JP2012133450A - Travel control device for vehicles - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restrain shortening of the distance between a vehicle and another vehicle running immediately behind resulting from intersection nonstop travel control to keep an appropriate inter-vehicle distance.SOLUTION: Intersection nonstop travel control is so executed that information on any following vehicle is acquired; if the presence of a following vehicle is recognized, a deceleration Gr1 required by the following vehicle to keep an appropriate inter-vehicle distance is calculated if an own vehicle slows down to a deceleration G1 required by the intersection nonstop travel control; if the deceleration Gr1 is at or beyond a set deceleration G0 where the deceleration is deemed abrupt, the intersection nonstop travel control is avoided to control the traveling at an original target traveling speed V0 or, if the deceleration Gr1 is less than the set deceleration G0, the traveling is slowed down to the deceleration G1 as a target traveling speed V2.

Description

  The present invention relates to a vehicle travel control device that controls a vehicle to pass through a green light without stopping at an intersection.

  In order to suppress traffic congestion and deterioration of fuel consumption due to stopping at the intersection, information such as signals from the intersection is received and the speed of the host vehicle is adjusted so that the vehicle passes through the green light without stopping at the intersection. A vehicle travel control device including a travel control function is known. Patent Document 1 discloses this type of travel control device.

JP 2009-176172 A

In the apparatus of Patent Document 1, the vehicle speed is transmitted to the following vehicle that travels following the host vehicle, and the speed adjustment for promptly maintaining the appropriate inter-vehicle distance is promoted.
However, when the following vehicle does not adjust the speed according to the host vehicle speed, or when it is difficult to do so, the host vehicle decelerates at the time of intersection non-stop traveling control, so that a sufficient inter-vehicle distance from the following vehicle is secured. It was sometimes difficult to do.

  The present invention has been made paying attention to such a problem, and suppresses the reduction of the inter-vehicle distance with the following vehicle by the intersection non-stop traveling control, and can maintain an appropriate inter-vehicle distance. The purpose is to provide.

For this reason, the present invention
In a travel control device for a vehicle that performs non-stop traveling control for an intersection that adjusts the speed of the own vehicle while passing through the green light without stopping while acquiring information related to an intersection where a traffic light in front of the host vehicle is installed ,
Subsequent vehicle information detecting means for detecting information related to a subsequent vehicle traveling behind the host vehicle;
Based on information including information related to the following vehicle, the intersection non-stop traveling permission / rejection determination means for determining permission / prohibition of the intersection non-stop traveling control,
An intersection non-stop traveling control avoidance means for avoiding the intersection non-stop traveling control when the intersection non-stop traveling control is rejected by the intersection non-stop traveling enable / disable determining means;
It is characterized by including.

  According to the present invention, when the intersection non-stop traveling control is executed based on the information on the following vehicle, the intersection non-stop traveling control is avoided in a situation where the inter-vehicle distance from the succeeding vehicle cannot be properly maintained due to the deceleration of the own vehicle. Thus, it is possible to perform appropriate travel control while maintaining the inter-vehicle distance from the following vehicle.

It is a block diagram which shows the system outline | summary of the intersection non-stop traveling control apparatus which concerns on this invention. It is a figure which shows the blue signal period which passes the own vehicle without a stop in intersection non-stop travel control. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention. It is a part of flowchart of intersection non-stop travel control concerning the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
FIG. 1 shows a system overview of an intersection non-stop traveling control apparatus according to the present invention.
The control device 1 includes a receiver 2 that receives road information including traffic signal information at intersections, a vehicle speed sensor 3 that detects the host vehicle speed, a front inter-vehicle distance sensor 4 that detects an inter-vehicle distance from the preceding vehicle, and the following. A signal is input from the following inter-vehicle distance sensor 5 or the like for detecting the inter-vehicle distance from the vehicle.

The control device 1 calculates the inter-vehicle distance from the front vehicle based on the detection signal from the front inter-vehicle distance sensor 4, and calculates the relative speed from the front vehicle based on the inter-vehicle distance. Similarly, the inter-vehicle distance with the following vehicle is calculated based on the detection signal from the rear inter-vehicle distance sensor 4, and the relative speed with the subsequent vehicle is calculated based on the inter-vehicle distance.
And based on these road information and various detection thru | or a calculation result, a control signal is output to the accelerator apparatus 6 and the brake device 7, and the own vehicle does not stop an intersection, maintaining a proper inter-vehicle distance, and a green signal Control to pass during the period (intersection non-stop traveling control) is performed. During the nonstop driving control at the intersection, when the host vehicle is decelerated, the hazard lamp 8 is blinked to alert the following vehicle, and when the vehicle is stopped or decelerated, the stop lamp 9 is turned on.

  The green signal period here means a period from when the red signal is changed to the blue signal to when the blue signal is changed to the yellow signal. As shown in FIG. 2, the first green signal interval is B1, and the second green signal interval is B2.

Hereinafter, the intersection non-stop traveling control by the above apparatus will be described based on the flowcharts of FIGS.
In step S1, information on a traffic signal at the nearest intersection (hereinafter simply referred to as an intersection) of the vehicle traveling route is acquired (received) via the receiver 2. The reception range is acquired up to the second green signal period B1, B2 including the current signal state.
In step S2, forward vehicle information (an inter-vehicle distance and a relative speed with the forward vehicle) based on a signal from the forward inter-vehicle distance sensor 4 is acquired.

In step S3, the presence or absence of a forward vehicle is determined based on the forward vehicle information.
When it is determined that there is no preceding vehicle, the following control is performed.
First, in step S4, the current target vehicle speed is set as the target vehicle speed V0, and in step S5, it is determined whether the target vehicle speed V0 is equal to or lower than the legal vehicle speed VL (input in step S1) on the current travel path. The target vehicle speed is initially set by the driver.

When it is determined that the target vehicle speed V0 is equal to or lower than the legal vehicle speed VL, the process proceeds to step S6, and when traveling at the target vehicle speed V0, a required time t from the current time until reaching the intersection is calculated.
In step S7, it is determined whether the own vehicle can pass the intersection during the green light period B1 or B2.

Specifically, when the time from the current time to the start of the green signal period B1 is tb1, and the time from the end of the green signal period B1 to the start of the yellow signal is ty1, the host vehicle can pass during the green signal period B1. condition is,
tb1 ≦ t <ty1 (1)
Similarly, when the time until the start of the green signal period B2 is tb2, and the time from the end of the green signal period B2 to the start of the yellow signal is ty2, the conditions under which the host vehicle can pass during the green signal period B2 are:
tb2 ≦ t <ty2 (2)
If neither of the conditions (1) and (2) is satisfied, it is determined that the vehicle cannot pass the intersection during the green light period B1 or B2 at the target vehicle speed V0, and the following control is performed.

In step S8, a target vehicle speed V1 that can pass through the host vehicle during the green light period B1 is calculated.
In step S9, it is determined whether the target vehicle speed V1 is greater than the legal vehicle speed VL.
If it is determined that the vehicle speed is less than or equal to the legal vehicle speed VL, control is performed as much as possible to accelerate the host vehicle and pass the intersection during the green light period B1.
In step S10, an acceleration A1 required to increase the target vehicle speed V1 is calculated from the target vehicle speed V1 and the current host vehicle speed V.

In step S11, it is determined whether the acceleration A1 is greater than or equal to a set acceleration A0. Here, the set acceleration A0 is set to such an acceleration that a general driver feels that the acceleration is more rapid than normal acceleration, and further, it may be difficult to maintain the front inter-vehicle distance sufficiently.
When it is determined that the acceleration A1 is equal to or higher than the set acceleration A0, the intersection non-stop traveling control that causes rapid acceleration is avoided.
That is, after displaying that it is not possible to pass through the intersection without stopping at step S12, the target vehicle speed is returned to V0 at step S13, and travel control based on the target vehicle speed V0 is executed.

  On the other hand, when it is determined in step S11 that the acceleration A1 is less than the set acceleration, the process proceeds to step S14, the target vehicle speed is set to V1, acceleration is performed at the acceleration A1, and the intersection non-stop traveling control is executed. As a result, the host vehicle can be passed during the first green light period B1 while ensuring the front inter-vehicle distance with a moderate acceleration that does not feel sudden acceleration.

  Further, when it is determined in step S9 that the target vehicle speed V1 is greater than the legal vehicle speed VL, the control of decelerating the host vehicle and passing the intersection during the second green signal period B2 is performed as much as possible as follows. To do.

In step S15, a target vehicle speed V2 that can pass through the host vehicle during the green light period B2 is calculated.
In step S16, a deceleration G1 necessary to decelerate the host vehicle speed V to the target vehicle speed V2 is calculated.
In step S <b> 17, the rear vehicle information (the inter-vehicle distance and the relative speed with the following vehicle) based on the signal from the rear inter-vehicle distance sensor 5 is acquired.
In step S18, it is determined whether there is a following vehicle based on the rear vehicle information.

When it is determined that there is no subsequent vehicle, the process proceeds to step S19, and it is determined whether the deceleration G1 is equal to or greater than the set deceleration G0. Here, the set deceleration G0 is set to such a deceleration that an ordinary driver feels that the vehicle is decelerating more rapidly than normal deceleration, and further, it may be difficult to maintain the rear inter-vehicle distance sufficiently.
When it is determined that the deceleration G1 is equal to or greater than the set deceleration G0, the intersection non-stop traveling control that causes rapid deceleration is avoided.

That is, after displaying that it is not possible to pass through the intersection without stopping at step S20, the target vehicle speed is returned to V0 at step S21, and travel control based on the target vehicle speed V0 is executed.
If it is determined in step S19 that the deceleration G1 is less than the set deceleration G0, the process proceeds to step S22, the target vehicle speed is set to V2, deceleration is performed at the deceleration G1, and the intersection non-stop traveling control is executed. As a result, the host vehicle can be allowed to pass during the second green light period B2 with a moderately slow running that does not feel sudden deceleration.

  On the other hand, when it is determined in step S18 that there is a subsequent vehicle, the process proceeds to step S23, and when the host vehicle decelerates at a deceleration G1, the subsequent vehicle maintains an appropriate inter-vehicle distance from the host vehicle. The deceleration Gr1 required for the vehicle is calculated using the own vehicle speed, the inter-vehicle distance, the subsequent vehicle speed, etc. at the time of determination.

In step S24, it is determined whether the deceleration Gr1 is equal to or greater than the set deceleration G0.
When it is determined that the deceleration Gr1 is equal to or greater than the set deceleration G0, if the intersection non-stop traveling control is executed, the following vehicle is forced to rapidly decelerate at a set deceleration G0 or more, and between the own vehicle and the vehicle. Therefore, it may be difficult to maintain a sufficient distance between the vehicles behind the vehicle, so that the execution of the intersection non-stop traveling control is avoided.

  That is, after displaying that it is not possible to pass through the intersection without stopping at step S25, the target vehicle speed is returned to V0 at step S26, and travel control based on the target vehicle speed V0 is executed.

  Here, since it is usually determined that there is a following vehicle when the inter-vehicle distance is within a predetermined range, when the own vehicle suddenly decelerates over the set deceleration G0 when the intersection non-stop traveling control is executed, If the distance is maintained, the following vehicle also suddenly decelerates over the set deceleration G0, and the determination in step S24 is YES, and the execution of the intersection non-stop traveling control is avoided.

  Therefore, it is considered unnecessary for the host vehicle to separately determine sudden deceleration that is greater than or equal to the set deceleration G0 in order to avoid intersection non-stop traveling control during sudden deceleration, but the inter-vehicle distance for determining that there is a following vehicle is larger. When the vehicle is set to, only the deceleration G1 of the host vehicle may be greater than or equal to the set deceleration G0 when the intersection non-stop traveling control is executed. For this reason, it is determined whether both the deceleration G1 of the host vehicle and the deceleration Gr1 of the following vehicle are sudden decelerations that are equal to or greater than the set deceleration G0. You may make it avoid execution. The same applies to steps S47, 77, and 100.

  On the other hand, if it is determined in step S24 that the deceleration Gr1 is less than the set deceleration, the process proceeds to step S27, where the target vehicle speed of the host vehicle is set to V2, the vehicle is decelerated at the deceleration G1, and the intersection non-stop traveling control is executed. To do. As a result, the host vehicle and the following vehicle can be decelerated at a gradual deceleration, and the host vehicle can be passed during the second green light period B2 while maintaining an appropriate rear inter-vehicle distance.

  Further, when it is determined in step S7 that the own vehicle can pass the intersection during the green light period B1 or B2, the process proceeds to step S28, information on the following vehicle is acquired, and the presence or absence of the following vehicle is determined in step S29. .

  When it is determined that there is no following vehicle, the process proceeds to step S30, and the intersection non-stop traveling control at the target vehicle speed V0 is executed. As a result, the host vehicle can be allowed to pass during the first green signal period B1 while traveling at the target vehicle speed V0.

  If it is determined in step S29 that there is a subsequent vehicle, the relative speed of the subsequent vehicle with respect to the host vehicle is calculated in step S31. In step S32, the calculated relative speed is increased. It is determined whether the vehicle is approaching.

  If it is determined that the following vehicle is approaching the host vehicle, the hazard lamp blinks and warns in step S33, and the intersection non-stop traveling control at the target vehicle speed V0 is executed in step S34. Accordingly, the host vehicle can be allowed to pass during the first green signal period B1 while avoiding the following vehicle from approaching the host vehicle while traveling at the target vehicle speed V0.

If it is determined in step S32 that the relative speed of the succeeding vehicle is not increased and the succeeding vehicle is not approaching the own vehicle, no warning is required. The intersection non-stop traveling control at the vehicle speed V0 is executed. Thereby, the own vehicle can be allowed to pass during the first green light period B1.
Next, the case where it is determined in step S5 that the target vehicle speed V0 is greater than the legal vehicle speed VL will be described.

In step S36, when the vehicle travels at the legal vehicle speed VL, a required time t required to reach the intersection is calculated.
In step S37, it is determined whether the own vehicle can pass the intersection during the green light period B1 or B2. Specifically, the determination is made in the same manner as in step S7.
When it is determined that the host vehicle cannot pass the intersection during the green light period B1 or B2, the following control is performed.

In step S38, a target vehicle speed V3 that can pass through the host vehicle during the second green light period B2 is calculated.
In step S39, a deceleration G2 required to decelerate the host vehicle speed V to the target vehicle speed V3 is calculated.
In step S40, rear vehicle information (inter-vehicle distance and relative speed with the following vehicle) is input.

In step S41, it is determined whether there is a following vehicle.
When it is determined that there is no subsequent vehicle, the process proceeds to step S42, and it is determined whether the deceleration G2 is equal to or greater than the set deceleration G0.
When it is determined that the deceleration G2 is equal to or greater than the set deceleration G0, the intersection non-stop traveling control that causes rapid deceleration is avoided.

  That is, after displaying that it is not possible to pass through the intersection without stopping at step S43, the target vehicle speed is set to the legal vehicle speed VL at step S44, and the traveling control based on the legal vehicle speed VL is executed.

  If it is determined in step S42 that the deceleration G2 is less than the set deceleration G0, the process proceeds to step S45, the target vehicle speed is set to V3, and the vehicle is gently decelerated with the deceleration G2 to execute the intersection non-stop traveling control. To do. Thereby, the own vehicle can be allowed to pass during the second green light period B2 while maintaining an appropriate rear inter-vehicle distance.

  On the other hand, when it is determined in step S41 that there is a subsequent vehicle, the process proceeds to step S46, and when the host vehicle decelerates at a deceleration G2, the subsequent vehicle maintains a sufficient inter-vehicle distance from the host vehicle. The deceleration Gr2 necessary for the vehicle is calculated using the own vehicle speed, the inter-vehicle distance, the following vehicle speed, etc. at the time of determination.

In step S47, it is determined whether the deceleration Gr2 is equal to or greater than the above-described set deceleration G0.
When it is determined that the deceleration Gr2 is equal to or greater than the set deceleration G0, the intersection non-stop traveling control that causes rapid deceleration is avoided.
That is, after displaying that the intersection cannot be stopped without stopping at step S48, the target vehicle speed is set to the legal vehicle speed VL at step S49, and the traveling control based on the legal vehicle speed VL is executed.

On the other hand, when it is determined in step S47 that the deceleration Gr2 is less than the set deceleration G0, the process proceeds to step S50, the target vehicle speed of the host vehicle is set to V3, the vehicle is decelerated at the deceleration G2, and the intersection non-stop traveling control is performed. Execute. As a result, the host vehicle can be allowed to pass during the second green light period B2 while performing slow deceleration.
If it is determined in step S37 that the host vehicle can pass the intersection at the legal vehicle speed VL during the green light period B1 or B2, the process proceeds to step S51 to acquire information on the following vehicle, and in step S52, the following vehicle is acquired. The presence or absence of is determined.

When it is determined that there is no following vehicle, the process proceeds to step S53, and the intersection non-stop traveling control at the legal vehicle speed VL is executed. As a result, the host vehicle can be passed during the green light period B1 or B2 while traveling at the legal vehicle speed VL.
If it is determined in step S52 that there is a subsequent vehicle, the relative speed of the subsequent vehicle with respect to the host vehicle is calculated in step S54. In step S55, the calculated relative speed is increased, that is, the subsequent vehicle is It is determined whether the vehicle is approaching.

If it is determined that the following vehicle is approaching the host vehicle, the hazard lamp blinks in step S56 to give an alarm, and in step S57, the intersection non-stop traveling control at the legal vehicle speed VL is executed. Thereby, the host vehicle can be allowed to pass during the green light period B1 or B2 while avoiding the approaching vehicle to the following vehicle.
If it is determined in step S55 that the relative speed of the following vehicle has not increased and the following vehicle has not approached the own vehicle, no warning is required. The intersection non-stop traveling control at the vehicle speed VL is executed. Accordingly, the host vehicle can be allowed to pass during the green light period B1 or B2 while traveling at the legal vehicle speed VL.

Next, the case where it is determined in step S3 that there is a preceding vehicle will be described.
In step S59, information on the front vehicle (front vehicle speed, distance between the front vehicle and the host vehicle, and relative speed) is acquired.
In step S60, the target vehicle speed V0 is calculated based on the inter-vehicle distance and relative speed with the preceding vehicle.

In step S61, it is determined whether the target vehicle speed V0 exceeds the legal vehicle speed VL. If not, the following control is performed.
In step S62, when the vehicle travels at the target vehicle speed V0, a required time t required to reach the intersection is calculated.
In step S63, it is determined in the same manner as in step S7 whether the host vehicle can pass the intersection during the green light period B1 or B2.

  If it is determined that the host vehicle cannot pass the intersection during the green light period B1 or B2 at the target vehicle speed V0, the process proceeds to step S64, and the target vehicle speed V4 that can pass the host vehicle during the green signal period B1 is calculated. .

In step S65, it is determined whether the target vehicle speed V4 is greater than the legal vehicle speed VL.
When it is determined that the target vehicle speed V4 is equal to or lower than the legal vehicle speed VL, the process proceeds to step S66, where it is determined whether the vehicle travels at the target vehicle speed V4 and the inter-vehicle distance with the preceding vehicle can be maintained at an appropriate inter-vehicle distance or more.

When it is determined that the vehicle distance can be maintained at a predetermined distance or more, the process proceeds to step S67, and the intersection non-stop traveling control at the target vehicle speed V4 is executed. Thereby, the own vehicle can be allowed to pass during the first green light period B1.
If it is determined in step S66 that the vehicle distance cannot be maintained beyond the predetermined forward inter-vehicle distance, the control is changed so that the host vehicle is decelerated and passes through the intersection during the second green light period B2.

In step S68, the target vehicle speed V5 at which the host vehicle reaches the intersection during the green light period B2 is calculated.
In step S69, a deceleration G3 necessary to decelerate the host vehicle speed V to the target vehicle speed V5 is calculated.
In step S70, the rear vehicle information (the inter-vehicle distance and relative speed with the following vehicle) is acquired.

In step S71, it is determined whether there is a following vehicle.
When it is determined that there is no subsequent vehicle, the process proceeds to step S72, and it is determined whether the deceleration G3 is equal to or greater than the set deceleration G0.
When it is determined that the deceleration G3 is equal to or greater than the set deceleration G0, the intersection non-stop traveling control that causes rapid deceleration is avoided.

That is, after displaying that it is not possible to pass through the intersection without stopping at step S73, the target vehicle speed is returned to V0 at step S74, and travel control based on the target vehicle speed V0 is executed.
Further, when it is determined in step S72 that the deceleration G3 is less than the set deceleration G0, the process proceeds to step S76, the target vehicle speed is set to V5, the vehicle is gradually decelerated at the deceleration G3, and the intersection non-stop traveling control is executed. To do. Thereby, the own vehicle can be allowed to pass during the second green light period B2 while maintaining an appropriate rear inter-vehicle distance.

  On the other hand, when it is determined in step S71 that there is a subsequent vehicle, the process proceeds to step S76, and when the host vehicle decelerates at a deceleration G3, the subsequent vehicle maintains a sufficient inter-vehicle distance from the host vehicle. The deceleration Gr3 necessary for the vehicle is calculated using the own vehicle speed, the inter-vehicle distance, the following vehicle speed, etc. at the time of determination.

In step S77, it is determined whether the deceleration Gr3 is equal to or greater than the above-described set deceleration G0.
When it is determined that the deceleration Gr3 is equal to or greater than the set deceleration G0, the intersection non-stop traveling control that causes rapid deceleration is avoided.
That is, after displaying that it is not possible to pass through the intersection without stopping at step S78, the target vehicle speed is returned to V0 at step S79, and travel control based on the target vehicle speed V0 is executed.

  On the other hand, when it is determined in step S77 that the deceleration Gr3 is less than the set deceleration, the process proceeds to step S80, the target vehicle speed of the host vehicle is set to V5, the vehicle is decelerated at the deceleration G3, and the intersection non-stop traveling control is executed. To do. As a result, the host vehicle and the following vehicle can be decelerated at a gradual deceleration, and the host vehicle can pass through during the second green light period B2 while maintaining a sufficient inter-vehicle distance.

If it is determined in step S63 that the host vehicle can pass the intersection during the green light period B1 or B2 at the target vehicle speed V0, the process proceeds to step S81, and information on the following vehicle is input, and the subsequent vehicle is subsequent in step S82. The presence or absence of a vehicle is determined.
When it is determined that there is no following vehicle, the process proceeds to step S83, and the intersection non-stop traveling control at the target vehicle speed V0 is executed. As a result, the host vehicle can be passed during the green light period B1 or B2 while traveling at the target vehicle speed V0.

If it is determined in step S82 that there is a subsequent vehicle, the relative speed of the subsequent vehicle with respect to the host vehicle is calculated in step S84. In step S85, the calculated relative speed is increased, that is, the subsequent vehicle is It is determined whether the vehicle is approaching.
If it is determined that the following vehicle is approaching the host vehicle, the hazard lamp blinks and warns in step S86, and the approach vehicle is prevented from approaching the host vehicle at the legal vehicle speed VL in step S87. The intersection non-stop traveling control is executed. Thereby, the own vehicle can be allowed to pass during the green light period B1 or B2.

If it is determined in step S85 that the relative speed of the following vehicle has not increased and the following vehicle has not approached the own vehicle, no warning is required. The intersection non-stop traveling control at the vehicle speed V0 is executed. Thereby, the own vehicle can be allowed to pass during the green light period B1 or B2.
Next, the case where it is determined in step S61 that the target vehicle speed V0 is equal to or higher than the legal vehicle speed VL will be described.

In step S89, when the vehicle travels at the legal vehicle speed VL, the time required t to reach the intersection is calculated.
In step S90, it is determined in the same manner as in step S7 whether the host vehicle can pass the intersection during the green light period B1 or B2.
When it is determined that the host vehicle cannot pass the intersection during the green light period B1 or B2, the following control is performed.

In step S91, a target vehicle speed V6 that can pass through the host vehicle during the second green light period B2 is calculated.
In step S92, a deceleration G4 necessary for decelerating the host vehicle speed V to the target vehicle speed V6 is calculated.
In step S93, the rear vehicle information (the distance between the following vehicles and the relative speed) is input.

In step S94, it is determined whether there is a following vehicle.
When it is determined that there is no following vehicle, the process proceeds to step S95, and it is determined whether the deceleration G4 is equal to or greater than the set deceleration G0.
When it is determined that the deceleration G4 is equal to or greater than the set deceleration G0, non-stop intersection traveling that causes sudden deceleration is avoided.

That is, after displaying that it is not possible to pass through the intersection without stopping at step S96, the target vehicle speed is set to the legal vehicle speed VL at step S97, and the traveling control based on the legal vehicle speed VL is executed.
If it is determined in step S95 that the deceleration G4 is less than the set deceleration G0, the process proceeds to step S98, the target vehicle speed is set to V6, the vehicle is decelerated at the deceleration G4, and the intersection non-stop traveling control is executed. Thereby, the own vehicle can be allowed to pass during the second green light period B2.

  On the other hand, when it is determined in step S94 that there is a following vehicle, the process proceeds to step S99, and when the own vehicle decelerates at a deceleration G4, the following vehicle maintains a sufficient inter-vehicle distance from the own vehicle. The deceleration Gr4 necessary for the vehicle is calculated using the own vehicle speed, the inter-vehicle distance, the following vehicle speed, etc. at the time of determination.

In step S100, it is determined whether the deceleration Gr4 is equal to or greater than the set deceleration G0.
When it is determined that the deceleration Gr4 is equal to or greater than the set deceleration G0, the intersection non-stop traveling control that causes rapid deceleration is avoided.
That is, after displaying that it is not possible to pass through the intersection without stopping at step S101, the target vehicle speed is set to the legal vehicle speed VL at step S102, and the traveling control based on the legal vehicle speed VL is executed.

  On the other hand, when it is determined in step S100 that the deceleration Gr4 is less than the set deceleration G0, the process proceeds to step S103, the target vehicle speed of the host vehicle is set to V6, the vehicle is decelerated at the deceleration G4, and the intersection non-stop traveling control is performed. Execute. As a result, the host vehicle and the following vehicle can be decelerated at a gradual deceleration, and the host vehicle can pass through during the second green light period B2 while maintaining a sufficient inter-vehicle distance.

Further, when it is determined in step S90 that the own vehicle can pass the intersection during the green light period B1 or B2, the process proceeds to step S104, information on the following vehicle is input, and the presence or absence of the following vehicle is determined in step S105. .
When it is determined that there is no following vehicle, the process proceeds to step S106, and the intersection non-stop traveling control at the target vehicle speed V6 is executed. Thereby, the host vehicle can be allowed to pass during the first green signal period B1 while traveling at the target vehicle speed V6.

If it is determined in step S105 that there is a subsequent vehicle, the relative speed of the subsequent vehicle with respect to the host vehicle is calculated in step S107. In step S108, the calculated relative speed is increased, that is, the subsequent vehicle is It is determined whether the vehicle is approaching.
When it is determined that the following vehicle is approaching the host vehicle, the hazard lamp blinks and warns in step S109, and the target vehicle speed V0 is set in step S110 while avoiding the approaching vehicle from approaching the host vehicle. The intersection non-stop traveling control is executed. Thereby, the own vehicle can be allowed to pass during the first green light period B1.

  If it is determined in step S108 that the relative speed of the succeeding vehicle is not increased and the succeeding vehicle is not approaching the own vehicle, no warning is required. The intersection non-stop traveling control at the vehicle speed V0 is executed. Thereby, the own vehicle can be allowed to pass during the first green light period B1.

  As described above, in the intersection non-stop traveling control according to the present invention, it is determined whether the intersection non-stop traveling control is permitted or not while acquiring information on the following vehicle. Because of avoidance, it is possible to cause the vehicle to travel while maintaining an appropriate inter-vehicle distance without forcibly decelerating the following vehicle.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Receiver 3 Vehicle speed sensor 4 Front inter-vehicle distance sensor 5 Rear inter-vehicle distance sensor 6 Accelerator apparatus 7 Brake apparatus 8 Hazard lamp 9 Stop lamp

Claims (5)

In a travel control device for a vehicle that performs non-stop traveling control for an intersection that adjusts the speed of the own vehicle while passing through the green light without stopping while acquiring information related to an intersection where a traffic light in front of the host vehicle is installed ,
Subsequent vehicle information detecting means for detecting information related to a subsequent vehicle traveling behind the host vehicle;
Based on information including information related to the following vehicle, the intersection non-stop traveling permission / rejection determination means for determining permission / prohibition of the intersection non-stop traveling control,
An intersection non-stop traveling control avoidance means for avoiding the intersection non-stop traveling control when the intersection non-stop traveling control is rejected by the intersection non-stop traveling enable / disable determining means;
A vehicle travel control device comprising:   The intersection non-stop traveling permission / inhibition judging means determines whether or not the intersection non-stop traveling control is permitted depending on whether or not the host vehicle can pass the intersection during a second green signal period including the current state of the intersection. The vehicle travel control apparatus according to claim 1, wherein the determination is made.   The intersection non-stop traveling availability determination means calculates a deceleration required for the succeeding vehicle based on information on the succeeding vehicle when the host vehicle needs to be decelerated due to the execution of the intersection non-stop control. The vehicle travel control device according to claim 1 or 2, wherein when the vehicle deceleration is equal to or greater than a predetermined value, the intersection non-stop travel control is rejected.   The intersection non-stop traveling enable / disable determining means is configured to stop the intersection when the deceleration required for the host vehicle exceeds a predetermined value when deceleration of the host vehicle is required due to the execution of the stop non-stop control. The travel control device for a vehicle according to any one of claims 1 to 3, wherein the travel control is rejected.   The intersection non-stop traveling enable / disable determining unit rejects the intersection non-stop traveling control when the vehicle speed of the host vehicle exceeds a legal vehicle speed by executing the intersection non-stop traveling control. Item 5. The vehicle travel control device according to any one of items 4 to 4.