JP2019043173A - Automatic follow-up travel assistance system - Google Patents

Abstract

To provide an automatic follow-up travel assistance system capable of automatic follow-up travel control corresponding to a characteristic of a driver.SOLUTION: An automatic follow-up travel assistance system comprises: a preceding-vehicle detection sensor 4 that detects a preceding vehicle located ahead of a vehicle 1; an operation input device 5 that accepts driver operation input for the vehicle 1; and a vehicle control device 7 that performs automatic follow-up travel control by which, during a period of time satisfying a predetermined performing condition, a distance from the preceding vehicle is maintained within a set distance and the vehicle 1 is traveled following the preceding vehicle. On the basis of an operation history input to the operation input device 5 or determined from a detection result of a vehicle state sensor, the vehicle control device 7 changes a condition for performing automatic follow-up travel control.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic follow-up running support system.

  PTL 1 describes follow-up traveling control that follows a preceding vehicle while maintaining a predetermined inter-vehicle distance at the time of a traffic jam. In this follow-up traveling control, when the preceding vehicle stops, the own vehicle also stops following this.

Japanese Patent Application Laid-Open No. 10-147160

  However, in such an automatic follow-up traveling support system, the range of the vehicle speed for performing the automatic follow-up traveling control is determined, and can not be changed. If it exceeds the range of the set vehicle speed, the automatic follow-up traveling control is canceled and the driving authority is given to the driver. For example, for a driver who is used to driving and sufficiently grasps the vehicle characteristics, it is more than necessary. The automatic following function is frequently canceled, which may cause inconvenience.

  Therefore, an object of the present invention is to provide an automatic follow-up running support system capable of performing automatic follow-up running control according to the characteristics of the driver or the state of the vehicle.

  In order to solve the above problems, the present invention is directed to a preceding vehicle detection sensor for detecting a preceding vehicle located in front of the vehicle, a vehicle state sensor for detecting the state of the vehicle, and an operation input device for receiving an operation input from the driver to the vehicle. And a vehicle control device that executes an automatic follow-up traveling control that keeps the distance between the preceding vehicle within a predetermined set distance while following a predetermined execution condition, and causes the rear of the preceding vehicle to follow. The vehicle control device changes the execution condition based on an operation history input to the operation input device or determined from a detection result of the vehicle state sensor.

  As described above, according to the present invention, automatic follow-up travel control can be performed according to the characteristics of the driver or the state of the vehicle.

FIG. 1 is a block diagram showing an automatic follow-up running support system according to an embodiment of the present invention. FIG. 2 is a flowchart showing the procedure of the execution condition change control process of the automatic follow-up running support system according to the embodiment of the present invention. FIG. 3 is a flowchart showing the procedure of notification control processing of the automatic follow-up driving support system according to the embodiment of the present invention.

  An automatic follow-up traveling support system according to an embodiment of the present invention includes a preceding vehicle detection sensor that detects a preceding vehicle located ahead of the vehicle, a vehicle state sensor that detects a state of the vehicle, and an operation input to the driver's vehicle. A vehicle control device that executes automatic follow-up running control that keeps the distance between the preceding vehicle within a predetermined set distance while following the operation input device that accepts the vehicle and a predetermined execution condition, and follows the back of the preceding vehicle And the vehicle control device is configured to change the execution condition based on the operation history input to the operation input device or determined from the detection result of the vehicle state sensor. Thus, automatic follow-up travel control can be performed according to the driver's characteristics or the state of the vehicle.

  Hereinafter, with reference to the drawings, an automatic follow-up traveling support system according to an embodiment of the present invention will be described in detail.

  In FIG. 1, a vehicle 1 equipped with an automatic follow-up traveling support system according to an embodiment of the present invention includes an engine 2, a brake 3, a preceding vehicle detection sensor 4, an operation input device 5, and a notification device 6. A vehicle control device 7 is included.

  The engine 2 is formed with a plurality of cylinders. In the present embodiment, the engine 2 is configured to perform, for each cylinder, a series of four strokes consisting of an intake stroke, a compression stroke, an expansion stroke, and an exhaust stroke. In the present embodiment, the vehicle 1 is made to travel by the driving force of the engine 2.

  The brake 3 exerts a mechanical braking force on the wheels (not shown) by the driver's operation pressure (pedal depression force) input to the brake pedal (not shown). The brake 3 is adapted to exert mechanical braking force on the wheels under the control of the vehicle control device 7.

  The preceding vehicle detection sensor 4 transmits and receives laser light, ultrasonic waves, millimeter waves, and the like to detect the distance to the preceding vehicle traveling in front of the vehicle 1.

  The operation input device 5 includes, for example, a touch sensor, a switch, a microphone, an accelerator pedal, a steering wheel, and a brake pedal, and receives an operation input to the vehicle 1 by the driver.

  The notification device 6 includes, for example, a monitor device, a speaker, a lamp, a meter, and a buzzer, and notifies the driver of various information through sight, hearing, and the like.

  The vehicle control device 7 is configured by a computer unit provided with a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), a flash memory, an input port, and an output port. There is.

  A program for causing the computer unit to function as the vehicle control device 7 is stored in the ROM of the computer unit, along with various control constants and various maps. That is, when the CPU executes a program stored in the ROM, the computer unit functions as the vehicle control device 7.

  In addition to the preceding vehicle detection sensor 4 and the operation input device 5 described above, the speed sensor 81, the acceleration sensor 82, the accelerator opening sensor 83, the brake sensor 84, the steering angle sensor 85, etc. The various vehicle condition sensors are connected.

  The speed sensor 81 detects the speed of the vehicle 1. The acceleration sensor 82 detects the acceleration of the vehicle 1. The accelerator opening degree sensor 83 detects an accelerator opening degree which is an opening degree of an accelerator pedal (not shown) operated by the driver. The brake sensor 84 detects the amount of depression of a brake pedal (not shown). The steering angle sensor 85 detects a steering angle of a steering wheel (not shown).

  On the other hand, to the output port of the vehicle control device 7, various control objects such as the above-described engine 2, brake 3, and notification device 6 are connected.

  The vehicle control device 7 executes automatic follow-up traveling control that automatically follows the rear in accordance with the travel and stop of the preceding vehicle located in front of the vehicle 1.

  The vehicle control device 7 starts automatic follow-up traveling control by the operation input to the operation input device 5. The vehicle control device 7 starts automatic follow-up traveling control, for example, when the automatic follow-up switch of the operation input device 5 is turned on.

  The vehicle control device 7 performs automatic follow-up traveling control so as to maintain the vehicle interval between the host vehicle and the preceding vehicle within a predetermined set distance while the predetermined execution condition is satisfied.

The predetermined execution conditions are, for example, as shown below.
1) The distance between the host vehicle and the preceding vehicle is within a predetermined range, for example, 20 [m].
2) To be within a predetermined following upper limit speed, for example, 20 [km / h].

  The distance between the vehicle and the preceding vehicle may be adjusted appropriately according to the traffic conditions.

  The vehicle control device 7 controls the brake 3 to stop the own vehicle when the preceding vehicle is stopped while executing the automatic follow-up traveling control. In this embodiment, the stop keeping period at the time of automatic stop of the automatic follow-up running control is about 2 seconds, and it is necessary to perform the brake operation for 2 seconds and to perform the stop maintaining operation to continue stepping on the brake pedal after 2 seconds. There is.

  The vehicle control device 7 restarts the automatic follow-up traveling control when the driver performs a predetermined restart operation on the operation input device 5 when the host vehicle is in the stop state. The restart operation is, for example, turning on the restart switch of the operation input device 5.

  The vehicle control device 7 ends the automatic follow-up traveling control when a predetermined operation by the driver is performed on the operation input device 5 when the host vehicle is in the stop state. The predetermined operation is, for example, stepping on the accelerator pedal of the operation input device 5.

  The vehicle control device 7 controls the engine 2 to maintain the vehicle interval with the preceding vehicle at a predetermined set distance, when the vehicle interval with the preceding vehicle is expanded, while executing the automatic follow-up control, and thereby the vehicle 1 Accelerate. The vehicle control device 7 accelerates the vehicle 1 by controlling a throttle valve (not shown) for adjusting the intake air amount of the engine 2 and an injector (not shown) for injecting fuel into the combustion chamber of the engine 2.

  The vehicle control device 7 automatically cancels the automatic follow-up traveling control when the vehicle distance between the host vehicle and the preceding vehicle exceeds the above-described predetermined range, or when the speed of the host vehicle exceeds the above-described upper limit tracking speed. The notification device 6 notifies the driver to that effect.

  The vehicle control device 7 cancels the automatic follow-up traveling control by various operations performed by the driver's operation input device 5. The vehicle control device 7 cancels the automatic follow-up traveling control by, for example, stepping on the accelerator pedal, stepping on the brake pedal, turning off the automatic follow-up switch, an automatic follow-up off command by voice, or the like.

  When the automatic follow-up traveling control is released, the vehicle control device 7 causes the notification device 6 to notify the driver of that effect. Thereby, the driver can recognize "release" or "maintain" of the automatic follow-up traveling control, and can select the subsequent operation by the operation input to the operation input device 5.

  The vehicle control device 7 stores a preset operation input to the operation input device 5 and changes the execution condition of the above-described automatic follow-up traveling control based on the stored operation history.

  The vehicle control device 7, while executing the automatic follow-up traveling control, the own vehicle is in the stop state, the preceding vehicle restarts again, and the distance between the own vehicle and the preceding vehicle is a predetermined distance, for example, 5 to 10 m The driver's re-starting operation is detected when the distance between the vehicle and the preceding vehicle increases beyond a predetermined value, for example, 3 [m / s]. The re-start response time up to is stored as the operation history.

  The vehicle control device 7 determines that the above-mentioned restart response time exceeds a predetermined time, for example, 5 [s], or the above-mentioned increase in the vehicle interval is delayed by a predetermined value, for example, about 5 [m / s]. When it exceeds, the restart decision corresponding delay determination is performed, and whether or not the restart decision corresponding delay decision has been performed is stored as an operation history.

  The vehicle control device 7 detects the vehicle stop maintaining operation (brake operation) by the driver from the time the vehicle is stopped when the own vehicle is stopped according to the stop of the preceding vehicle while the automatic follow-up traveling control is being performed. The stop correspondence time until it is acquired is acquired and stored as an operation history.

  The vehicle control device 7 performs the stop corresponding delay determination when the above stop corresponding time exceeds a predetermined time, for example, 2 [s], and stores whether or not the stop corresponding delay determination is performed as the operation history.

  The vehicle control device 7 determines the rapid acceleration or the rapid deceleration of the vehicle 1 from the detection result of the speed sensor 81 or the acceleration sensor 82. When the vehicle control device 7 determines that the rapid acceleration or the rapid deceleration is performed, the vehicle control device 7 stores the fact that the rapid acceleration / deceleration determination is performed as an operation history.

  The vehicle control device 7 reduces the skill level parameter if any of the skill level "low" determination conditions described below is satisfied. The skill level parameter is a value indicating the driver's driving skill level, and is expressed as an integer from -100 to 100, for example. The initial value of the skill level parameter is set to zero.

The vehicle control device 7 reduces the skill level parameter by a preset value when any of the skill level "low" determination conditions described below is satisfied.
t1) The average value of the restart response time within the predetermined period is greater than the predetermined restart upper limit threshold.
t2) The number of times of performing the restart decision corresponding delay determination within a predetermined period is equal to or greater than the predetermined number.
t3) The average value of the stop handling time within a predetermined period is greater than a predetermined stop handling upper limit threshold.
t4) The number of times that the vehicle stop response delay determination within the predetermined period has been performed is equal to or greater than the predetermined number.
t5) The number of times of rapid acceleration / deceleration determination within a predetermined period is greater than a predetermined rapid acceleration / deceleration upper limit threshold.

  The predetermined period is, for example, three months, or the last six hours of the accumulated time of execution of the automatic follow-up control.

The vehicle control device 7 raises the skill level parameter by a preset value when any of the skill level "high" determination conditions described below is satisfied.
k1) The average value of the restart response time within a predetermined period is smaller than a predetermined restart lower limit threshold.
k2) The number of consecutive times in which the restart determination corresponding delay determination within a predetermined period is not performed is equal to or greater than the predetermined number.
k3) The average value of the stop handling time within a predetermined period is smaller than a predetermined stop handling lower limit threshold.
k4) The number of consecutive times when the vehicle stop corresponding delay determination within the predetermined period is not performed is equal to or more than the predetermined number.
k5) The number of times of rapid acceleration / deceleration determination within a predetermined period is smaller than a predetermined rapid acceleration / deceleration lower limit threshold.

  The vehicle control device 7 performs the determination of the proficiency "low" determination condition and the determination of the proficiency "high" determination condition at preset time intervals, and changes the proficiency parameter based on the determination result, The follow-up upper limit speed of the execution condition of the above-described automatic follow-up traveling control is changed based on the skill level parameter.

  When the skill level parameter is higher than the predetermined high evaluation threshold, the vehicle control device 7 changes the follow-up upper limit speed to be high, and expands the execution condition of the automatic follow-up traveling control.

  When the skill level parameter is lower than the predetermined low evaluation threshold, the vehicle control device 7 changes the follow-up upper limit speed to a low value to reduce the execution condition of the automatic follow-up traveling control.

  When the execution condition of the automatic follow-up traveling control is changed, the vehicle control device 7 notifies the notification device 6 that the execution condition has been changed and the skill level parameter.

  When the vehicle control device 7 determines that any of the above-mentioned proficiency levels “low” determination conditions are met, the notification required conditions are set according to the conditions determined to be met, and the driving is performed when the notification requirements are satisfied. Alert the person. In addition, even when the notification required condition is satisfied, the notification may be performed only when the skill level parameter is lower than the predetermined notification required threshold.

  For example, when the vehicle control device 7 determines that the above-mentioned t1) and t2) conditions for re-start correspondence are satisfied, the preceding vehicle restarts from the stopped state, and the distance between the own vehicle and the preceding vehicle is a predetermined threshold. For example, the notification condition needs to have reached 5 [m] or that the increase amount of the vehicle interval between the own vehicle and the preceding vehicle exceeded a predetermined threshold. If the vehicle control device 7 determines that the required notification condition is satisfied, the vehicle control device 7 causes the notification device 6 to perform notification such as prompting a restart operation. For example, the vehicle control device 7 causes the monitor device of the notification device 6 to display a message such as “Please restart”, and performs notification to urge the restart operation.

  For example, when it is determined that the vehicle stop maintaining operation condition of the above-mentioned t3) or t4) is satisfied, the vehicle control device 7 sets that a predetermined time has elapsed from the time when the host vehicle stops, as the notification condition. When the vehicle control device 7 determines that the required notification condition is satisfied, the vehicle control device 7 causes the notification device 6 to perform notification such as prompting the vehicle stop maintenance operation.

  For example, when it is determined that the condition of the rapid acceleration / deceleration condition of the above-mentioned t5) is determined, the vehicle control device 7 determines that the rapid acceleration or the rapid deceleration is detected as the notification condition. When the vehicle control device 7 determines that the required notification condition is satisfied, the vehicle control device 7 causes the notification device 6 to notify that the rapid acceleration or the rapid deceleration has been performed.

  The notification by the notification device 6 is not limited to the monitor device, and may be sound notification by a speaker, lighting of a lamp, blinking of a lamp, or the like.

  The predetermined threshold value for determining the proficiency level may be increased or decreased according to the increase or decrease of the proficiency level of the driver, and the execution condition of the automatic follow-up traveling control may be changed according to the proficiency level of the driver. In this way, the driver can realize a change in his or her skill level, and can lead to a further skill level improvement.

  The execution condition change control processing by the vehicle control device 7 of the automatic follow-up driving assistance system according to the present embodiment configured as described above will be described with reference to FIG. The execution condition change control process described below is started when the vehicle control device 7 starts its operation, and is executed at preset time intervals.

  In step S1, the vehicle control device 7 determines whether or not the above-described skill level "high" determination condition is satisfied. If it is determined that the skill level “high” determination condition is satisfied, the vehicle control device 7 raises the skill level parameter by a preset value in step S2.

  When it is determined in step S1 that the skill level "high" determination condition is not satisfied, the vehicle control device 7 determines whether or not the above-described skill level "low" determination condition is satisfied in step S6. If it is determined that the proficiency level “low” determination condition is satisfied, the vehicle control device 7 reduces the proficiency level parameter by a preset value in step S7.

  If it is determined in step S6 that the skill level "low" determination condition is not satisfied, the vehicle control device 7 ends the process.

  In step S3, the vehicle control device 7 determines whether the skill level parameter is higher than the high evaluation threshold. If it is determined that the skill level parameter is higher than the high evaluation threshold value, the vehicle control device 7 expands the execution condition of the automatic follow-up traveling control in step S4.

  If it is determined in step S3 that the skill level parameter is not higher than the high evaluation threshold, the vehicle control device 7 determines whether the skill level parameter is lower than the low evaluation threshold in step S8. If it is determined that the skill level parameter is lower than the low evaluation threshold, the vehicle control device 7 reduces the execution condition of the automatic follow-up traveling control in step S9.

  If it is determined in step S8 that the skill level parameter is not lower than the low evaluation threshold, the vehicle control device 7 ends the process.

  In step S5, the vehicle control device 7 notifies the driver that the execution condition of the automatic follow-up traveling control has been changed and that the skill level parameter has changed, and ends the processing.

  Next, notification control processing by the vehicle control device 7 of the automatic follow-up driving support system will be described with reference to FIG. The notification control process described below is executed when any of the above-described proficiency level “low” determination conditions is satisfied.

  In step S11, the vehicle control device 7 determines whether or not the above-described notification required condition is satisfied. If it is determined that the required notification condition is not satisfied, the vehicle control device 7 ends the process.

  If it is determined in step S11 that the notification required condition is satisfied, the vehicle control device 7 determines in step S12 whether the skill level parameter is lower than the notification required threshold. If it is determined that the skill level parameter is not lower than the notification required threshold, the vehicle control device 7 ends the process.

  If it is determined in step S12 that the skill level parameter is lower than the notification required threshold value, the vehicle control device 7 causes the driver to perform a notification in step S13 to end the process.

  As described above, the above-described embodiment includes the vehicle control device 7 that changes the execution condition based on the operation history input to the operation input device 5 or determined from the detection result of the vehicle state sensor described above.

  As a result, the execution condition of the automatic follow-up traveling control is changed according to the operation input to the vehicle 1 by the driver, and the automatic follow-up traveling control can be performed according to the characteristics of the driver or the state of the vehicle.

  Further, the vehicle control device 7 lowers the skill level parameter when the skill level “low” determination condition is satisfied, and makes it difficult to execute the automatic follow-up traveling control when the skill level parameter is lower than a predetermined low evaluation threshold.

  As a result, in the case of an inexperienced driver with a relatively low level of skill, the frequency of execution of automatic follow-up traveling control is reduced, the driver is given an opportunity to operate by himself, and tension during driving becomes easy to maintain. This leads to the improvement of the driver's skill level and the awareness during driving.

  Further, the vehicle control device 7 raises the skill level parameter when the skill level "high" determination condition is satisfied, and makes the automatic follow-up traveling control easy to execute when the skill level parameter is higher than a predetermined high evaluation threshold.

  As a result, in the case of a driver with a high degree of skill (correspondence), the execution frequency of automatic follow-up traveling control is increased, and the convenience of the driver can be improved. Further, by providing the convenience improvement according to the degree of skill, it is possible to expect the driver's awareness of further operation learning.

  Further, when the skill level parameter is lower than the predetermined low evaluation threshold, the vehicle control device 7 changes the following upper limit speed to a low value.

  As a result, in the case of an inexperienced driver who is relatively inexperienced, automatic follow-up travel control in a relatively high speed range can not be performed, and the driver's anxiety about automatic travel in a high speed range can be alleviated.

  Further, by using the re-start response time as the determination criterion of the driver's skill level, in addition to the operation learning at the time of executing the automatic follow-up traveling control of the driver, it is possible to expect improvement in awareness of the automatic follow-up traveling control execution instruction.

  Further, by using the stop response time as the determination criterion of the driver's skill level, in addition to the operation learning at the time of execution of the automatic follow-up traveling control of the driver, it is also possible to expect an improvement in consciousness for the brake operation at the stop.

  Further, by using the number of times of rapid acceleration / deceleration as a criterion of the driver's skill level, an improvement in the driver's awareness of the driving characteristics can be expected.

  In addition, the driver can be notified of alerting by the notification device 6 in accordance with the operation input that causes the driver's skill to be determined to be low among the operation inputs to the vehicle 1 by the driver. Encourages operation learning and awareness raising.

  In addition, by notifying that the execution condition of the automatic follow-up traveling control has been changed, the driver can understand the change in the control execution condition, which leads to awareness of the driver's own skill level.

  Furthermore, by notifying the driver's skill level together, evaluation and alerting to the driver can be made more clearly, leading to further improvement in driver's awareness and skill level.

  Although the vehicle control device 7 is mounted in the vehicle in the present embodiment, the vehicle 1 is provided with a communication unit, and the server is connected by the communication unit via a communication medium such as a network. It is good also as a system which makes a device etc. bear a control function, and carries out remote control of vehicles 1 via a communication medium.

  While embodiments of the present invention have been disclosed, it will be apparent to those skilled in the art that changes may be made without departing from the scope of the present invention. All such modifications and equivalents are intended to be included in the following claims.

1 Vehicle 4 Leading Vehicle Detection Sensor 5 Operation Input Device 6 Notification Device 7 Vehicle Control Device 81 Speed Sensor 82 Acceleration Sensor

Claims (8)

While a preceding vehicle detection sensor for detecting a preceding vehicle located in front of the vehicle, a vehicle condition sensor for detecting a condition of the vehicle, an operation input device for receiving an operation input to the driver of the driver, and a predetermined execution condition A vehicle control device that executes an automatic follow-up traveling control that keeps the inter-vehicle distance with the preceding vehicle within a predetermined set distance and causes the vehicle to travel behind the preceding vehicle;
The automatic follow-up traveling support system, wherein the vehicle control device changes the execution condition based on an operation history input to the operation input device or determined from a detection result of the vehicle state sensor. The vehicle control device is in a state where the own vehicle is stopped according to the stop of the preceding vehicle, when the preceding vehicle restarts again and the distance between the own vehicle and the vehicle increases to a predetermined distance or more, or Obtaining a re-start response time which is a time from when the increase of the vehicle interval between the car and the own vehicle exceeds a predetermined value to when the re-start operation by the driver is detected;
The execution condition is changed so that the automatic follow-up traveling control is less likely to be performed, when the average value of the restart correspondence time within a predetermined period is larger than a predetermined restart upper limit upper threshold.
The automatic follow-up running support system according to claim 1, wherein the execution condition is changed so that the automatic follow-up running control is easily performed when the average value of the restart-ready time in a predetermined period is smaller than a predetermined restart-ready lower limit threshold. . The vehicle control device is in a state where the own vehicle is stopped according to the stop of the preceding vehicle, when the preceding vehicle restarts again and the distance between the own vehicle and the vehicle increases to a predetermined distance or more, or When it is determined that the restart response time, which is the time from when the vehicle interval increase amount between the car and the host vehicle exceeds the predetermined value, to the detection of the restart operation by the driver, the restart response time is determined to exceed the predetermined time Make a delay check,
The execution condition is changed so that the automatic follow-up traveling control is less likely to be performed, if the number of times the restart determination delay determination has been performed within a predetermined period is equal to or more than a predetermined number.
The automatic follow-up control according to claim 1 or 2, wherein the execution condition is changed so that the automatic follow-up traveling control is easily performed when the number of consecutive times when the restart determination delay determination is not performed within a predetermined period is equal to or more than a predetermined number. Driving support system. The vehicle control device acquires a stop corresponding time which is a time from when the host vehicle is stopped according to the stop of the preceding vehicle until a driver's operation for maintaining a stop is detected.
The execution condition is changed so that the automatic follow-up traveling control is less likely to be performed, when the average value of the vehicle stop handling time within a predetermined period is larger than a predetermined vehicle stop handling upper limit threshold,
The automatic follow-up traveling control is easily executed and the execution condition is changed when the average value of the vehicle stop handling time within a predetermined period is smaller than a predetermined vehicle stop handling lower limit threshold. Automatic follow-up driving support system described. The vehicle control device stops when it is determined that the vehicle stop handling time, which is the time from when the host vehicle is stopped according to the stop of the preceding vehicle to when the driver maintains the vehicle stop operation, exceeds a predetermined time Perform response delay judgment,
The execution condition is changed so that the automatic follow-up traveling control is less likely to be performed, if the number of times the vehicle stop corresponding delay determination is performed within a predetermined period is equal to or more than a predetermined number.
5. The automatic follow-up traveling control according to claim 1, wherein the execution condition is changed so that the automatic follow-up traveling control is easily performed when the number of consecutive times when the vehicle stop correspondence delay determination within the predetermined period is not performed is equal to or more Automatic follow-up driving support system described. The vehicle control device makes a rapid acceleration / deceleration determination when it determines that the host vehicle has rapidly accelerated or decelerated.
The execution condition is changed so that the automatic follow-up traveling control is less likely to be performed if the number of times the rapid acceleration / deceleration determination has been performed within a predetermined period is greater than a predetermined rapid acceleration / deceleration upper limit threshold,
The automatic follow-up traveling control is easily changed to the execution condition when the number of times the rapid acceleration / deceleration determination has been performed within a predetermined period is smaller than a predetermined rapid acceleration / deceleration lower limit threshold. The automatic follow-up driving support system described in item 1. It has a notification device that notifies the driver of various information,
When the vehicle control device changes the execution condition so that the automatic follow-up traveling control is difficult to be executed, the driver operates the host vehicle according to a factor that changes the execution condition so that the automatic follow-up traveling control is difficult to be performed. The automatic follow-up running support system according to any one of claims 2 to 6, wherein a notification for prompting the user to perform   The automatic follow-up travel according to any one of claims 1 to 7, wherein the vehicle control device uses, as the execution condition, a follow-up upper limit speed which is an upper limit value of the speed of the vehicle which executes the automatic follow-up travel control. Support system.

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