JP2016137741A - Vehicle travel control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle travel control system allowing a driver himself to drive without a sense of incongruity.SOLUTION: A vehicle travel control system includes a vehicle control device for controlling a vehicle to automatically travel on the basis of a prescribed control parameter. The vehicle travel control system includes: a camera for acquiring a peripheral image; a vehicle speed sensor for measuring an own vehicle speed; a radar transmission-reception section for transmitting a transmission signal to calculate an inter-vehicle distance with a preceding vehicle and a relative speed and receiving a reflection wave when reflected in the preceding vehicle as a reception signal; a vehicle peripheral situation detection section for detecting a vehicle peripheral situation on the basis of the acquired image data, the transmission signal and the reception signal, and the own vehicle speed; an override operation detection section for detecting an override operation during automatic travel and generating a detection signal; a control parameter update section for updating a control parameter on the basis of the detection signal; and a control signal generation section for generating a control signal to automatically travel the vehicle on the basis of the detected vehicle peripheral situation and the updated control parameter. The vehicle control device controls the vehicle to automatically travel on the basis of the control signal.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle travel control system that controls accelerators, brakes, steering, and the like in automatic travel such as Adaptive Cruise Control and Lane Keeping Assist.

  In automatic driving, driving that a driver (driver) feels comfortable and secure varies from driver to driver. Therefore, it is necessary to detect the characteristics of the driver and to have a control technique that matches the characteristics. For example, in Patent Document 1, a driver who should target a driver state coefficient in a situation in which a driver in a state suitable for driving performs a driving operation so as to keep the distance between the preceding vehicle and the own vehicle at a constant distance. As a state coefficient (target driver state coefficient), based on this target driver state coefficient and the current driver state coefficient, a relative acceleration / deceleration (target relative acceleration / deceleration) to be a target between the host vehicle and the preceding vehicle is calculated. An exercise support system that accelerates or decelerates the host vehicle based on the relative acceleration / deceleration is disclosed. In other words, the exercise support system of Patent Document 1 learns how to drive on a car-only road of the driver himself and reproduces it to realize the driver's favorite driving.

Japanese Patent No. 4623128

  However, in the exercise support system of Patent Document 1, the driver's own driving does not necessarily coincide with whether the driver does not feel uncomfortable. For example, even if the driving of a person who is not good at driving is reproduced, it is not a favorite driving. Therefore, there has been a problem that the driver automatically travels while feeling uncomfortable.

  An object of the present invention is to solve the above-described problems and provide a vehicle travel control system that allows the driver to drive without feeling uncomfortable.

A vehicle travel control system according to the present invention includes:
A vehicle travel control system including a vehicle control device that controls a vehicle to automatically travel based on predetermined control parameters,
A camera that captures video around the vehicle;
A vehicle speed sensor for measuring the vehicle speed of the vehicle;
A transmission signal for calculating a distance between the vehicle and the preceding vehicle and a relative speed of the preceding vehicle with respect to the vehicle is transmitted, and a reflected wave when the transmission signal is reflected by the preceding vehicle is received as a reception signal. A radar transmitting and receiving unit;
A vehicle surrounding state detection unit for detecting the vehicle surrounding state based on the acquired video data, the transmission signal and the reception signal, and the vehicle speed of the vehicle;
An override operation detection unit that detects an override operation that is an operation of a driver during automatic driving and generates an override operation detection signal;
A control parameter updating unit that updates the control parameter based on the override operation detection signal;
A control signal generator for generating a control signal for automatically driving the vehicle based on the detected vehicle surroundings and the updated control parameter;
The vehicle control device controls the vehicle to automatically travel based on the control signal.

  According to the vehicle travel control system of the present invention, when the driver detects that the driver has performed an override operation such as accelerator, brake, steering, etc., the control parameters are updated more according to the driver's intention. It is possible to realize automatic driving without any problems.

It is the schematic which shows the whole structure of the vehicle travel control system which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the vehicle travel control system of FIG. It is a block diagram which shows the structure of the vehicle control signal generator 7 and the vehicle control apparatus 8 of FIG. It is a table | surface which shows the 1st control parameter when the vehicle is drive | working automatically by the vehicle travel control system of FIG. It is a table | surface which shows the 2nd control parameter when the vehicle is drive | working automatically by the vehicle travel control system of FIG. It is a table | surface which shows the 3rd control parameter when the vehicle is drive | working automatically by the vehicle travel control system of FIG. It is a table | surface which shows the 4th control parameter when the vehicle is drive | working automatically by the vehicle travel control system of FIG. It is a block diagram which shows the structure of the vehicle travel control system which concerns on Embodiment 2 of this invention. It is a block diagram which shows the structure of the vehicle travel control system which concerns on Embodiment 3 of this invention. It is a block diagram which shows the structure of the vehicle travel control system which concerns on Embodiment 4 of this invention. It is a block diagram which shows the structure of the vehicle travel control system which concerns on Embodiment 5 of this invention.

  Hereinafter, embodiments according to the present invention will be described with reference to the drawings. In the following embodiments, the same components are denoted by the same reference numerals and description thereof is omitted.

Embodiment 1 FIG.
FIG. 1 is a schematic diagram showing the overall configuration of the vehicle travel control system according to Embodiment 1 of the present invention, and FIG. 2 is a block diagram showing the configuration of the vehicle travel control system of FIG. 1 and 2, the vehicle travel control system includes a camera 2, a radar transmitter / receiver 3, a steering 4, a brake pedal 5, an access pedal 6, a vehicle control signal generator 7, and a vehicle controller 8. The engine 9, the brake 10, the power steering 11, and the vehicle speed sensor 12 that measures the vehicle speed (vehicle speed) of the vehicle are configured. In addition, the vehicle 1 has an automatic traveling function having either an adaptive cruise control function, a lane keeping assist function, or both. Here, the automatic traveling function refers to a function for automatically traveling the vehicle 1 based on a predetermined control parameter.

  FIG. 3 is a block diagram showing the configuration of the vehicle control signal generator 7 and the vehicle controller 8 of FIG. The vehicle control signal generation device 7 includes a vehicle surrounding state detection unit 71, a control signal generation unit 72, an override operation detection unit 73, and a control parameter update unit 74. The vehicle control device 8 includes an engine control unit 81, a brake control unit 82, and a steering control unit 83.

  The camera 2 acquires a video around the vehicle, and transmits the acquired video data to the vehicle peripheral situation detection unit 71. Here, the camera 2 may be disposed in any of the front, rear, side, and rear side of the vehicle 1, or a combination thereof. The wavelength band of the light receiving element of the camera 2 may be a visible light range or a near infrared range.

  The radar transmission / reception unit 3 transmits a transmission signal for calculating an inter-vehicle distance between the vehicle 1 and the preceding vehicle and a relative speed of the preceding vehicle with respect to the vehicle 1, and receives a reflected wave when the transmission signal is reflected by the preceding vehicle. Receive as a signal. Here, the radar transmission / reception unit 3 radiates a millimeter wave band of, for example, 24 GHz, 76 GHz, or 79 GHz as a transmission signal to the front of the vehicle via the transmission antenna, and receives a reflected signal reflected by the preceding vehicle as a reception signal. Receive via antenna. Further, the radar transmission / reception unit 3 transmits a transmission signal and a reception signal to the vehicle surrounding state detection unit 71. Here, the radar transmission / reception unit 3 is located in front of the vehicle 1. The radar transmission / reception unit 3 may be disposed on the front, rear, side, or rear side of the vehicle 1, or a combination thereof.

  The vehicle surrounding situation detection unit 71 detects the vehicle surrounding situation based on the acquired video data, transmission signal, and reception signal, and stores these pieces of information in the storage unit 71m. Here, the vehicle surrounding state detection unit 71 multiplies the reception signal and a part of the transmission signal and performs predetermined signal processing such as low-pass filtering on the multiplication result signal to generate a baseband signal. Further, the vehicle surrounding state detection unit 71 performs Fourier transform processing based on the baseband signal to analyze the Doppler frequency, and calculates the inter-vehicle distance between the vehicle 1 and the preceding vehicle and the relative speed of the preceding vehicle with respect to the vehicle 1. The inter-vehicle distance data and the relative speed data are stored in the storage unit 71m. The vehicle surrounding state detection unit 71 detects a white line of a travel lane in which the vehicle 1 travels based on the acquired video data, and stores this information in the storage unit 71m.

  When each engine control unit 81, brake control unit 82, and steering control unit 83 detect an operation of the driver during automatic traveling on the accelerator pedal 6, the brake 5, and the steering 4, the engine control unit 81 generates a signal and override operation detection unit 73. Send to each.

  The override operation detection unit 73 receives signals from the engine control unit 81, the brake control unit 82, and the steering control unit 83 during automatic traveling, respectively, and the accelerator pedal 6, the brake pedal 5, and the steering by the driver during automatic traveling. 4 operation is detected. When the override operation detection unit 73 detects the operation of the accelerator pedal 6, the brake pedal 5, and the steering 4 by the driver, the override operation detection unit 73 generates an override operation detection signal and transmits the override operation detection signal to the control parameter update unit 74. It is considered that this override operation is performed so that the driver himself / herself operates as intended when there is a control that does not conform to the driver's intention during automatic traveling.

  The control parameter update unit 74 updates the control parameter based on the override operation detection signal, and transmits the updated control parameter to the control signal generation unit 72. That is, when the driver operates during automatic traveling, the control parameter update unit 74 updates the control parameter for automatic traveling of the vehicle 1 to the control parameter that matches the driver's intention. As a result, the driver's intention (discomfort, uncomfortable feeling) is reflected, and it is possible to realize automatic traveling more in line with the intention.

  The control signal generating unit 72 generates a control signal for automatically traveling the vehicle 1 based on the information on the vehicle surroundings stored in the storage unit 71m and the updated control parameter, and the generated control signal is The data is transmitted to the engine control unit 81, the brake control unit 82, and the steering control unit 83, respectively.

  Each engine control unit 81, brake control unit 82, and steering control unit 83 control the engine 9, the brake 10, and the power steering 11 based on the control signal, respectively, and control the automatic traveling of the vehicle 1.

  The operation of the vehicle travel control system configured as described above will be described below.

  For example, consider a case where adaptive cruise control is performed based on the inter-vehicle distance between the vehicle 1 and the preceding vehicle, the relative speed of the preceding vehicle with respect to the vehicle 1, and the own vehicle speed of the vehicle 1 as the vehicle surrounding situation. In this case, when the driver performs a brake operation during automatic traveling, it is considered that the driver feels that the inter-vehicle distance is small with the current control parameters. On the other hand, when the driver performs an accelerator operation during automatic traveling, the driver is considered to feel that the inter-vehicle distance is large with the current control parameters.

  4 is a table showing first control parameters when the vehicle 1 is automatically traveling by the vehicle traveling control system of FIG. 3, and FIG. 5 is a table in which the vehicle 1 is automatically traveling by the vehicle traveling control system of FIG. 6 is a table showing the second control parameter when the vehicle 1 is running, and FIG. 6 is a table showing the third control parameter when the vehicle 1 is automatically running by the vehicle running control system of FIG. Here, the acceleration / deceleration of the vehicle speed of the vehicle 1 is controlled by referring to the table using the inter-vehicle distance between the vehicle 1 and the preceding vehicle, the relative speed of the preceding vehicle with respect to the vehicle 1, and the own vehicle speed of the vehicle 1. Control signals can be generated. In the figure, “+” indicates acceleration, “0” indicates no acceleration / deceleration, “−” indicates deceleration, and “−−” indicates rapid deceleration.

  FIG. 4A shows control parameters when the vehicle speed is 0 km / h to 20 km / h. Here, the control signal generator 7 generates a control signal for controlling the vehicle 1 to automatically travel based on the control parameters in the table. For example, when the inter-vehicle distance is 40 m to 60 m and the relative speed is +10 km / h to +30 km / h, the control parameter is “+”. Therefore, the control signal generator 7 generates a control signal that is controlled so that the vehicle 1 is accelerated. Further, when the inter-vehicle distance is 0 m to 20 m and the relative speed is −10 km / h to +10 km / h, the control parameter is “0”. Therefore, the control signal generator 7 generates a control signal that is controlled so that the vehicle 1 automatically travels at the current speed. The same applies hereinafter. FIG. 4B shows control parameters when the host vehicle speed is 20 km / h to 40 km / h, and FIG. 4C shows control parameters when the host vehicle speed is 40 km / h to 60 km / h. FIG. 4 (d) shows control parameters when the vehicle speed is 60 km / h. The control parameters shown in FIG. 4 are set such that, at the same host vehicle speed, the speed of the host vehicle increases as the relative speed increases, and the host vehicle speed increases as the inter-vehicle distance increases. Further, the control parameters shown in FIG. 4 are set to parameters that increase the host vehicle speed as the host vehicle speed decreases at the same relative speed and inter-vehicle distance.

  When the automatic travel control is performed using the control parameters shown in FIG. 4, in order to increase the inter-vehicle distance, the contents in the table are shifted to the right side or the lower side, and the same relative speed and inter-vehicle distance are The control parameters may be updated in the direction of decreasing the speed as a whole. On the contrary, in order to reduce the inter-vehicle distance, the contents in the table may be shifted to the left side or the upper side, and updated to the control parameter in the direction of increasing the speed as a whole for the same relative speed and inter-vehicle distance. Therefore, when the driver performs the braking operation, the driver feels that the inter-vehicle distance is small with the current control parameters, and as shown in FIG. 5, the contents of the entire table of FIG. 4 are updated to the right. By doing so, the target inter-vehicle distance can be set large. Specifically, the contents of the table in FIG. 4A are updated so as to shift to the right, and become the contents of the table in FIG. For example, the control parameter of the inter-vehicle distance 0 m to 20 m in FIG. 4A is updated to the control parameter of 20 m to 40 m in FIG. 5A, and the control parameter of the inter-vehicle distance 20 m to 40 m in FIG. The control parameters of 40 m to 60 m in FIG. 4A are updated, and the control parameters of the inter-vehicle distance of 40 m to 60 m in FIG. 4A are updated to the control parameters of 60 m to 80 m in FIG. The control parameters for the inter-vehicle distance of 60 m to 80 m are updated to the control parameters of 80 m to FIG. 5A. 4B to 4D are similarly shifted to the right to update the control parameters. 4B is updated to FIG. 5B, FIG. 4C is updated to FIG. 5C, and FIG. 4D is updated to FIG. 5D.

  On the contrary, when the driver steps on the accelerator and performs an operation of closing the space between the vehicle 1 and the preceding vehicle, as shown in FIG. 6, by updating the contents of the entire table of FIG. 4 to shift to the left. The target inter-vehicle distance can be set small. Specifically, the contents of the table in FIG. 4A are updated so as to shift to the left, and become the contents of the table in FIG. For example, the control parameter for the inter-vehicle distance of 20 m to 40 m in FIG. 4A is updated to the control parameter of 0 m to 20 m in FIG. 6A, and the control parameter for the inter-vehicle distance of 40 m to 60 m in FIG. The control parameters are updated to the control parameters of 20 m to 40 m in (a), the control parameters of the inter-vehicle distance of 60 m to 80 m in FIG. 4 (a) are updated to the control parameters of 40 m to 60 m in FIG. 6 (a), and FIG. The control parameters for the inter-vehicle distance of 80 m are updated to the control parameters of 60 m to 80 m in FIG. 4B to 4D are similarly shifted to the left to update the control parameters. 4B is updated to FIG. 6B, FIG. 4C is updated to FIG. 6C, and FIG. 4D is updated to FIG. 6D.

  Here, the brake control unit 82 generates a brake operation detection signal and transmits the brake operation detection signal to the override operation detection unit 73 when detecting an operation of the driver during automatic traveling on the brake 10. Next, the override operation detection unit 73 generates an override operation detection signal for updating the control parameter so that the inter-vehicle distance between the vehicle 1 and the preceding vehicle increases based on the brake pedal operation detection signal.

  Further, when detecting an operation of the driver during automatic traveling on the accelerator pedal 6, the engine control unit 81 generates an accelerator pedal operation detection signal and transmits it to the override operation detection unit 73. Next, the override operation detection unit 73 generates an override operation detection signal for updating the control parameter so that the inter-vehicle distance between the vehicle 1 and the preceding vehicle is reduced based on the accelerator pedal operation detection signal.

  According to the vehicle travel control system according to the above-described embodiment, the driver feels uncomfortable that the driver has performed an override operation of the accelerator, brake, steering, etc. during automatic travel based on the initial control parameters at the time of shipment from the factory. Since it is regarded as a display and the control parameter is updated in accordance with the will display, it is possible to realize an automatic traveling that is not reproducible by the driver itself and that is less uncomfortable and that meets the driver's intention.

  In the above-described embodiment, the inter-vehicle distance is adjusted using the control parameter using the relative speed and the inter-vehicle distance, but the present invention is not limited to this. For example, the inter-vehicle distance may be adjusted using a table of control parameters for only the speed of the vehicle 1 (vehicle speed) at the time of the override operation described above. For example, in the case of a driver with many override operations by brake operation at low speed, it is considered that the driver prefers a relatively large inter-vehicle distance when the speed is low, so the control parameter is updated so that the inter-vehicle distance becomes large. .

  Moreover, in this Embodiment, the camera 2 and the radar transmission / reception part 3 were used as a sensor which senses the vehicle periphery mounted in the vehicle 1, However, This invention is not limited to this. For example, an ultrasonic sensor, a laser radar, a laser scanner, a stereo camera, a pattern light projection distance measurement camera, a TOF (Time of Flight) distance measurement camera, or the like may be used as a sensor for sensing the vehicle periphery mounted on the vehicle 1. .

  In the present embodiment, the control parameters for controlling the automatic travel using the relative speed, the inter-vehicle distance, and the own vehicle speed are updated as the vehicle surrounding situation, but the present invention is not limited to this. For example, the control parameters for controlling automatic travel may be updated using the lane shape (straight, curve), lane width, or scene (intersection, road with more than two lanes) as the vehicle surrounding situation. By adopting this configuration, as compared with the present embodiment, it is possible to realize automatic traveling according to the driver's intention even when approaching a curve or when the lane width is small. For example, in the case of steering operation with the lane keeping assist function, if there is a steering operation during automatic traveling, the offset amount in the curve curvature corresponding to the road during automatic traveling is corrected according to the steering operation, so that there is no sense of incongruity Steering operation can be realized. Here, consider a case where the lane shape (straight, curve) is detected as the vehicle surrounding situation, the steering operation is performed, and the lane keeping assist function is executed. As shown in FIG. 7, on the condition of the lane curvature, the offset amount of the target locus with respect to the lane center is used as a control parameter. For example, when the left curve curvature R is 10 in the detected lane shape, the offset amount of the target locus with respect to the center of the lane is controlled to −0.5 m. With this configuration, it is possible to realize a steering operation without a driver's uncomfortable feeling even when driving on a curve.

  Furthermore, for the update and partial update of the entire control parameter table, for example, during the predetermined period after purchasing a new car, the entire table is updated as needed until the driver's preference is met. For example, only a part may be updated to suit the driver's preference for each condition such as the vehicle speed.

  Furthermore, the control parameter may be updated in consideration of the frequency and frequency of the override operation. For example, the number of brake / accelerator operations is accumulated, and the control parameter is updated when an override operation is performed more than a predetermined threshold value. By adopting this configuration, it is possible to prevent the control parameter due to the override operation from being erroneously updated when there is no sense of incongruity in the automatic traveling control itself. Further, the update amount of the control parameter may be updated by a fixed amount, or the update amount may be increased if the frequency is high. Further, the update amount may be adjusted according to the operation amount of the brake or the accelerator.

Embodiment 2. FIG.
FIG. 8 is a block diagram showing the configuration of the vehicle travel control system according to Embodiment 2 of the present invention. The vehicle travel control system of FIG. 8 includes a vehicle control signal generator 7A instead of the vehicle control signal generator 7 as compared to the vehicle travel control system of FIG. Compared to the vehicle control signal generator 7, the vehicle control signal generator 7 A includes a vehicle peripheral situation detector 71 A instead of the vehicle peripheral situation detector 71, and includes a control signal generator 72 A instead of the control signal generator 72. And a control parameter update unit 74A instead of the control parameter update unit 74.

  Compared to the vehicle surrounding state detection unit 71, the vehicle surrounding state detection unit 71A is different in that it detects that the brake lamp of the preceding vehicle is lit as the vehicle surrounding state based on the acquired video data. Here, information indicating that the brake lamp of the preceding vehicle is turned on is stored in the storage unit 71Am. The control parameter update unit 74A is different from the control parameter update unit 74 in that the control parameter update unit 74A includes a control parameter for lighting the preceding vehicle brake lamp. Compared with the control signal generator 72, the control signal generator 72A is based on the information stored in the storage unit 71Am indicating that the preceding vehicle brake lamp is lit, and when the brake lamp is lit, the control for turning on the brake lamp is performed. A difference is that a control signal for automatically traveling the vehicle 1 is generated based on the parameters, and the generated control signal is transmitted to the engine control unit 81, the brake control unit 82, and the steering control unit 83, respectively.

  According to the vehicle travel control system according to the present embodiment, the same effects as those of the vehicle travel control system according to the first embodiment can be obtained. Furthermore, compared with the vehicle travel control system according to the first embodiment, a control parameter for when the brake lamp is lit is separately provided, so that it is possible to realize the driver's preferred deceleration timing when the preceding vehicle steps on the brake. It becomes.

  Note that the control parameter may be set so that the vehicle is decelerated after a predetermined time has elapsed since the brake lamp of the preceding vehicle has been turned on. In this case, it is possible to further realize the driver's preferred deceleration timing.

Embodiment 3 FIG.
FIG. 9 is a block diagram showing the configuration of the vehicle travel control system according to Embodiment 3 of the present invention. The vehicle travel control system of FIG. 9 includes a vehicle control signal generator 7B instead of the vehicle control signal generator 7 as compared with the vehicle travel control system of FIG. Compared to the vehicle control signal generator 7, the vehicle control signal generator 7B includes a vehicle peripheral situation detector 71B instead of the vehicle peripheral situation detector 71, and includes a control signal generator 72B instead of the control signal generator 72. And a control parameter update unit 74B instead of the control parameter update unit 74.

  Compared to the vehicle surrounding state detection unit 71, the vehicle surrounding state detection unit 71B is different in that it detects a vehicle in the adjacent lane as the vehicle surrounding state based on the acquired video data. Here, the information of the vehicles in the adjacent lane is stored in the storage unit 71Bm. Compared to the control parameter update unit 74, the control parameter update unit 74B is different from the control parameter update unit 74B in that the control parameter update unit 74B includes another control parameter depending on whether the vehicle in the adjacent lane exists right next to the vehicle. Compared with the control signal generating unit 72, the control signal generating unit 72B is based on the information on the vehicles in the adjacent lane stored in the storage unit 71Bm, and when the vehicle in the adjacent lane exists next to the own vehicle. A difference is that a control signal for automatically traveling the vehicle 1 is generated based on each control parameter, and the generated control signal is transmitted to the engine control unit 81, the brake control unit 82, and the steering control unit 83, respectively. To do. That is, the control signal generator 72B generates a control signal using different control parameters depending on the presence or absence of a vehicle in the adjacent lane.

  According to the vehicle travel control system according to the present embodiment, the same effects as those of the vehicle travel control system according to the first embodiment can be obtained. Furthermore, compared with the vehicle travel control system according to the first embodiment, the control parameters can be properly used according to the presence / absence of the vehicle in the adjacent lane, so that it is avoided when a vehicle exists in the adjacent lane. It is possible to adjust the distance between the vehicles and run automatically.

Embodiment 4 FIG.
FIG. 10 is a block diagram showing the configuration of the vehicle travel control system according to Embodiment 4 of the present invention. The vehicle travel control system of FIG. 10 includes a vehicle control signal generator 7C instead of the vehicle control signal generator 7 as compared with the vehicle travel control system of FIG. Compared with the vehicle control signal generator 7, the vehicle control signal generator 7 C includes a vehicle peripheral situation detector 71 C instead of the vehicle peripheral situation detector 71, and includes a control signal generator 72 C instead of the control signal generator 72. And a control parameter update unit 74C instead of the control parameter update unit 74.

  Compared to the vehicle surrounding state detecting unit 71, the vehicle surrounding state detecting unit 71C is different in that it detects congestion of surrounding vehicles, that is, traffic jam information, as the vehicle surrounding state based on the acquired video data. Here, the traffic jam information is stored in the storage unit 71Cm. Compared with the control parameter update unit 74, the control parameter update unit 74C is different from the control parameter update unit 74 in that the control parameter update unit 74C has different control parameters at the time of traffic jam and normal time. Compared with the control signal generator 72, the control signal generator 72C is configured to automatically drive the vehicle 1 on the basis of the traffic parameters stored in the storage unit 71Cm and based on the control parameters at the time of traffic and normal times. A difference is that a control signal is generated and the generated control signal is transmitted to the engine control unit 81, the brake control unit 82, and the steering control unit 83, respectively. That is, the control signal generation unit 72C generates a control signal using different control parameters depending on whether or not there is a traffic jam.

  According to the vehicle travel control system according to the present embodiment, the same effects as those of the vehicle travel control system according to the first embodiment can be obtained. Furthermore, compared with the vehicle travel control system according to the first embodiment, the control parameters can be properly used depending on whether or not there is a traffic jam, so that it is possible to realize the driver's favorite travel in the follow-up travel at the time of traffic jam. Become

Embodiment 5 FIG.
FIG. 11 is a block diagram showing a configuration of a vehicle travel control system according to Embodiment 5 of the present invention. The vehicle travel control system of FIG. 11 includes a vehicle control signal generator 7D instead of the vehicle control signal generator 7 as compared with the vehicle travel control system of FIG. Compared to the vehicle control signal generator 7, the vehicle control signal generator 7 </ b> D includes a vehicle peripheral situation detector 71 </ b> D instead of the vehicle peripheral situation detector 71, and the control signal generator 72 </ b> D instead of the control signal generator 72. And a control parameter update unit 74D instead of the control parameter update unit 74.

  The vehicle surrounding situation detection unit 71D is different from the vehicle surrounding situation detection unit 71 in that it detects pedestrians around the vehicle based on the acquired video data. Here, the pedestrian information is stored in the storage unit 71Dm. Compared to the control parameter update unit 74, the control parameter update unit 74D is different from the control parameter update unit 74D in that it includes other control parameters depending on the presence or absence of a pedestrian. Compared with the control signal generator 72, the control signal generator 72D automatically travels the vehicle 1 based on the respective control parameters with and without pedestrians based on the pedestrian information stored in the storage unit 71Dm. The difference is that a control signal is generated and the generated control signal is transmitted to the engine control unit 81, the brake control unit 82, and the steering control unit 83, respectively. That is, the control signal generation unit 72D generates a control signal using different control parameters depending on the presence or absence of a pedestrian.

  According to the vehicle travel control system according to the present embodiment, the same effects as those of the vehicle travel control system according to the first embodiment can be obtained. Furthermore, compared with the vehicle travel control system according to the first embodiment, since the control parameters can be properly used according to the presence or absence of pedestrians, it is possible to realize the driver's favorite travel in the presence or absence of pedestrians. Become.

  As described above in detail, according to the vehicle travel control system of the present invention, when the driver detects that the driver has performed an override operation such as an accelerator, a brake, and a steering during automatic travel, the control parameters are more suitable for the driver's intention. Since the vehicle is updated, it is possible to realize automatic driving without a sense of incongruity.

  DESCRIPTION OF SYMBOLS 1 Vehicle, 2 Cameras, 3 Radar transmission / reception part, 4 Steering, 5 Brake pedal, 6 Accelerator pedal, 7, 7A, 7B, 7C, 7D Vehicle control signal generator, 8 Vehicle control apparatus, 9 Engine, 10 Brake, 11 Power Steering, 12 vehicle speed sensors, 71, 71A, 71B, 71C, 71D, vehicle surrounding situation detection unit, 71m, 71Am, 71Bm, 71Cm, 71Dm storage unit, 72, 72A, 72B, 72C, 72D control signal generation unit, 73 override operation Detection unit, 74, 74A, 74B, 74C, 74D Control parameter update unit, 81 engine control unit, 82 brake control unit, 83 steering control unit.

Claims (6)

A vehicle travel control system including a vehicle control device that controls a vehicle to automatically travel based on predetermined control parameters,
A camera that captures video around the vehicle;
A vehicle speed sensor for measuring the vehicle speed of the vehicle;
A transmission signal for calculating a distance between the vehicle and the preceding vehicle and a relative speed of the preceding vehicle with respect to the vehicle is transmitted, and a reflected wave when the transmission signal is reflected by the preceding vehicle is received as a reception signal. A radar transmitting and receiving unit;
A vehicle surrounding state detection unit for detecting the vehicle surrounding state based on the acquired video data, the transmission signal and the reception signal, and the vehicle speed of the vehicle;
An override operation detection unit that detects an override operation that is an operation of a driver during automatic driving and generates an override operation detection signal;
A control parameter updating unit that updates the control parameter based on the override operation detection signal;
A control signal generator for generating a control signal for automatically driving the vehicle based on the detected vehicle surroundings and the updated control parameter;
The vehicle control device controls the vehicle to automatically travel based on the control signal.   The vehicle travel control system according to claim 1, wherein the vehicle surrounding state detection unit calculates the inter-vehicle distance and the relative speed based on the transmission signal and the reception signal. The vehicle control device includes an engine control unit and a brake control unit,
When the brake control unit detects an operation of the driver during automatic driving with respect to the brake, a brake operation detection signal is generated and transmitted to the override operation detection unit,
3. The vehicle travel control system according to claim 1, wherein the override operation detection unit generates the override operation detection signal for updating the control parameter so that the inter-vehicle distance is increased based on the brake pedal operation detection signal. . The vehicle control device includes an engine control unit and a brake control unit,
When the engine control unit detects the driver's operation during automatic driving with respect to the accelerator pedal, the accelerator control operation detection signal is generated and transmitted to the override operation detection unit.
The vehicle travel control system according to claim 1 or 2, wherein the override operation detection unit generates the override operation detection signal for updating the control parameter so that the inter-vehicle distance is reduced based on the accelerator pedal operation detection signal. .   The vehicle travel control system according to any one of claims 1 to 4, wherein the radar transmission / reception unit radiates a millimeter-wave wave to the front of the vehicle as the transmission signal.   The vehicle surrounding state detection unit detects, as the vehicle surrounding state, the white line of the own vehicle lane, the vehicles in the adjacent lanes, the congestion of surrounding vehicles, and the presence or absence of pedestrians based on the acquired video data. The vehicle travel control system according to any one of 1 to 5.

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