JP2019137296A - Vehicle travel control device and method - Google Patents

Abstract

To provide a vehicle travel control device and a method capable of improving fuel consumption of an own vehicle when surrounding of an own vehicle and a preceding vehicle becomes congested when the own vehicle tracks the preceding vehicle.SOLUTION: After an own vehicle 2 is stopped following to stop of a preceding vehicle 3, and when it is determined that the surrounding of the own vehicle 2 becomes congested when the preceding vehicle 3 starts, the own vehicle 2 is made to start when a vehicular gap X between the preceding vehicle 3 after start and the own vehicle 2 becomes a preset set distance Xa or greater distance. Then, in start time of the own vehicle 2, when the surrounding of the preceding vehicle 3 becomes congested, after start of the own vehicle 2, the own vehicle 2 is made to accelerate and perform coast travel, and the own vehicle 2 is made to stop at a position of the preceding vehicle 3 in a start time of the own vehicle 2.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to a vehicle travel control device and a vehicle travel control method.

  When the surrounding area of the host vehicle is congested and the vehicle speed of the host vehicle is zero, the preceding vehicle starts and the distance between the preceding vehicle and the host vehicle exceeds the predetermined distance. There has been proposed a driving support system in which the host vehicle creeps until the distance is equal to or less than the distance, and stops following the stop of the preceding vehicle (see, for example, Patent Document 1).

JP 2017-87784 A

  By the way, in the technique of the above-mentioned patent document 1, when the traffic jam is detected, the host vehicle that follows the preceding vehicle is creep-run at the creep speed by the creep torque. The fuel for the generation is consumed. Therefore, there was room for improvement in terms of fuel consumption.

  An object of the present disclosure is a vehicle travel control device capable of improving the fuel consumption of the host vehicle when the host vehicle follows the preceding vehicle and the surroundings of the host vehicle and the preceding vehicle are congested. The object is to provide a vehicle travel control method.

  In order to achieve the above object, the vehicle travel control apparatus according to the aspect of the present invention is configured to follow the stop of the preceding vehicle and stop the host vehicle, and then start the preceding vehicle, and the surroundings of the own vehicle are congested. In a vehicle travel control device having a function of starting the host vehicle when an inter-vehicle distance between the preceding vehicle after the start and the host vehicle is equal to or greater than a preset set distance when it is determined that When it is determined that the surrounding area of the preceding vehicle is congested when the host vehicle starts, the host vehicle is accelerated and coasted after the host vehicle starts, and the host vehicle is started when the host vehicle starts. Control is performed to stop the host vehicle at the position of the preceding vehicle.

  In addition, the vehicle travel control method according to the aspect of the present invention for achieving the above-described object is the case where the preceding vehicle starts after the preceding vehicle starts following the stop of the preceding vehicle. In the vehicle running control method for starting the host vehicle when the distance between the preceding vehicle and the host vehicle after starting is equal to or greater than a preset set distance. When starting the host vehicle, it is determined whether or not the surrounding area of the preceding vehicle is congested. When it is determined that the host vehicle is congested, the host vehicle is accelerated and coasted after the start of the host vehicle. The method is characterized in that the vehicle is controlled to stop at the position of the preceding vehicle when the vehicle starts.

  According to the present disclosure, when the host vehicle is following the preceding vehicle and the host vehicle and the preceding vehicle are congested, the fuel efficiency of the host vehicle can be improved.

It is a figure which illustrates the composition of the run control device of the vehicles of the embodiment of the present invention. It is a figure which illustrates the traveling state of the own vehicle and the preceding vehicle provided with the traveling control apparatus of the vehicle of the embodiment of the present invention. (A) illustrates the time when the preceding vehicle starts, (b) illustrates the time when the host vehicle starts, and (c) illustrates the time when the host vehicle stops. It is a figure which illustrates the traveling state of the own vehicle, the preceding vehicle, and the other vehicle provided with the traveling control apparatus of the vehicle of the embodiment of the present invention. (A) illustrates the time when the preceding vehicle starts, (b) illustrates the time when the host vehicle starts, and (c) illustrates the time when the host vehicle is following. It is a figure which illustrates the control flow in the traveling control method of vehicles of an embodiment of the present invention.

  Hereinafter, a vehicle travel control device 1 and a vehicle travel control method according to an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, the vehicle equipped with the vehicle travel control device 1 is preceded by the own vehicle 2 and the running path 5 of the own vehicle 2 is the nearest vehicle, the preceding vehicle 3, and the running path 5 of the own vehicle 2. A vehicle that is traveling on a traveling path adjacent to the vehicle is referred to as another vehicle 4.

  As shown in FIG. 1, the host vehicle 2 includes a travel information acquisition device 6 in addition to the vehicle travel control device 1. The travel information acquisition device 6 is configured such that the vehicle speed of the host vehicle 2, the inter-vehicle distance X between the preceding vehicle 3 and the host vehicle 2, the vehicle speed of the preceding vehicle 3, the gradient of the travel path 5, the vehicle weight of the host vehicle 2, etc. It is a device that acquires parameters (travel information) related to travel. The vehicle speed of the host vehicle 2 is acquired by a vehicle speed sensor provided in the host vehicle 2, for example. The inter-vehicle distance X is acquired by, for example, a laser sensor or a camera provided in the host vehicle 2. The vehicle speed of the preceding vehicle 3 is estimated and calculated based on the vehicle speed of the host vehicle 2 and the inter-vehicle distance X, for example. The gradient of the travel path 5 is acquired by, for example, a gradient sensor provided in the host vehicle 2. The vehicle weight of the host vehicle 2 is estimated and calculated based on each acquired value of an acceleration sensor and a torque sensor provided in the host vehicle 2, for example.

  The vehicle travel control apparatus 1 includes a CPU (Central Processing Unit) that performs various information processing, an internal storage device that can read and write programs and information processing results used for performing the various information processing, and various interfaces. Hardware that controls the travel of the host vehicle 2. However, in the present embodiment, among the functions of the device 1, functions (starting function, etc.) when performing control (ACC control: adaptive cruise control control) for causing the preceding vehicle 3 to follow the host vehicle 2 to travel. ) The ACC control is performed when the ACC control switch provided in the driver's seat of the host vehicle 2 is turned on by the driver. As will be described later, the vehicle travel control device 1 follows the stop of the preceding vehicle 3 and stops the host vehicle 2 and then starts when the preceding vehicle 3 starts, and the vicinity of the host vehicle 2 is congested. When the determination is made, the vehicle 2 has a function of starting when the inter-vehicle distance X between the preceding vehicle 3 and the host vehicle 2 after the start is equal to or greater than a preset set distance Xa.

  As shown in FIG. 1, the vehicle travel control device 1 includes a host vehicle traffic determination unit 1a, an inter-vehicle distance determination unit 1b, a preceding vehicle traffic jam determination unit 1c, a traffic jam travel parameter setting unit 1d, and a traffic jam travel. Instruction means 1e, other vehicle interruption determination means 1f, and traffic jamming stopping means 1g are provided.

  The own vehicle traffic judgment means 1a is a means for judging whether or not the vicinity of the own vehicle 2 is congested. More specifically, the own vehicle traffic judging means 1a is a traffic information providing device 7 provided outside the own vehicle 2 when the vehicle speed V of the own vehicle 2 is equal to or lower than a preset vehicle speed Va at the time of ACC control. Is a means for determining whether or not the vicinity of the host vehicle 2 is congested based on the traffic information received from the vehicle and the travel information received from the travel information acquisition device 6. The set vehicle speed Va is a vehicle speed that is low enough to determine that the vicinity of the host vehicle 2 is congested, and is set in advance by experiments or the like.

  The traffic information is, for example, the current position of the host vehicle 2 or the traffic situation of the traveling path 5 in front of the host vehicle 2. The traffic information providing device 7 has a function of obtaining traffic information from a traffic information providing organization such as the Japan Road Traffic Information Center based on the position of the host vehicle 2 obtained by, for example, GPS (Global Positioning System). is there. The travel information is, for example, the transition status of the vehicle speed V and the inter-vehicle distance X of the host vehicle 2 in the latest fixed period. This certain period is set as a period during which transition data of the vehicle speed V and the inter-vehicle distance X can be acquired to such an extent that it can be determined that the vicinity of the host vehicle 2 is congested.

  In addition, after it is determined that the surroundings of the own vehicle 2 are congested by the own vehicle traffic determining means 1a, until the next determination that the surroundings of the own vehicle 2 is not congested is performed. By making the used fixed period shorter than the normal fixed period, it is more quickly determined whether or not the vicinity of the host vehicle 2 is congested. Further, when the ACC control is not performed or when the vehicle speed V of the host vehicle 2 exceeds the set vehicle speed Va, it is determined whether or not the host vehicle 2 is in a congested state based only on the traffic information.

  The inter-vehicle distance determination means 1b follows the stop of the preceding vehicle 3 and stops when the preceding vehicle 3 starts within a preset time t1 after stopping the own vehicle 2, and the surroundings of the own vehicle 2 are congested. When it is determined that the distance between the preceding vehicle 3 and the host vehicle 2 after the start is determined, it is a means for determining whether or not the inter-vehicle distance X is equal to or greater than a preset distance Xa. The set time t1 is a time set to save the driver from stepping on the accelerator pedal, and is set in advance by experiments or the like. The set distance Xa is a time set so as not to repeat starting and stopping when the vicinity of the host vehicle 2 is congested, and is set in advance by experiments or the like.

  More specifically, the inter-vehicle distance determination unit 1b performs control in the following order under the assumption that ACC control is performed. First, when both the vehicle speeds of the own vehicle 2 and the preceding vehicle 3 acquired by the travel information acquisition device 6 are zero, it is determined that both the own vehicle 2 and the preceding vehicle 3 are stopped.

  After it is determined that the host vehicle 2 and the preceding vehicle 3 are both stopped, it is determined that the preceding vehicle 3 has started when the vehicle speed of the preceding vehicle 3 acquired by the travel information acquisition device 6 is not zero. . When it is determined that the preceding vehicle 3 has started, the driver does not turn off the ACC function and remains in ACC control, and the own vehicle traffic determination unit 1a determines that the own vehicle 2 is in a traffic jam state. It is determined whether the inter-vehicle distance X is equal to or greater than the set distance Xa.

  The preceding vehicle congestion determination means 1c is a means for determining whether or not the vicinity of the preceding vehicle 3 is congested. More specifically, the preceding vehicle congestion determination means 1c determines whether or not the vicinity of the preceding vehicle 3 is congested based on the inter-vehicle distance X between the preceding vehicle 3 and the host vehicle 2 and the vehicle speed of the preceding vehicle 3. It is a means to determine. For example, when the inter-vehicle distance determination unit 1a determines that the inter-vehicle distance X is equal to or less than the second set distance Xb and satisfies the inter-vehicle distance condition in the preceding vehicle traffic congestion determination unit 1c, the travel information acquisition device 6 further When the vehicle speed V ′ of the preceding vehicle 3 to be acquired is equal to or lower than a preset second set vehicle speed Vb and the vehicle speed condition in the preceding vehicle congestion determination unit 1c is satisfied, it is determined that the vicinity of the preceding vehicle 3 is congested. To do. Even if the inter-vehicle distance condition is satisfied, when the vehicle speed V ′ of the preceding vehicle 3 exceeds the second set vehicle speed Vb and does not satisfy the vehicle speed condition, it is determined that the surrounding area of the preceding vehicle 3 is not congested. .

  The traffic parameter setting unit 1d for traffic jam is when the vehicle distance X is determined to be greater than or equal to the set distance Xa by the inter-vehicle distance determination unit 1b and the host vehicle 2 is started, and the preceding vehicle 3 by the preceding vehicle traffic determination unit 1c. When it is determined that the area around the vehicle is congested, the vehicle 2 is stopped at the position of the preceding vehicle 3 at this time (position X2 in FIG. 2) only by the running resistance during coasting after the host vehicle 2 is once accelerated. This is a means for calculating the minimum acceleration and acceleration time required for starting. The acceleration and acceleration time are estimated and calculated based on various parameters acquired by the travel information acquisition device 6 (for example, the inter-vehicle distance X, the vehicle weight of the host vehicle 2, and the gradient of the travel path 5 of the host vehicle 2). . The coasting traveling of the host vehicle 2 means that the traveling torque to the host vehicle 2 is not applied to the wheels and without any other braking force such as a foot brake that is activated by the driver's depression of the brake pedal. This is a traveling mode in which the host vehicle 2 is decelerated only by traveling resistance.

  The traffic instruction unit 1e for the traffic jam starts with the acceleration and acceleration time after the minimum acceleration and acceleration time of the host vehicle 2 are calculated by the traffic parameter setting unit 1d for traffic jam (acceleration). When the vehicle 2 starts, the vehicle 2 coasts after the start of acceleration, and various parameters related to vehicle travel (such as the fuel injection amount of the engine provided in the vehicle) are controlled. Is a means for stopping the host vehicle 2 at a position X2 of the preceding vehicle 3 in FIG.

  The other vehicle interruption determination unit 1f determines that the vehicle 2 is started by the vehicle distance determination unit 1b when the vehicle distance X is determined to be greater than or equal to the set distance Xa, or when the vehicle 2 is started by the traffic jam travel instruction unit 1e. Means for determining whether or not the other vehicle 4 enters between the preceding vehicle 3 and the own vehicle 2 from a running route adjacent to the traveling route 5 of the own vehicle 2 when the vehicle is accelerating and coasting; is there. For example, when the turn signal on the side of the traveling path 5 of the other vehicle 4 is blinking, it is determined that the other vehicle 4 is interrupted.

  The traffic jamming stopping means 1g is a means for canceling acceleration traveling and coasting driving of the own vehicle 2 by the traffic jamming instructing means 1e when the other vehicle interrupt judging means 1f determines that the other vehicle 4 is interrupted. is there. In addition, after accelerating traveling and coasting traveling of the host vehicle 2 are stopped, the vehicle traveling control device 1 performs normal ACC control to follow the vehicle 4 with the other vehicle 4 as a new preceding vehicle. If the time determined by the other vehicle interruption determination means 1f is when the host vehicle 2 starts, the calculation of acceleration and acceleration time by the traffic parameter setting means 1d for traffic jam is stopped. Also in this case, similarly, after that, the normal ACC control that follows the vehicle 4 is performed with the other vehicle 4 as a new preceding vehicle.

  A flow of a series of traveling of the own vehicle 2 in the present embodiment is as follows. First, when the preceding vehicle 3 starts after stopping the preceding vehicle 3 following the stop of the preceding vehicle 3, the own vehicle 2 does not follow and stops at the position X1 as shown in FIG. Next, when the inter-vehicle distance X between the preceding vehicle 3 and the host vehicle 2 becomes equal to or greater than the set distance Xa, the host vehicle 2 starts as shown in FIG. At this time, when the vicinity of the preceding vehicle 3 is congested, the minimum acceleration and acceleration time when the own vehicle 2 is started in order to stop the own vehicle 2 at the position X2 of the preceding vehicle 3 at this time. Is calculated. Then, after starting the own vehicle 2 and accelerating the own vehicle 2 with the calculated acceleration and acceleration time, the vehicle 2 coasts, regardless of the traveling state of the preceding vehicle 3, as shown in FIG. Thus, the host vehicle 2 is temporarily stopped at the position X2. Thereafter, if the preceding vehicle 3 is stopped, the control of the present embodiment (a series of controls in FIGS. 2A to 2C) is performed again, and if the preceding vehicle 3 is traveling, normal ACC control is performed. Transition.

  Alternatively, when the host vehicle 2 is started when the inter-vehicle distance X between the preceding vehicle 3 and the host vehicle 2 is equal to or greater than the set distance Xa, or when the host vehicle 2 is running at an accelerating speed and coasting, FIG. As shown in FIG. 3, when the other vehicle 4 enters between the preceding vehicle 3 and the host vehicle 2, as shown in FIG. 3 (c), the other vehicle 4 is made to follow the vehicle 4 as a new preceding vehicle. ACC control is performed. FIG. 3A is the same as FIG. 2A and shows the time when the preceding vehicle 3 starts after the host vehicle 2 is stopped following the stop of the preceding vehicle 3.

  A control flow based on the vehicle travel control device 1 of the present embodiment, in other words, an example of a vehicle travel control method will be described with reference to FIG. The control flow shown in FIG. 4 is a control flow that is performed during the ACC control of the host vehicle 2 and when the preceding vehicle 3 starts after stopping the host vehicle 2 following the stop of the preceding vehicle 3. .

  When the control flow shown in FIG. 4 starts, it is determined in step S10 whether or not the inter-vehicle distance X between the preceding vehicle 3 and the host vehicle 2 after the preceding vehicle 3 has started is equal to or greater than the set distance Xa. If the inter-vehicle distance X is less than the set distance Xa (NO), the determination in step S10 is performed again after a preset standby time has elapsed. On the other hand, if the inter-vehicle distance X is greater than or equal to the set distance Xa (YES), the process proceeds to step S20.

  In step S20, it is determined whether or not the vicinity of the preceding vehicle 3 is congested. Since this determination method is the same as the method described above, description thereof is omitted here. When it determines with the preceding vehicle 3 not having traffic jam (NO), it progresses to step S50, the own vehicle 2 is started in step S50, and it follows the preceding vehicle 3 by ACC control. After carrying out the control in step S50, the process proceeds to return, and this control flow ends. On the other hand, when it determines with the surroundings of the preceding vehicle 3 being congested in step S20 (YES), it progresses to step S30.

  In step S30, the minimum acceleration and acceleration time at the time of start required for stopping the host vehicle 2 with only the running resistance during coasting at the position of the preceding vehicle 3 at the time of step S20 are calculated. After performing Step S30, the process proceeds to Step S40.

  In step S40, the host vehicle is started, the host vehicle 2 is accelerated and travels coasting with the acceleration and acceleration time calculated in step S30, and the host vehicle is driven at the position X2 of the preceding vehicle 3 when the host vehicle 2 starts. 2 is stopped. After carrying out step S40, the process proceeds to return, and this control flow ends.

  In addition, when the determination condition of the interruption of the other vehicle 4 between the preceding vehicle 3 and the own vehicle 2 is satisfied while performing Step S30 or S40, Step S30 or S40 is canceled and the other vehicle The vehicle 2 is caused to follow the vehicle 4 with 4 as a new preceding vehicle. After following the host vehicle 2, the process proceeds to return, and this control flow ends.

  As described above, in the present embodiment, the distance X between the preceding vehicle 3 and the host vehicle 2 is set when the host vehicle 2 is in the ACC control and when it is determined that the vicinity of the host vehicle 2 is congested. When the start condition of the host vehicle 2 is satisfied when the distance is equal to or greater than the distance Xa, and if it is further determined that the surrounding area of the preceding vehicle 3 is congested, the host vehicle 2 can move to the position X2 of the preceding vehicle 3 when the host vehicle 2 starts. The vehicle 2 is accelerated and coasted, and the vehicle 2 is temporarily stopped at this position X2. Compared with the case of creeping the host vehicle 2 and following the preceding vehicle 3, the vehicle 2 travels to the position X2 only by coasting without fuel consumption, only by consuming fuel during acceleration. The fuel consumption of the host vehicle 2 can be improved.

  In the present embodiment, at the time of ACC control of the host vehicle 2, when the vehicle speed V of the host vehicle 2 is equal to or lower than the set vehicle speed Va, it is determined whether or not the periphery of the host vehicle 2 is congested. This is based on both the traffic information received from the traffic information providing device 7 provided in the vehicle and the travel information received from the travel information acquisition device 6 provided in the host vehicle 2. Thereby, the determination accuracy is improved as compared with the case where the determination as to whether or not the vicinity of the own vehicle 2 is congested is based only on the traffic information (for example, when the ACC control of the own vehicle 2 is not performed). Can be made.

  In the present embodiment, it is determined whether or not the surrounding area of the preceding vehicle 3 is congested during the ACC control of the own vehicle 2 based on the inter-vehicle distance X between the preceding vehicle 3 and the own vehicle 2 and the vehicle speed V of the preceding vehicle 3. 'And do based on. Thereby, it is possible to quickly grasp the information of the preceding vehicle 3 with a small number of parameters.

  In the present embodiment, even when it is determined that the surrounding area of the preceding vehicle 3 is congested when the own vehicle 2 starts, when the other vehicle 4 is interrupted between the preceding vehicle 3 and the own vehicle 2, the own vehicle 2. The acceleration traveling and coasting traveling are stopped, and the own vehicle 2 is caused to follow the other vehicle 4 that becomes a new preceding vehicle. Thereby, the traffic situation around the own vehicle 2 can be smoothed.

DESCRIPTION OF SYMBOLS 1 Vehicle travel control apparatus 2 Own vehicle 3 Leading vehicle 4 Other vehicle 5 Travel path 6 Travel information acquisition apparatus 7 Traffic information provision apparatus

Claims (3)

When the preceding vehicle starts following the stop of the preceding vehicle and then determines that the surrounding area of the own vehicle is congested, the preceding vehicle and the own vehicle after starting In the vehicle travel control device having a function of starting the host vehicle when the inter-vehicle distance is equal to or greater than a preset set distance,
When it is determined that the surrounding area of the preceding vehicle is congested when the host vehicle starts, the host vehicle is accelerated and coasted after the host vehicle starts, and the preceding vehicle at the start of the host vehicle is started. A travel control device for a vehicle configured to perform control for stopping the host vehicle at a position of the vehicle.   Even when it is determined that the surrounding area of the preceding vehicle is congested when the host vehicle starts, if it is determined that another vehicle is interrupted between the preceding vehicle and the host vehicle, the acceleration traveling of the host vehicle is performed. The vehicle travel control device according to claim 1, wherein the vehicle travel control device is configured to perform control to stop coasting. When the preceding vehicle starts following the stop of the preceding vehicle and then determines that the surrounding area of the own vehicle is congested, the preceding vehicle and the own vehicle after starting In the vehicle travel control method of starting the host vehicle when the inter-vehicle distance is equal to or greater than a preset set distance,
When starting the host vehicle, it is determined whether or not the surrounding area of the preceding vehicle is congested. When it is determined that the host vehicle is congested, the host vehicle is accelerated and coasted after the start of the host vehicle. A vehicle travel control method comprising: controlling the host vehicle to stop at the position of the preceding vehicle when the host vehicle starts.

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