JP2010195233A - Controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve both the detection of a preceding vehicle and the reduction of power consumption during traveling of a vehicle. <P>SOLUTION: This controller of a vehicle includes: a preceding vehicle detection means for detecting a preceding vehicle ahead of a vehicle; a control means for controlling the driving and driving stop of the preceding vehicle detection means. While the vehicle is traveling at a specific speed or more, the control means stops the driving of the preceding vehicle detection means when the preceding vehicle is not detected by the preceding vehicle detection means, and when predetermined restoration conditions are established, the control means re-drives the preceding vehicle detection means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle control technology.

  There has been proposed a vehicle in which a preceding vehicle detection device such as a radar is mounted on the vehicle to detect the preceding vehicle and perform collision prediction and follow-up control for the preceding vehicle. For example, Patent Document 1 discloses a device that detects a preceding vehicle with a radar and automatically stops the vehicle when the preceding vehicle stops. In addition, in Patent Document 1, in order to prevent a person from being irradiated with electromagnetic waves or the like from a radar for a long time while the vehicle is stopped, the radar drive is automatically stopped while the vehicle is stopped, while an occupant restart instruction is issued. It is disclosed that when there is a problem, the driving of the radar is resumed.

JP 2006-21578 A

  Here, in order to detect the preceding vehicle more reliably, it may be desirable to always drive the preceding vehicle detection device while the vehicle is traveling. However, driving the preceding vehicle detection device involves power consumption. It becomes a factor of fuel consumption deterioration.

  An object of the present invention is to achieve both detection of a preceding vehicle and reduction in power consumption while the vehicle is traveling.

  According to the present invention, in the control apparatus for a vehicle, comprising: preceding vehicle detection means for detecting a preceding vehicle ahead of the vehicle; and control means for controlling drive and drive stop of the preceding vehicle detection means. If the preceding vehicle detection means does not detect the preceding vehicle while the vehicle is traveling at a specified speed or higher, the driving of the preceding vehicle detection means is stopped, and then when a predetermined return condition is satisfied, There is provided a vehicle control device characterized by re-driving the preceding vehicle detection means.

  In the present invention, when the preceding vehicle detecting means does not detect the preceding vehicle while the vehicle is traveling at a specified speed or more, the driving of the preceding vehicle detecting means is stopped, so that the power consumption of the preceding vehicle detecting means is reduced. This can improve fuel efficiency. In addition, when a predetermined return condition is satisfied, the preceding vehicle detection means can be re-driven to ensure the detection performance of the preceding vehicle. Therefore, it is possible to achieve both detection of the preceding vehicle and reduction of power consumption.

  In the present invention, the return condition may be a predetermined time. According to this configuration, the detection delay of the preceding vehicle can be prevented by managing the drive stop time.

  In the present invention, the vehicle may further include a travel state detection unit that detects a change in the travel state of the vehicle, and the return condition may be that a change in the travel state is detected by the travel state detection unit. . According to this configuration, it is possible to prevent a detection delay of the preceding vehicle when the traveling state changes. In this case, at least one of a rudder angle sensor that detects a rudder angle, a lateral acceleration sensor that detects lateral acceleration of the vehicle, and a yaw rate sensor that detects the yaw rate of the host vehicle as the running state detection means. Can be mentioned.

  Moreover, in this invention, it is a case where the back vehicle detection means which detects the back vehicle of the back side of the said vehicle is provided, and the case where the said back vehicle detection means detects a back vehicle may be sufficient as the said return conditions. According to this configuration, when the rear vehicle overtakes the own vehicle and interrupts in front of the own vehicle, the detection delay can be prevented.

  In the present invention, the preceding vehicle detection means may include a millimeter wave radar. In this case, the preceding vehicle detection means may further include an imaging means for imaging the front of the vehicle.

  In the present invention, the control means determines whether or not the preceding vehicle and the vehicle collide when the preceding vehicle detecting means detects the preceding vehicle while the vehicle is traveling at a specified speed or more. And when it determines with not colliding, you may stop the drive of the said preceding vehicle detection means. According to this configuration, it is possible to reduce power consumption while ensuring collision safety with the preceding vehicle.

  Moreover, in this invention, you may provide the travel control means which performs acceleration / deceleration control of the said vehicle so that the predetermined target travel state may be maintained. According to this configuration, power consumption can be reduced in a vehicle having a so-called auto-cruise function.

  As described above, according to the present invention, it is possible to achieve both detection of a preceding vehicle and reduction in power consumption while the vehicle is traveling.

1 is a block diagram of a vehicle control apparatus A according to an embodiment of the present invention. (A) is explanatory drawing of the detection range of the millimeter wave radar 21, (b) is explanatory drawing of the detection range of the back vehicle detection sensor 50. It is a flowchart which shows the example of the traveling control which the process part 11 performs. 4 is a flowchart illustrating an example of drive control of the millimeter wave radar 21 executed by a processing unit 11.

  FIG. 1 is a block diagram of a vehicle control apparatus A according to an embodiment of the present invention. The control device A includes a travel control unit 10. In the case of this embodiment, the traveling control unit 10 mainly executes processing related to auto-cruise control. The travel control unit 10 includes a processing unit 11, a storage unit 12, and an interface unit 13. The processing unit 11 is a CPU that executes a program stored in the storage unit 12. The storage unit 12 is a storage device such as a RAM or a ROM, and stores programs and data executed by the processing unit 11. The interface unit 13 is interposed between the processing unit 11 and other devices, and relays data exchange between them. The following devices are connected to the traveling control unit 10.

  The preceding vehicle detection sensor 20 detects a preceding vehicle existing ahead of the host vehicle on which the control device A is mounted. In the present embodiment, the preceding vehicle detection sensor 20 is a millimeter wave radar 21. The millimeter wave radar 21 emits a millimeter wave in front of the host vehicle, and receives the reflected wave. For example, the millimeter wave radar 21 exists in a certain range R1 in front of the host vehicle 1 as shown in FIG. Detecting a preceding vehicle The range R1 is, for example, about 70 m ahead of the host vehicle 1. Further, the relative speed between the host vehicle and the preceding vehicle can be calculated based on the time from emission to reception.

  The preceding vehicle detection sensor 20 may be a sensor other than a millimeter wave radar, for example, an ultrasonic sensor or an infrared sensor, as long as it can detect a preceding vehicle ahead of the host vehicle. However, it is desirable that the relative speed between the host vehicle and the preceding vehicle can be calculated. When the preceding vehicle detection sensor 20 is configured by the millimeter wave radar 21 as in the present embodiment, the image sensor 22 may be used in combination as indicated by a broken line in FIG. The imaging sensor 22 is a CCD sensor, for example, and images the front of the host vehicle. Although it is difficult for the millimeter wave radar 21 to identify what is the object present in front of the host vehicle, it is possible to identify the object present in front of the host vehicle based on the image captured by the imaging sensor 22. Control according to the object is possible. As will be described later, in the present embodiment, the millimeter wave radar 21 is driven and stopped. However, when the imaging sensor 22 is also used, for example, the imaging sensor 22 is driven in conjunction with the driving and stopping of the millimeter wave radar 21. Further, the driving may be stopped.

  The traveling state detection sensor 30 detects a change in the traveling state of the host vehicle. In the present embodiment, the traveling state detection sensor 30 includes a steering angle sensor 31 that detects a steering angle of a steering (not shown), a yaw rate sensor 32 that detects a yaw rate of the host vehicle, and a lateral direction (vehicle width) of the host vehicle. The lateral G sensor 33 for detecting the acceleration in the direction) is provided. The vehicle speed sensor 40 detects the traveling speed of the host vehicle. The rear vehicle detection sensor 50 is, for example, an ultrasonic sensor, an infrared sensor, or a millimeter wave radar. For example, as shown in FIG. 2B, the preceding vehicle existing in a certain range R2 on the rear side of the host vehicle 1 Is detected. Thereby, as shown with a broken line in FIG.2 (b), the back vehicle 2 which may overtake the own vehicle 1 and may interrupt in front of it is detectable. In the present embodiment, the detection range is the right rear side of the host vehicle, but may be the left rear side, or may be the left and right rear side detection ranges.

  The auto-cruise setting switch 60 is a switch or a switch group that is provided in the passenger cabin so that the occupant can operate, and for the occupant to perform various settings related to auto-cruise control. Various settings related to the auto cruise control include the start and stop of the auto cruise control and the content of the target travel state of the auto cruise. The target cruise state of the auto cruise includes acceleration / deceleration control of the host vehicle (adaptive cruise control) that maintains the target distance from the preceding vehicle set by the occupant, and cruises at the cruising speed set by the occupant. As mentioned above, there is one that performs acceleration / deceleration control of the host vehicle.

  The ECU 70 is an engine control unit that controls an engine (not shown). For example, the traveling control unit 10 outputs an instruction to increase / decrease the throttle opening degree to the ECU 70 during auto-cruise control, and performs acceleration / deceleration control of the host vehicle. The DSCU 80 is a dynamic stability control unit that controls a brake or the like (not shown). For example, the traveling control unit 10 outputs a brake operation instruction or the like to the DSCU 80 during auto-cruise control, and performs deceleration control of the host vehicle.

  Next, control executed by the processing unit 11 of the travel control unit 10 will be described. FIG. 3 is a flowchart illustrating an example of travel control executed by the processing unit 11 and illustrates processing related to auto-cruising. In S <b> 1, it is determined whether or not an occupant has instructed to start auto cruise control via the auto cruise setting switch 60. If applicable, the process proceeds to S2, and if not, one unit of processing is terminated. In S2, based on the detection result of the vehicle speed sensor 40, it is determined whether or not the traveling speed of the host vehicle is equal to or higher than the specified speed V. In the case of the present embodiment, the automatic cruise control is not executed unless the traveling speed is equal to or higher than the specified speed V. The specified speed V can be set to, for example, 30 km / h to 40 km / h. If the traveling speed of the host vehicle is equal to or higher than the specified speed V, the process proceeds to S4, and if not, the process proceeds to S3. In S3, error notification is performed. For example, a warning sound indicating that the operation is invalid is output. In S4, the auto-cruise control is executed according to the content previously set by the occupant from the auto-cruise setting switch 60. Thus, one unit of processing is completed.

  Next, FIG. 4 is a flowchart illustrating an example of drive control of the millimeter wave radar 21 executed by the processing unit 11. In S11, based on the detection result of the vehicle speed sensor 40, it is determined whether or not the traveling speed of the host vehicle is equal to or higher than the specified speed V. If applicable, the process proceeds to S12, and if not, the process proceeds to S21. In the present embodiment, as described above, the auto-cruise control is executed when the traveling speed of the host vehicle is equal to or higher than the specified speed V. For this reason, the millimeter wave radar 21 is driven only when the traveling speed of the host vehicle is equal to or higher than the specified speed V. In S21, if the millimeter wave radar 21 is being driven, the driving is stopped and one unit of processing is performed. finish.

S 12 drives the millimeter wave radar 21. In S13, based on the detection result of the millimeter wave radar 21, it is determined whether or not there is a preceding vehicle ahead of the host vehicle. If applicable, the process proceeds to S14, and if not, the process proceeds to S16. In S14, based on the detection result of the millimeter wave radar 21, whether or not the own vehicle and the preceding vehicle collide is predicted. The collision prediction can be performed, for example, by calculating a collision prediction time and based on the calculated collision prediction time. The collision prediction time is, for example,
Collision prediction time = (distance between preceding vehicle and own vehicle) / (relative speed between preceding vehicle and own vehicle)
It can be calculated with. Then, it is determined that there is a possibility of collision when the predicted collision time is equal to or shorter than the specified time Tm, and it can be determined that there is no possibility of collision when longer than the specified time. The specified time Tm is, for example, 4 seconds.

  In S15, if it is determined that there is no possibility of collision as a result of the collision prediction in S14, the process proceeds to S16. If it is determined that there is a possibility of collision, it is not desirable to stop the driving of the millimeter wave radar 21. The process of one unit is finished without proceeding. In S16, the driving of the millimeter wave radar 21 is stopped.

  S17 to S20 relate to processing for re-driving the millimeter wave radar 21 when a predetermined return condition is satisfied. In S17, it is determined whether or not the specified time T has elapsed since the drive stop in S16. If the specified time T has elapsed, the process proceeds to S20 and the millimeter wave radar 21 is re-driven, and if not, the process proceeds to S18. By managing the drive stop time, it is possible to prevent the detection delay of the preceding vehicle. The specified time T is preferably shorter than the specified time Tm used for the collision prediction in S14. When the specified time Tm is about 4 seconds, it is, for example, 2 seconds. Although it is possible to adopt a configuration in which the elapse of the specified time T is not used as the return condition, it is preferable to set the return condition because the behavior change of other vehicles is difficult to predict.

  In S18, based on the detection result of the traveling state detection sensor 30, it is determined whether or not the traveling state has changed. If applicable, the process proceeds to S20 and the millimeter wave radar 21 is re-driven, and if not, the process proceeds to S19. When the driving state changes, such as when the host vehicle changes lanes or approaches a curve, there is a probability that the preceding vehicle has appeared, so when the driving state changes, the millimeter wave radar 21 is re-driven. By doing so, the detection delay of the preceding vehicle can be prevented.

  In the present embodiment, since the traveling state detection sensor 20 includes the rudder angle sensor 31, the yaw rate sensor 32, and the lateral G sensor 33, the traveling state changes when the detection result of any of these sensors changes. It is determined that In this case, it is desirable to determine that the running state has changed when the detection result of any of these sensors changes by a predetermined threshold value or more. For example, in the case of the steering angle sensor 31, it is determined that the running state has changed when it is detected that the steering angle has changed by a predetermined angle (for example, several degrees) or more.

  In the present embodiment, in the present embodiment, the traveling state detection sensor 20 includes the rudder angle sensor 31, the yaw rate sensor 32, and the lateral G sensor 33. However, any one or two of these may be used. Good. Further, it is possible to adopt a configuration in which a change in the traveling state of the host vehicle is not used as a return condition.

  In S19, based on the detection result of the rear vehicle detection sensor 50, it is determined whether or not a rear vehicle is detected. If applicable, the process proceeds to S20 to re-drive the millimeter wave radar 21. Thereby, as shown in FIG. 2 (b), when the rear vehicle overtakes the own vehicle and interrupts in front of the own vehicle, the detection delay can be prevented. In addition, since it takes a certain time for the rear vehicle to pass the host vehicle, the millimeter wave radar is used for a specified time (for example, 2 to 3 seconds) after the rear vehicle is detected by the rear vehicle detection sensor 50. It is desirable that 21 is always driven without stopping driving. Moreover, the structure which does not make the detection of a back vehicle as a return condition is also employable. Thus, one unit of processing is completed.

  As described above, in the present embodiment, when the preceding vehicle is not detected, the driving of the millimeter wave radar 21 is stopped (S13, S16), so that the power consumption can be reduced as compared with the case where the millimeter wave radar 21 is always driven. The fuel consumption of the host vehicle can be improved. Even if there is a preceding vehicle, if the collision between the preceding vehicle and the host vehicle is not predicted, the driving of the millimeter wave radar 21 is stopped (S15, S16), while ensuring the safety of the collision with the preceding vehicle. Further, power consumption can be further reduced. Then, after the driving of the millimeter wave radar 21 is stopped, when the return condition is satisfied, the driving is restarted, so that the detection performance of the preceding vehicle can be ensured, and both the detection of the preceding vehicle and the reduction in power consumption can be achieved. . In addition to the above, the return condition includes, for example, a case where an occupant instructs. In the present embodiment, the execution of the auto cruise control is set to the specified speed V or more, and the specified speed V is exemplified as 30 km / h to 40 km / h. However, the running state at a low speed, for example, the specified speed V is set to It may be set to 5 km / h, and the auto cruise control may be executed when the traveling speed of the host vehicle is 5 km / h or more.

A control device 10 travel control unit 20 preceding vehicle detection sensor 30 travel state detection sensor

Claims (9)

A preceding vehicle detection means for detecting a preceding vehicle ahead of the vehicle;
Control means for controlling driving and stopping of the preceding vehicle detection means;
In a vehicle control device comprising:
The control means includes
If the preceding vehicle detection means does not detect a preceding vehicle while the vehicle is traveling at a specified speed or higher, the driving of the preceding vehicle detection means is stopped. Thereafter, if a predetermined return condition is satisfied, the preceding vehicle detection means is stopped. A vehicle control apparatus characterized by re-driving the intelligent means.   The vehicle control device according to claim 1, wherein the return condition is a lapse of a predetermined time. A running state detecting means for detecting a change in the running state of the vehicle;
The vehicle control device according to claim 1, wherein the return condition is that a change in a traveling state is detected by the traveling state detection unit.   The traveling state detection means includes at least one of a steering angle sensor that detects a steering angle, a lateral acceleration sensor that detects lateral acceleration of the vehicle, and a yaw rate sensor that detects a yaw rate of the host vehicle. The vehicle control device according to claim 3. Comprising a rear vehicle detection means for detecting a rear vehicle on the rear side of the vehicle;
5. The vehicle control device according to claim 1, wherein the return condition is a case where the rear vehicle detection unit detects a rear vehicle. 6.   6. The vehicle control device according to claim 1, wherein the preceding vehicle detection means includes a millimeter wave radar.   The vehicle control apparatus according to claim 6, further comprising imaging means for imaging the front of the vehicle. The control means includes
When the preceding vehicle detection means detects a preceding vehicle while the vehicle is traveling at a specified speed or higher, it is determined whether or not the preceding vehicle and the vehicle collide with each other. The vehicle control device according to any one of claims 1 to 7, wherein the driving of the intelligence means is stopped.   The vehicle control device according to claim 1, further comprising travel control means for performing acceleration / deceleration control of the vehicle so as to maintain a predetermined target travel state.

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