means for imaging the front of the host vehicle,
The vehicle obstacle controller according to claim 1, wherein the obstacle recognition means is configured to recognize the obstacle based on the posting information of the posting on the traveling road imaged by the imaging means.

Images