JP2010105605A - Radar cruise control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a radar cruise control system which prevents an own-vehicle from stopping in a stop forbiddance zone when the own-vehicle starts according to a start operation by a driver after stopping just before a stop forbiddance zone. <P>SOLUTION: In the radar cruise control system for executing preceding vehicle follow-up control for making the own-vehicle travel following-up a preceding vehicle including at least stop holding control for making the own-vehicle stop according to the stop of the preceding vehicle, when the own-vehicle stops just before a stop forbiddance zone, and a start operation is performed by a driver, whether or not the own-vehicle is put in such situations that the own-vehicle is made to stop in the stop forbiddance zone under the stop holding control even after the own-vehicle starts according to the start operation is determined. As a result, when it is determined that the own-vehicle is put in such situations that the own-vehicle is made to stop in the stop forbiddance zone even after the own-vehicle starts according to the start operation, the start of the own-vehicle following the start operation is forbidden. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a radar cruise control system, and in particular, a radar cruise control system including at least a stop holding control for stopping the host vehicle when the preceding vehicle stops as the preceding vehicle following control for causing the host vehicle to follow the preceding vehicle. About.

2. Description of the Related Art Conventionally, a radar cruise control system that executes preceding vehicle follow-up control that causes a host vehicle to follow a preceding vehicle is known (see, for example, Patent Document 1). In this system, when the preceding vehicle stops, the own vehicle follows the stop and automatically stops at a safe inter-vehicle distance. In addition, after the vehicle stops, when the preceding vehicle starts and the inter-vehicle distance increases, the host vehicle starts when the driver performs a starting operation. That is, if the host vehicle is automatically stopped as the preceding vehicle stops, the host vehicle will not start if the driver does not perform a start operation even if the preceding vehicle starts and the inter-vehicle distance increases. Not started. Therefore, when the preceding vehicle follow-up control is executed when the host vehicle starts, it is possible to cope with a sudden jump-out or an interrupted vehicle, and it is possible to ensure the safety of the host vehicle.
JP-A-10-147160

  However, in the preceding vehicle follow-up control described above, when the own vehicle always starts when the own vehicle stops, the distance between the preceding vehicle increases and the start operation is performed by the driver after the increase, Inconvenience may occur. That is, if the driver performs a start operation while the host vehicle is approaching the preceding vehicle and stops, no problem will occur even if the host vehicle starts according to the start operation. If the vehicle starts when the driver is starting in front of a stop-prohibited area such as an intersection or railroad crossing, the vehicle will start immediately after the start due to traffic jams. When the vehicle stops, the area where the host vehicle can stop is not secured at a position beyond the stop prohibited area, and the host vehicle may stop within the stop prohibited area. Therefore, in the configuration in which the host vehicle always starts when the driver performs a start operation after the host vehicle stops, the host vehicle travels on another road that crosses the road on which the host vehicle travels. There is a possibility that safe driving of the vehicle cannot be secured.

  The present invention has been made in view of the above points. When the vehicle starts according to the start operation by the driver after stopping immediately before the stop prohibited area, the host vehicle stops in the stop prohibited area. An object of the present invention is to provide a radar cruise control system that prevents the above-described problem.

  The above object is a radar cruise control system for executing preceding vehicle follow-up control for causing the own vehicle to follow the preceding vehicle, including at least stop holding control for stopping the own vehicle when the preceding vehicle stops. If the driver performs a start operation while the vehicle is stopped just before the stop-prohibited area, the vehicle will stop in the stop-prohibited area by the stop holding control even if the vehicle starts according to the start operation. A stop prediction judging means in a stop prohibited area for judging whether or not there is a stop prediction judgment judging means in the stop prohibited area, and even if the host vehicle starts in accordance with the start operation, the stop is in a stop prohibited area. If it is determined, this is achieved by a radar cruise control system comprising a start prohibiting means for prohibiting the start of the host vehicle in accordance with the start operation.

  In this aspect of the invention, when the driver performs a start operation while the host vehicle is stopped just before the stop-prohibited area, at the time of the operation, the host vehicle that starts according to the start operation stops in the stop-prohibited area. In the case where it is determined whether or not the vehicle is in a situation to be performed and an affirmative determination is made, the start of the host vehicle in accordance with the start operation is prohibited. Therefore, according to the present invention, it is possible to prevent the host vehicle from stopping in the stop prohibited area when the host vehicle starts in accordance with the start operation by the driver after stopping immediately before the stop prohibited area.

  By the way, in the radar cruise control system described above, the stop prediction determination means in the stop prohibited area is information on a preceding vehicle when a start operation is performed by the driver when the host vehicle is stopped immediately before the stop prohibited area. Based on the information on the stop prohibited area, whether or not the vehicle is in a situation where the vehicle is stopped in the stop prohibited area is determined by the stop holding control even if the vehicle starts according to the start operation.

  Further, in the radar cruise control system described above, when it is determined by the stop prediction determination stop means in the stop prohibited area that the vehicle is stopped in the stop prohibited area even if it starts according to the start operation, the start operation If the vehicle is provided with a start prohibition notification means that informs the driver that the start of the vehicle according to the vehicle is not performed, the driver who performed the start operation recognizes that the vehicle is not started by the start operation Can do.

  In the present invention, the “stop prohibited area” is a road area where a vehicle cannot be stopped for a long time. For example, in a crossing where a plurality of roads intersect (within a crossing) or a road is a railroad There are places where stop prohibition markings have been made, such as in the crossings that intersect with railway tracks (within the crossings), in front of police stations and fire stations.

  ADVANTAGE OF THE INVENTION According to this invention, when starting the vehicle according to start operation by a driver | operator after the own vehicle stops just before a stop prohibition area, it can prevent that the own vehicle stops in a stop prohibition area.

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

  FIG. 1 shows a configuration diagram of a radar cruise control system 10 mounted on a vehicle according to an embodiment of the present invention. A radar cruise control system (hereinafter referred to as a CC system) 10 according to the present embodiment is a predetermined vehicle that follows a host vehicle (the total length from the front end to the rear end is L1) that travels ahead of the host vehicle. It is an apparatus which implements the control (preceding vehicle following control) which carries out following driving | running | working, maintaining the target inter-vehicle distance. The preceding vehicle follow-up control is to vary the target inter-vehicle distance held between the own vehicle and the preceding vehicle according to the own vehicle speed and the set distance (for example, long, medium, short).

  As shown in FIG. 1, the CC system 10 includes an electronic control unit (hereinafter referred to as an inter-vehicle control ECU) 12 mainly composed of a microcomputer. A radar device 14, an infrastructure device 16, and a navigation device 18 are electrically connected to the inter-vehicle control ECU 12.

  The radar device 14 is a device for detecting information of a preceding vehicle to be followed, and specifically, an inter-vehicle distance D1 from the own vehicle to the preceding vehicle using a millimeter wave radar or a laser radar. It has a distance sensor and outputs a signal corresponding to the inter-vehicle distance D1. The infrastructure device 16 is a device installed on or mounted on a road for detecting the state of the road on which the vehicle travels. Specifically, the infrastructure device 16 may be an intersection or a railroad crossing that the vehicle is about to pass. Using a signal that is wirelessly transmitted from a traffic light or circuit breaker in a stop-prohibited area, or a captured image obtained by photographing a traffic light, circuit breaker, stop prohibition sign in front of a police station, etc. with a camera mounted on the vehicle, the traffic light Detects the state of the machine and the breaker, and outputs a signal according to the state. The navigation device 18 detects the position of the host vehicle and also determines the shape of each stop-prohibited area (specifically, the size of the intersection and the crossing in the traveling direction, that is, the stop line before the crossing and the crossing. A signal indicating the position of the host vehicle and the shape of the stop-prohibited area that the host vehicle is about to pass through, such as the distance to the passing completion position or the size of the stop prohibition sign in the traveling direction). Output.

  Outputs of the radar device 14, the infrastructure device 16, and the navigation device 18 are respectively supplied to the inter-vehicle control ECU 12. The inter-vehicle control ECU 12 detects the inter-vehicle distance D1 from the preceding vehicle based on the output of the radar device 14, and based on the output of the infrastructure device 16, the state of the traffic light on the road on which the host vehicle travels (progress possible indicated by blue, (Prohibition of progress indicated by red, or principle prohibition indicated by yellow) and the state of the breaker (open / close state of the breaker bar) are detected, and the position of the host vehicle and the stop-prohibited area based on the output signal of the navigation device 18 Detect the shape. Then, the preceding vehicle follow-up control described above is executed based on the detection result.

  The inter-vehicle control ECU 12 also executes a preceding vehicle follow-up control that causes the host vehicle to follow the preceding vehicle while maintaining a predetermined inter-vehicle distance. When the preceding vehicle stops during the follow-up control, the preceding vehicle Control (stop holding control) is performed to stop the host vehicle when the vehicle stops. In this stop holding control, the host vehicle is stopped so as to ensure a stop inter-vehicle distance L2 defined between the preceding vehicle that has stopped.

  A start request switch 20 is also electrically connected to the inter-vehicle control ECU 12. The start request switch 20 is disposed in the vicinity of the driver's seat so that the driver of the host vehicle can operate. For example, a switch disposed on the steering wheel, an accelerator pedal switch for detecting depression of the accelerator pedal, or depression of the accelerator pedal It is composed of an accelerator pedal position sensor that detects the amount. The output information of the start request switch 20 is supplied to the inter-vehicle control ECU 12. The inter-vehicle control ECU 12 detects the presence or absence of a driver's start request based on the output information of the start request switch 20, and performs control (start control) for starting the host vehicle from a situation where the host vehicle is stopped by stop holding control. Do.

  A brake actuator 22, a throttle actuator 24, and a meter display unit 26 are electrically connected to the inter-vehicle control ECU 12. The brake actuator 22 is an actuator that brakes a wheel mounted on the host vehicle, and is driven in accordance with a drive command from the inter-vehicle control ECU 12. The throttle actuator 24 is an actuator that adjusts the throttle opening of the host vehicle, and is driven according to a drive command from the inter-vehicle control ECU 12. The meter display unit 26 is provided in front of the driver's seat so that the driver of the host vehicle can visually recognize, and is a display device that provides various information to the driver through vision. The meter display unit 26 follows a drive command from the inter-vehicle control ECU 12. Display.

  Next, operation | movement of CC system 10 of a present Example is demonstrated.

  In the present embodiment, the inter-vehicle control ECU 12 of the CC system 10 performs the preceding vehicle following control after a predetermined set operation or the like is performed by the driver. Specifically, since there is no preceding vehicle, a signal indicating the inter-vehicle distance D1 is not output from the radar device 14 or a signal indicating that there is no preceding vehicle output from the radar device 14 is received. When the signal indicating the inter-vehicle distance D1 is not received, the host vehicle travels at a constant vehicle speed (for example, a constant vehicle speed set by a driver's operation) set within a range of a maximum allowable vehicle speed (for example, 100 km / h) or less. Thus, a drive command is issued to the throttle actuator 24. In this case, the host vehicle travels at a constant vehicle speed.

  When a signal corresponding to the inter-vehicle distance D1 to the preceding vehicle output from the radar device 14 is received, first, the inter-vehicle distance D1 to the preceding vehicle is detected based on the received signal. Then, the inter-vehicle distance D1 is compared with the target inter-vehicle distance D0 to be held between the host vehicle and the preceding vehicle according to the own vehicle speed and the set distance at that time, and based on the comparison result, A drive command is issued to the throttle actuator 24 so that the inter-vehicle distance becomes the target inter-vehicle distance D0. In this case, the host vehicle travels following the preceding vehicle while maintaining the target inter-vehicle distance D0.

  On the other hand, if the inter-vehicle control ECU 12 determines that the preceding vehicle, which is the tracking target in the preceding vehicle following control, has stopped at a speed of zero based on the detection result of the inter-vehicle distance D1 from the radar device 14, the stop holding control is executed. Normally, when the preceding vehicle stops, a drive command is issued to the brake actuator 22 so that the set vehicle distance (for example, 2 m) L2 is maintained and the host vehicle is stopped. . In this case, the host vehicle is stopped at the rear of the preceding vehicle that has stopped, while maintaining the stop inter-vehicle distance L2 up to the preceding vehicle.

  After the vehicle is stopped by the stop holding control, based on the output information of the start request switch 20 that can be operated by the driver while detecting the inter-vehicle distance D1 from the preceding vehicle based on the output signal from the radar device 14. The presence or absence of a start request of the own vehicle by the driver's operation is detected. As a result, if a start request is made after the detected inter-vehicle distance D1 has increased from the above-mentioned inter-vehicle distance L2, the brake actuator 22 is instructed to cancel the stop holding control and cancel the stop of the host vehicle. The drive command is issued to the throttle actuator 24 so that the vehicle starts from the stop state by executing the start control. In this case, the host vehicle starts from the stop state by the stop holding control, and thereafter, traveling control is performed according to the preceding vehicle following control described above.

  As described above, in the CC system 10 according to the present embodiment, when there is no preceding vehicle to be tracked by the preceding vehicle following control, the host vehicle is driven at a constant vehicle speed, while the preceding vehicle is present. The vehicle can follow the preceding vehicle while maintaining the target inter-vehicle distance D0, and when the preceding vehicle stops, the own vehicle can be stopped while maintaining the stop inter-vehicle distance L2. That is, when there is a preceding vehicle, the host vehicle can follow the preceding vehicle within the entire range below the maximum allowable vehicle speed. In addition, after the host vehicle stops due to the stop of the preceding vehicle, the host vehicle can be started according to the start request when the preceding vehicle starts and then the driver performs a starting operation.

  By the way, on expressways such as automobile-only roads, there are almost no stop-prohibited areas such as intersections with traffic lights or railroad crossings. In this regard, on the expressway, even if the above-described stop holding control causes the host vehicle to stop while maintaining the above-mentioned distance L2 between the stop vehicles as usual when the preceding vehicle stops, the stop position is within the stop prohibited area. It will never be. However, since there are frequent stop prohibited areas on general roads, the stop holding control described above always stops the host vehicle while maintaining the above-mentioned stop inter-vehicle distance L2 as the preceding vehicle stops. In some cases, the stop position of the host vehicle is within the stop prohibited area. In this case, the own vehicle cannot secure the safe traveling of the vehicle, for example, obstructing the traveling of another vehicle traveling on another road intersecting the road on which the own vehicle travels or the traveling of the emergency vehicle.

  Therefore, in the CC system 10 of the present embodiment, the inter-vehicle control ECU 12 detects that the preceding vehicle is about to stop based on the inter-vehicle distance D1 based on the output from the radar device 14 and the own vehicle speed during the preceding vehicle following control. In particular, the position of the host vehicle and the shape of the stop prohibited area that the host vehicle is about to pass are detected based on the output from the navigation device 10, and the host vehicle travels based on the output from the infrastructure device 16. Detects the status of traffic lights and circuit breakers on the road. And stop holding control is performed so that the stop position of the own vehicle accompanying stop of a preceding vehicle may not be in a stop prohibition area.

  Specifically, for this stop holding control, the stop of the host vehicle is about to pass, with L1 being the total length of the host vehicle, L2 being the normal stop-to-stop distance in the stop hold control, and D1 being the inter-vehicle distance to the preceding vehicle. If the distance to the tip of the prohibited area is D2, whether or not there is a space area (stoppable area) that can fit the entire body of the vehicle ahead of the stop prohibited area where the vehicle is about to pass. Determines whether (D1−D2) = D3 ≧ (L1 + L2) = L3 holds.

  As a result, if (D1−D2) ≧ (L1 + L2) is satisfied and there is a stoppable area, the vehicle is allowed to travel beyond the stop line in front of the stop prohibited area where the host vehicle is about to pass. Then, the preceding vehicle follow-up control is performed so as to follow the preceding vehicle as usual, and when the preceding vehicle stops, the stop holding control is performed so that the vehicle stops at the stop inter-vehicle distance L2 beyond the stop prohibited area. On the other hand, if (D1−D2) <(L1 + L2) is satisfied and there is no stopable area, the vehicle is prohibited from traveling beyond the stop line in front of the stop prohibited area where the host vehicle is about to pass and the stop is stopped. Stop holding control to stop at the line.

  Thus, in the CC system 10 of the present embodiment, the stop holding control can be performed so that the stop position of the host vehicle accompanying the stop of the preceding vehicle does not fall within the stop prohibited area, and the stop vehicle is in front of the stop preceding vehicle. And when there is no stop possible area ahead of the stop prohibition area, it is possible to stop the host vehicle at the stop line in front of the stop prohibition area. For this reason, it is possible to prevent the traveling of other vehicles traveling on other roads intersecting the road on which the host vehicle is traveling, the traveling of emergency vehicles, and the operation of the railway from being blocked by the stopping of the host vehicle by the stop holding control. This makes it possible to ensure safe driving of the vehicle.

  By the way, after the own vehicle stops as the preceding vehicle stops by the stop holding control as described above, the inter-vehicle distance D1 with the preceding vehicle increases, and after that, the driver performs the start operation to the start request switch 20. If the host vehicle always starts by start control when it is broken, there is a risk of inconvenience. That is, if the driver performs a start operation while the host vehicle is stopped to the preceding vehicle while maintaining the distance L2 between the stops, no inconvenience arises even if the host vehicle starts according to the start operation. However, if the vehicle always starts when the vehicle is stopped on the stop line in front of the stop prohibited area and the driver makes a start operation, the preceding vehicle If the vehicle stops due to traffic jams or the like, there is no area where the vehicle can stop properly beyond the prohibited area, and the vehicle must stop in the prohibited area. Can happen.

  However, in this case, the host vehicle travels on another road that intersects the road on which the host vehicle travels, in the same manner as the stop holding control in which the host vehicle is always stopped while maintaining the stop distance L2 as the preceding vehicle stops. For example, the traveling of other vehicles or the traveling of an emergency vehicle may be hindered.

  Therefore, the CC system 10 of the present embodiment is characterized in that such inconvenience is avoided. Hereinafter, with reference to FIG.2 and FIG.3, the characteristic part of a present Example is demonstrated. FIG. 2 is a diagram schematically illustrating a situation in which the host vehicle is stopped in front of an intersection that is a stop prohibited area by the stop holding control in the CC system 10 of the present embodiment. FIG. 3 shows a flowchart of an example of a control routine executed by the inter-vehicle control ECU 12 after stopping by the stop holding control in the CC system 10 of the present embodiment. The routine shown in FIG. 3 is a routine that is repeatedly activated every predetermined time.

  In the CC system 10 of the present embodiment, the inter-vehicle control ECU 12 stops the host vehicle with the stop of the preceding vehicle by the stop holding control. When the vehicle is stopped at an inter-vehicle distance exceeding the distance L2, information on the preceding vehicle (specifically, the inter-vehicle distance D1) is first acquired based on the output of the radar device 14 (step 100). In addition, the infrastructure state on the road on which the host vehicle travels based on the output of the infrastructure device 16 (specifically, the state of traffic lights and the state of a breaker at an intersection in a stop prohibited area where the host vehicle is about to pass) As well as information on the position of the host vehicle and the stop prohibited area to which the host vehicle is to pass (specifically, the shape of the stop prohibited area) based on the output of the navigation device 18 (step 102). .

  Further, the inter-vehicle control ECU 12 determines whether or not the start of the host vehicle is requested by the operation of the driver based on the output of the start request switch 29 (step 104). As a result, if it is determined that a start request is not made, the current routine is terminated without performing any processing. If it is determined that a start request is made, the infrastructure on the road to be acquired as described above is next. It is determined whether or not the state allows the vehicle to proceed, more specifically, whether or not the traffic light is blue indicating that the vehicle can proceed or whether the breaker bar is fully open (step 106). .

  As a result, if it is determined that the infrastructure state on the road does not indicate that the host vehicle can proceed, the current routine is terminated without any processing, but the infrastructure state on the road indicates that the host vehicle can proceed. If it is determined that the vehicle is to be shown, next, it is determined whether or not there is a preceding vehicle to be followed by the preceding vehicle following control based on the preceding vehicle information acquired as described above (step 108).

  As a result, if it is determined that a preceding vehicle is present, next, the start determination distance is obtained by subtracting the distance D2 to the tip of the stop prohibited area where the host vehicle is about to pass from the inter-vehicle distance D1 to the preceding vehicle. D3 is calculated (D3 = D1-D2; step 110), and the stoppage area that is normally required for stopping the host vehicle is added by adding the total length L1 of the host vehicle and the normal stop distance L2 in the stop holding control. The length L3 is calculated (L3 = L1 + L2; step 112).

  And it is discriminate | determined whether said start determination distance D3 is more than the length L3 of said stop possible area | region (step 114). As a result, if it is determined that D3 ≧ L3 is established, it is determined that there is no situation where the vehicle is stopped in the stop prohibited area even if the vehicle starts according to the start operation by the driver, and the stop holding control is canceled and the vehicle is stopped. A drive command is issued to the brake actuator 22 so that the vehicle stops being released, and a start command is executed to issue a drive command to the throttle actuator 24 so that the host vehicle starts from a stopped state (step 116). ).

  If it is determined in step 108 that there is no preceding vehicle, the process in steps 110 to 114 is skipped and the process in step 116 is performed. When the process of step 116 is executed in these cases, the host vehicle starts from the stop state by the stop holding control and travels beyond the stop line in front of the stop prohibited area, and thereafter the preceding vehicle following control described above. Travel control is performed according to the above.

  On the other hand, if it is determined that D3 <L3 is established, it is determined that the host vehicle is stopped in the stop prohibited area when the vehicle starts according to the start operation by the driver, and the stop line before the stop prohibited area is determined. In order to prevent the vehicle from traveling beyond the range, the vehicle is stopped by the vehicle holding control and prohibited from starting by the vehicle starting control, and the vehicle is not started by the vehicle starting operation performed by the driver. A drive command is issued to the meter display unit 26 so as to notify the driver that the vehicle will stop in the stop prohibited area when the host vehicle starts (step 118). In this case, the host vehicle is prohibited from starting from the stop state by the stop holding control, and the driver who performed the start operation is notified that the start vehicle does not start the host vehicle or the start operation When the vehicle is started, it is informed via the meter display section 26 that the vehicle will stop in the stop prohibited area.

  As described above, the CC system 10 according to this embodiment is configured so that the preceding vehicle starts and starts after the vehicle stops at the stop line in front of the host vehicle without entering the stop prohibited area when the preceding vehicle stops. When the driver performs a starting operation later, the own vehicle is not always started in accordance with the starting request. Specifically, the vehicle is allowed to start only when there is a stopable area where the host vehicle can stop properly at the start of the stop-prohibited area at the time of the start request. If a stopable area is not secured beyond the prohibited area, the start is prohibited.

  Therefore, according to the CC system 10 of the present embodiment, when the host vehicle starts according to the start operation by the driver after stopping at the stop line in front of the stop prohibited area when the preceding vehicle stops, the preceding vehicle after the start It is possible to prevent the own vehicle from stopping in the stop prohibited area due to the sudden stop of the vehicle. That is, even if a preceding vehicle suddenly stops on the road ahead of the prohibited area, only when a stopable area where the own vehicle can stop is secured ahead of the prohibited area, the host vehicle is started and the prohibited area is When the preceding vehicle suddenly stops after the start of the vehicle, it is possible to stop the host vehicle while maintaining the distance L2 between the stopping vehicles as usual in the stopable area ahead of the stop prohibited area. ing. For this reason, according to the present embodiment, the host vehicle does not obstruct the traveling of the other vehicle traveling on the other road intersecting the road on which the host vehicle travels, the traveling of the emergency vehicle at the stop prohibition sign, etc. It is possible to ensure safe driving of the vehicle.

  Further, the CC system 10 of the present embodiment is in a situation where the vehicle is stopped in the stop prohibited area when the host vehicle starts from the stop state according to the start operation by the driver, that is, the start operation by the driver is performed. However, if the start of the host vehicle is prohibited, the meter display unit 26 indicates that the start operation does not start the host vehicle or stops when the host vehicle is started by the start operation. The driver who performed the start-up operation is notified via the. Therefore, according to the CC system 10 of the present embodiment, the driver who performs the start operation to start the host vehicle from the stop state can recognize that the start operation is invalid. It is possible to eliminate a sense of incongruity about the driving operation that accompanies the notification of invalid operation.

  In the above embodiment, the inter-vehicle control ECU 12 executes the process of step 114 in the routine shown in FIG. After the process of step 116, the start of the own vehicle is prohibited by the process of step 118 without performing the process of step 116, so that the “start prohibition means” described in the claims starts to the driver by the process of step 118. The “start prohibition notifying means” described in the claims is realized by notifying that the own vehicle is not started in accordance with the operation.

  Further, in the above embodiment, when the host vehicle starts from the stop state according to the start operation by the driver, when the vehicle is stopped in the stop prohibited area, the start of the host vehicle is prohibited according to the start operation. If the host vehicle does not stop in the stop prohibited area when the start operation is performed again, the host vehicle may be started for the first time by the restart operation.

  Further, in the above embodiment, when the own vehicle starts from the stop state according to the start operation by the driver, the vehicle is stopped in the stop prohibited area, that is, although the start operation by the driver is performed. When the start of the own vehicle is prohibited, the fact is displayed on the meter display unit 26 to notify the driver, but the present invention is not limited to this, and an in-vehicle speaker is notified accordingly. It is good also as notifying a driver | operator by carrying out voice guidance using.

  In the above embodiment, the stop holding control includes stopping the host vehicle at the stop line in front of the stop prohibited area when the preceding vehicle stops ahead of the stop prohibited area such as an intersection or a railroad crossing. However, it is assumed that the vehicle is started by the start control from the state where the own vehicle is stopped at the stop line in front of the stop prohibited area by the stop holding control, but the present invention is not limited to this. Assuming that the preceding vehicle follow-up control is started by a predetermined set operation by the driver while the vehicle is stopped at the stop line in front of the stop-prohibited area, the own vehicle is controlled from the stop state by the start control. It is good also as a case where it makes to start. In other words, the stop of the host vehicle at the stop line before the stop-prohibited area may be automatically executed by the stop holding control, or may be executed by the driver's brake operation. Good.

1 is a configuration diagram of a radar cruise control system mounted on a vehicle according to an embodiment of the present invention. It is the figure which represented typically the condition where the own vehicle was stopped in front of the intersection which is a stop prohibition area by stop holding control in the radar cruise control system of a present Example. It is a flowchart of an example of the control routine performed after the stop by the stop holding control in the radar cruise control system of the present embodiment.

Explanation of symbols

10 Radar cruise control system (CC system)
12 Inter-vehicle control ECU
14 Radar device 16 Infrastructure device 18 Navigation device 20 Start request switch 22 Brake actuator 24 Throttle actuator 26 Meter display section

Claims (3)

A radar cruise control system for executing preceding vehicle follow-up control for causing the own vehicle to follow the preceding vehicle, including at least a stop holding control for stopping the own vehicle when the preceding vehicle stops.
If the driver performs a start operation while the host vehicle is stopped just before the stop-prohibited area, even if the host vehicle starts according to the start operation, the vehicle is stopped in the stop-prohibited area by the stop holding control. A stop prediction judging means for judging whether or not the vehicle is in a stop prohibited area;
When it is determined that the vehicle is stopped in the stop prohibited area even if the vehicle is started according to the start operation, the start prohibition of the host vehicle according to the start operation is prohibited. Start prohibition means,
A radar cruise control system comprising:   The stop prediction judgment means in the stop prohibited area is based on the preceding vehicle information and the stop prohibited area information when the driver performs a start operation when the host vehicle is stopped immediately before the stop prohibited area. 2. The radar cruise control system according to claim 1, wherein even if the host vehicle starts according to the start operation, it is determined whether or not the vehicle is in a situation where the vehicle is stopped in the stop prohibited area by the stop holding control.   If it is determined by the stop prohibited area stop prediction determining means that the vehicle is still in the stop prohibited area even if it starts according to the start operation, the vehicle is started according to the start operation. The radar cruise control system according to claim 1 or 2, further comprising a start prohibition notification means for notifying the driver of the absence.

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