JP2011173459A - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle control device that can enhance convenience in processing according to positions of other vehicles by detecting vehicle before a preceding vehicle more securely and increasing possibility of preventing a lost state. <P>SOLUTION: The vehicle control device 10 performs speed control of an own vehicle C based on position information of the vehicle before the preceding vehicle B that is can be obtained by receiving a reflected wave from the vehicle before the preceding vehicle B, the reflected wave being milliwave emitted in the travelling direction of the own vehicle, and includes: the lost state detection part 1 that detects whether the lost state in which the vehicle before the preceding vehicle B can't be detected; a reflected determination part 2 that determines whether reflecting objects around the own vehicle C exists when it is detected by the lost detection part 1 that the lost state is occurring; and a vehicle control part 3 that changes a travelling orbit of the own vehicle C into a direction of the reflecting objects. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a vehicle control device that controls the speed of a host vehicle based on position information of the preceding vehicle obtained by receiving a reflected wave from a preceding vehicle of electromagnetic waves irradiated in the traveling direction of the host vehicle.

  Conventionally, there has been proposed a control device that derives the inter-vehicle distance from the preceding vehicle and maintains the inter-vehicle distance in a predetermined state. For example, in Patent Document 1 below, after detecting the preceding vehicle and the preceding preceding vehicle, the target deceleration for the preceding vehicle and the preceding preceding vehicle is calculated, and the vehicle with the larger target deceleration is selected to decelerate the host vehicle. An inter-vehicle distance control device to be controlled is disclosed.

JP 2002-104015 A

  In the inter-vehicle distance control device described in Patent Document 1, the host vehicle is controlled to decelerate after detecting not only the preceding vehicle but also the preceding vehicle, but the inter-vehicle distance between the preceding vehicle and the preceding vehicle is relatively short. Since the preceding vehicle cannot be detected depending on the situation, the control when the vehicle is lost is not taken into consideration, so the convenience is low.

  Therefore, the present invention has an object to provide a vehicle control device that can improve the convenience in processing according to the position of another vehicle by increasing the probability of detecting a leading vehicle more reliably and preventing lost. And

  In order to achieve the above object, a vehicle control device according to the present invention is based on position information of a preceding preceding vehicle obtained by receiving a reflected wave from the preceding preceding vehicle of electromagnetic waves irradiated in the traveling direction of the host vehicle. In the vehicle control device that controls the speed of the host vehicle, a detection unit that detects whether a lost state in which a preceding vehicle cannot be detected is occurring, and a detection unit detects that a lost state is occurring If the determination means determines whether there is a reflector around the host vehicle, and if the determination unit determines that there is a reflector, the traveling track of the host vehicle is changed to the reflector direction. And an offset means for making it possible.

  When it is detected that a lost state in which the preceding vehicle cannot be detected is occurring, this vehicle control device determines whether there is a reflector around the host vehicle, and if there is a reflector. If it is determined, the traveling track of the host vehicle is changed in the direction of the reflector. As a result, when it is determined that a reflecting object is present during the occurrence of the lost state, the traveling track of the host vehicle is changed to the reflecting object direction, so that reflection of electromagnetic waves irradiated in the traveling direction of the host vehicle is reflected by the reflecting object. The direction changes. As a result, it is possible to increase the probability of detecting the preceding vehicle more reliably and preventing the lost vehicle, and to improve the convenience in processing according to the position of the other vehicle.

  The vehicle control device according to the present invention controls the speed of the host vehicle based on the position information of the preceding vehicle obtained by receiving the reflected wave from the preceding vehicle of the electromagnetic wave irradiated in the traveling direction of the host vehicle. In the vehicle control device, when it is detected that a lost state in which the preceding preceding vehicle cannot be detected is occurring, and the detecting unit detects that the lost state is occurring, Determining means for determining whether or not the traveling roadway can be reflected, and vehicle height control means for bringing the vehicle body of the host vehicle closer to the roadway when the determining means determines that the roadway can be reflected And.

  When it is detected that a lost state in which the preceding preceding vehicle cannot be detected is occurring, this vehicle control device determines whether or not the roadway on which the host vehicle is traveling can be reflected. When it is determined that it is possible, the vehicle body of the host vehicle is brought close to the roadway. As a result, when it is determined that the roadway can be reflected during the occurrence of the lost state, the vehicle body of the host vehicle is brought closer to the roadway, so that the electromagnetic wave irradiated in the traveling direction of the host vehicle is reflected by the roadway. The direction changes. As a result, it is possible to increase the probability of detecting the preceding vehicle more reliably and preventing the lost vehicle, and to improve the convenience in processing according to the position of the other vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle control apparatus which can improve the convenience in the process according to the position of another vehicle is provided by raising the probability of detecting a leading vehicle more reliably and preventing lost. it can.

1 is a schematic configuration diagram for explaining a schematic configuration of a vehicle control device. It is explanatory drawing explaining the detail of the 1st example of offset control. It is explanatory drawing explaining the detail of the 2nd example of offset control. It is explanatory drawing explaining the detail of the 3rd example of offset control. It is explanatory drawing explaining the detail of the 4th example of offset control. It is explanatory drawing explaining the detail of an example of vehicle height change control. It is a flowchart which shows the flow of a vehicle control process.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

(1) Configuration of Vehicle Control Device First, the configuration of the vehicle control device according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram for explaining a schematic configuration of the vehicle control device 10. The vehicle control device 10 is mounted on a mobile vehicle such as an automobile (hereinafter referred to as “own vehicle”), and reflects electromagnetic waves (hereinafter referred to as “millimeter wave” as an example) irradiated in the traveling direction of the own vehicle from the preceding vehicle and the preceding vehicle. This is an ACC (Adaptive Cruise Control) system device that controls the speed of the host vehicle so as to maintain an appropriate inter-vehicle distance based on the preceding preceding vehicle obtained by receiving the wave and the position information of the preceding vehicle. .

  The function by the vehicle control apparatus 10 is implement | achieved by ECU which is an electronic control apparatus mounted in the inside of the own vehicle, for example. The ECU is a unit whose main component is a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

  As shown in FIG. 1, the vehicle control device 10 includes a lost detection unit 1 (detection unit), a reflection determination unit 2 (determination unit), and a vehicle control unit 3 (offset unit, vehicle height control unit). .

  The lost detection unit 1 is provided in at least one of the front part and the rear part of the own vehicle, and radiates millimeter waves forward in the traveling direction of the own vehicle, and the irradiated millimeter wave from the preceding vehicle and the preceding vehicle. This is a millimeter wave radar part that acquires the preceding preceding vehicle and the position information (including distance, speed, acceleration, etc.) of the preceding preceding vehicle by receiving the reflected wave. Further, the lost detection unit 1 detects whether or not a lost state in which a reflected wave cannot be received and a preceding preceding vehicle cannot be detected is occurring.

  The reflection determination unit 2 is an imaging and calculation unit that determines whether or not a reflective object exists around the host vehicle when the lost detection unit 1 detects that a lost state is occurring. The surroundings of the own vehicle means including within a predetermined distance from the traveling own vehicle. Further, the reflective object is an object that can reflect millimeter waves, and includes, for example, a soundproof fence, a curved mirror, a guard rail, a large vehicle, a metal advertising signboard, and the like. The reflection determination unit 2 detects the lateral position (current position) of the traveling lane by capturing the surroundings of the host vehicle with a camera and analyzing the captured image, and there is a reflector around the host vehicle. It is determined whether or not.

  The reflection determination unit 2 may determine whether or not the roadway on which the host vehicle is traveling can be reflected when the lost detection unit 1 detects that the lost state is occurring.

  When the reflection determining unit 2 determines that the reflecting object is present in the surroundings, the vehicle control unit 3 shifts and changes the traveling track of the host vehicle in the direction in which the reflecting object exists (steering force). This is an LKA (Lane Keeping Assist System) control execution portion that performs speed control (braking / driving force control) after performing control. Details of the offset control will be described later.

  Note that the vehicle control unit 3 moves the vehicle body of the host vehicle (or the vehicle body in the vicinity of the front wheel portion) closer to the roadway when the reflection determination unit 2 determines that the roadway can be reflected. You may perform speed control after performing high change control. Details of the vehicle height change control will be described later.

(2) Details of First Example of Offset Control Next, details of a first example of offset control performed by the vehicle control unit 3 will be described with reference to FIG. FIG. 2 is an explanatory diagram illustrating details of a first example of offset control performed by the vehicle control unit 3.

  First, as shown in FIG. 2A, it is assumed that the preceding vehicle A is traveling ahead of the traveling vehicle C and the preceding vehicle B is traveling ahead further. Here, although the millimeter wave F is irradiated in the front area R in the traveling direction of the host vehicle C, the millimeter wave F is not irradiated to the preceding vehicle B before and after the reflection to the soundproof fence D. Therefore, the lost detection unit 1 detects that a lost state in which the reflected wave cannot be received and the preceding preceding vehicle B cannot be detected is occurring.

  At this time, if the reflection determination unit 2 determines that the soundproof fence D as a reflecting object exists around the host vehicle C, the vehicle control unit 3 moves the traveling track of the host vehicle C as shown in FIG. Offset control (lateral position movement control for width adjustment) is performed to change the distance to the direction in which the soundproof fence D exists (that is, the side where the distance from the soundproof fence D decreases) by a predetermined distance. Thereby, the reflection direction by the soundproof fence D of the millimeter wave S irradiated ahead of the traveling direction of the host vehicle C changes to a direction approaching the host vehicle C.

  Here, after the reflection by the soundproof fence D, since the millimeter wave S is irradiated to the preceding preceding vehicle B, the lost detection unit 1 can receive the reflected wave and detect the preceding preceding vehicle B. Become. As a result, it is possible to increase the probability of detecting the preceding preceding vehicle B and preventing the loss more reliably, and to improve the convenience in processing according to the position of the other preceding vehicle such as the preceding preceding vehicle B.

(3) Details of Second Example of Offset Control Next, details of a second example of offset control performed by the vehicle control unit 3 will be described with reference to FIG. FIG. 3 is an explanatory diagram illustrating details of a second example of offset control performed by the vehicle control unit 3.

  First, as shown in FIG. 3, it is assumed that the preceding vehicle A is traveling ahead of the host vehicle C traveling in front of the left curve, and the preceding preceding vehicle B is traveling ahead further. Here, the millimeter wave F is irradiated in the front area R of the traveling direction of the host vehicle C. The millimeter wave F is ahead of the preceding vehicle B before and after being reflected by the curve mirror M installed on the curve. The lost detection unit 1 detects that a lost state in which the reflected wave cannot be received and the preceding preceding vehicle B cannot be detected is occurring.

  At this time, if the reflection determination unit 2 determines that the curve mirror M as a reflector exists around the host vehicle C, the vehicle control unit 3 determines the traveling path of the host vehicle C in the direction in which the curve mirror M exists ( In other words, offset control (lateral position movement control for width adjustment) is performed in which the vehicle is changed by being closer to a predetermined distance to the side of the vehicle that travels around the curve. Thereby, the reflection direction by the curved mirror M of the millimeter wave S irradiated forward in the traveling direction of the host vehicle C changes in a direction approaching the host vehicle C. In addition, the millimeter wave S is irradiated in the traveling direction front region R ′ of the host vehicle C.

  Here, since the millimeter wave S is applied to the preceding preceding vehicle B after being reflected by the curve mirror M, the lost detection unit 1 can receive the reflected wave and detect the preceding preceding vehicle B. Become. As a result, it is possible to increase the probability of detecting the preceding preceding vehicle B and preventing the loss more reliably, and to improve the convenience in processing according to the position of the other preceding vehicle such as the preceding preceding vehicle B.

(4) Details of Third Example of Offset Control Next, details of a third example of offset control performed by the vehicle control unit 3 will be described with reference to FIG. FIG. 4 is an explanatory diagram illustrating details of a third example of offset control performed by the vehicle control unit 3.

  First, as shown in FIG. 4, the preceding vehicle A is ahead in front of the own vehicle C which is traveling in front of the intersection of the crossroad and scheduled to turn left, and further ahead is the preceding preceding vehicle B immediately after the left turn. Suppose you are traveling. Here, the millimeter wave F is irradiated in the front area R of the traveling direction of the host vehicle C. Since the millimeter wave F is not directed toward the curve mirror N installed at the intersection and reflection does not occur. Since the preceding vehicle B is not irradiated, the lost detection unit 1 detects that a lost state in which the reflected wave cannot be received and the preceding preceding vehicle B cannot be detected is occurring.

  At this time, if the reflection determination unit 2 determines that the curve mirror N as a reflecting object exists around the host vehicle C, the vehicle control unit 3 determines the traveling track of the host vehicle C in the direction in which the curve mirror N exists ( In other words, offset control (lateral position movement control for width adjustment) is performed in which the vehicle is turned by a predetermined distance toward the left side of the intersection and turned left. As a result, the millimeter wave S irradiated forward in the traveling direction of the host vehicle C changes so as to be reflected by the curve mirror N. In addition, the millimeter wave S is irradiated in the traveling direction front region R ′ of the host vehicle C.

  Here, since the millimeter wave S is irradiated to the preceding preceding vehicle B after being reflected by the curve mirror N, the lost detection unit 1 can receive the reflected wave and detect the preceding preceding vehicle B. Become. As a result, it is possible to increase the probability of detecting the preceding preceding vehicle B and preventing the loss more reliably, and to improve the convenience in processing according to the position of the other preceding vehicle such as the preceding preceding vehicle B.

(5) Details of Fourth Example of Offset Control Next, details of a fourth example of offset control performed by the vehicle control unit 3 will be described with reference to FIG. FIG. 5 is an explanatory diagram illustrating details of a fourth example of offset control performed by the vehicle control unit 3.

  First, as shown in FIG. 5 (a), it is assumed that the preceding vehicle A is traveling ahead in front of the traveling vehicle C, and the preceding preceding vehicle B is traveling ahead further. Here, the millimeter wave F is radiated in the forward region R in the traveling direction of the host vehicle, but this millimeter wave F is not radiated to the preceding vehicle B before and after the reflection to the soundproof fence D. The lost detection unit 1 detects that a lost state in which the reflected wave cannot be received and the preceding preceding vehicle B cannot be detected is occurring.

  At this time, when the reflection determination unit 2 determines that the soundproof fence D as a reflection object exists around the host vehicle C, the vehicle control unit 3 performs the traveling track of the host vehicle C as shown in FIG. Offset control (relatively gentle meandering control) is performed so as to be changed by a predetermined distance in the direction in which the soundproof fence D exists (that is, the side that moves obliquely toward the soundproof fence D). Thereby, the reflection direction by the soundproof fence D of the millimeter wave S irradiated ahead of the traveling direction of the host vehicle C changes to a direction approaching the host vehicle C.

  Here, after the reflection by the soundproof fence D, since the millimeter wave S is irradiated to the preceding preceding vehicle B, the lost detection unit 1 can receive the reflected wave and detect the preceding preceding vehicle B. Moreover, the duration of this state becomes longer by the above meandering control. As a result, it is possible to increase the probability of detecting the preceding preceding vehicle B and preventing the loss more reliably, and to improve the convenience in processing according to the position of the other preceding vehicle such as the preceding preceding vehicle B.

(6) Details of Example of Vehicle Height Change Control Next, details of an example of the vehicle height change control performed by the vehicle control unit 3 will be described with reference to FIG. FIG. 6 is an explanatory diagram illustrating details of an example of the vehicle height change control performed by the vehicle control unit 3.

  First, as shown in FIG. 6, it is assumed that the preceding vehicle A is traveling ahead in front of the traveling vehicle C, and the preceding preceding vehicle B is traveling ahead further. Here, the millimeter wave F is irradiated in the front region R in the traveling direction of the host vehicle. This millimeter wave F is the preceding vehicle B before and after reflection on the road W where the host vehicle C is traveling. Since the vehicle body is not irradiated, the lost detection unit 1 detects that a lost state in which the reflected wave cannot be received and the preceding preceding vehicle B cannot be detected is occurring.

  At this time, when the reflection determination unit 2 determines that the roadway W on which the host vehicle C is traveling can reflect millimeter waves, the vehicle control unit 3 brings the vehicle body of the host vehicle C closer to the roadway W. Vehicle height change control is performed (that is, the vehicle height is lowered by sinking the entire vehicle body or the vehicle body near the front wheel portion). Thereby, the reflection direction by the roadway W of the millimeter wave S irradiated ahead of the traveling direction of the host vehicle C changes in a direction approaching the host vehicle C.

  Here, after the millimeter wave S is reflected by the roadway W, the vehicle body of the preceding preceding vehicle B is irradiated with the millimeter wave S. Therefore, the lost detection unit 1 receives the reflected wave and detects the preceding preceding vehicle B. It will be in a state where it can be detected. As a result, it is possible to increase the probability of detecting the preceding preceding vehicle B and preventing the loss more reliably, and to improve the convenience in processing according to the position of the other preceding vehicle such as the preceding preceding vehicle B.

(7) Flow of Vehicle Control Processing in Vehicle Control Device Next, a flow of vehicle control processing (autonomous driving support control method) executed by the vehicle control device 10 will be described with reference to FIG. FIG. 7 is a flowchart showing a flow of vehicle control processing executed by the vehicle control device 10. The process shown in the flowchart of FIG. 7 is mainly performed by the above-described ECU, and is repeatedly executed at a predetermined timing from when the vehicle control device 10 is turned on until it is turned off.

  First, the lost detection unit 1 irradiates millimeter waves forward in the traveling direction of the host vehicle, and the lost state in which the reflected wave cannot be received and the preceding preceding vehicle B cannot be detected frequently (that is, a high frequency exceeding a predetermined frequency). It is detected whether or not it is occurring (step S01). When it is detected that the lost state of the preceding preceding vehicle B has hardly occurred (that is, the height is less than a predetermined frequency), the series of processing ends. On the other hand, when it is detected that the lost state of the preceding preceding vehicle B is frequently occurring (that is, at a predetermined frequency or higher), the process proceeds to step S02 described later.

  In step S02, the reflection determination unit 2 determines whether or not there is a reflector (which can reflect millimeter waves) on the left side in the traveling direction in the periphery of the host vehicle C. When it is determined that there is no reflector on the left side around the host vehicle C, the process proceeds to step S04 described later. On the other hand, when it is determined that there is a reflector on the left side around the host vehicle C, the process proceeds to step S03 described later.

  In step S03, the vehicle control unit 3 shifts the travel path (travel lane) of the host vehicle C to the left side where the reflector exists and changes the travel path in the vehicle width direction (or the above-described control). (Vehicle height change control) and then speed control based on the inter-vehicle distance. And it transfers to below-mentioned step S04.

  In step S04, the reflection determination unit 2 determines whether there is a reflector (which can reflect millimeter waves) on the right side in the traveling direction around the host vehicle C. When it is determined that there is no reflector on the right side around the host vehicle C, the series of processing ends. On the other hand, when it is determined that there is a reflector on the right side around the host vehicle C, the process proceeds to step S05 described later.

  In step S05, the vehicle control unit 3 shifts the travel track (travel lane) of the host vehicle C in the right direction where the reflector is present and changes the travel path in the vehicle width direction (or the above-described control). (Vehicle height change control) and then speed control based on the inter-vehicle distance. Then, a series of processing ends.

(8) Action and Effect by Vehicle Control Device When the vehicle control device 10 detects that a lost state in which the preceding vehicle B cannot be detected is occurring, there is a reflector around the host vehicle C. (Or whether or not the road W on which the host vehicle C is traveling can be reflected), and when it is determined that there is a reflector (or the road W can be reflected) Then, the traveling track of the host vehicle C is changed in the direction of the reflector (or the vehicle body of the host vehicle C is brought closer to the roadway W).

  As a result, when it is determined that a reflecting object exists (or the roadway W can be reflected) during the occurrence of the lost state, the traveling track of the host vehicle C is changed so as to approach the reflecting object. (Or, the vehicle body of the host vehicle C is brought closer to the roadway W), so that the reflection direction by the millimeter-wave reflector (or the roadway W) irradiated forward in the traveling direction of the host vehicle C approaches the host vehicle C. Change direction.

  As a result, even when the inter-vehicle distance between the preceding vehicle B and the preceding vehicle A is relatively short and the millimeter wave is blocked by the preceding vehicle A, the vehicle control device 10 as a millimeter wave radar is used by the preceding vehicle. It becomes easy to catch the reflected wave from B. For this reason, it becomes possible to detect and recognize the preceding vehicle B more reliably and increase the probability of preventing the loss, and the safety and fuel-efficient comfort according to the position of more other vehicles such as the preceding vehicle B Convenience at the time of executing a proper traveling control process can be improved.

(9) Modification In the above embodiment, the lost detection unit 1 emits millimeter waves and receives a reflected wave to perform vehicle detection processing. Is not particularly limited. For example, the vehicle detection process may be performed by emitting an ultrasonic wave and receiving a reflected wave.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle control apparatus which can improve the convenience in the process according to the position of another vehicle is provided by raising the probability of detecting a leading vehicle more reliably and preventing lost. it can.

DESCRIPTION OF SYMBOLS 1 ... Lost detection part, 2 ... Reflection determination part, 3 ... Vehicle control part, 10 ... Vehicle control apparatus, A ... Prior vehicle, B ... Previous preceding vehicle, C ... Own vehicle, D ... Soundproof fence, F, S ... Milli Wave, M, N ... curve mirror, R, R '... forward direction area, W ... roadway.

Claims (2)

In the vehicle control device for controlling the speed of the subject vehicle based on the position information of the preceding preceding vehicle obtained by receiving the reflected wave from the preceding preceding vehicle of the electromagnetic wave irradiated in the traveling direction of the subject vehicle,
Detecting means for detecting whether a lost state in which the preceding preceding vehicle cannot be detected is occurring;
A determination unit that determines whether or not there is a reflector around the host vehicle when the detection unit detects that the lost state is occurring;
Offset means for changing the traveling track of the host vehicle in the direction of the reflector when it is determined by the determination means that the reflector is present;
A vehicle control device comprising: In the vehicle control device for controlling the speed of the subject vehicle based on the position information of the preceding preceding vehicle obtained by receiving the reflected wave from the preceding preceding vehicle of the electromagnetic wave irradiated in the traveling direction of the subject vehicle,
Detecting means for detecting whether a lost state in which the preceding preceding vehicle cannot be detected is occurring;
A determination unit that determines whether or not the traveling road of the host vehicle can be reflected when the detection unit detects that the lost state is occurring;
Vehicle height control means for bringing the vehicle body of the host vehicle closer to the roadway when the determination means determines that the roadway is reflective;
A vehicle control device comprising:

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