JP2020152290A - Follow-up travelling control device - Google Patents

Abstract

To prevent the own vehicle from being suddenly accelerated inadvertently against the driver's will.SOLUTION: A brake actuator 5 and an engine control part 6 are controlled to be accelerated and/or decelerated by ECU4 when no preceding vehicle travelling on the same lane as that of the own vehicle is detected on the basis of images captured by a camera 2, so that an own vehicle travels at a preset speed, and the brake actuator 5 and the engine control part 6 are controlled to be accelerated and/or decelerated when the preceding vehicle travelling on the same lane as that of the own vehicle is detected, so that the own vehicle travels following the preceding vehicle as a follow-up target. The acceleration speed when the acceleration is controlled by ECU4 is switched to be less than the acceleration speed in a constant speed travel when the preceding vehicle comes to be no longer detected from the follow-up traveling condition on the basis of the images photographed by the camera 2.SELECTED DRAWING: Figure 1

Description

The present invention relates to a follow-up travel control device that controls a preceding vehicle to follow the preceding vehicle in front of the own vehicle while maintaining a predetermined inter-vehicle distance.

Conventionally, the distance to an obstacle in front of the own vehicle and the relative speed between the own vehicle and the obstacle are measured by a distance measuring sensor to detect whether the obstacle is a preceding vehicle traveling in the same lane as the own vehicle. However, in the case of a preceding vehicle traveling in the same lane as the vehicle, there is a following traveling control device that controls the detected preceding vehicle to follow the preceding vehicle while maintaining a predetermined inter-vehicle distance. ..

In this type of device, as shown in FIG. 3, as a control when the preceding vehicle 52 is detected on the same lane as the own vehicle 51 as a tracking target while the own vehicle 51 is traveling and there is no preceding vehicle. There are the following. Now, when the own vehicle is set to travel at a constant speed of, for example, 100 km / h in the absence of the preceding vehicle 52, the same lane as the own vehicle 51 is slower than the set speed of the own vehicle 51, for example. When the follow-up running control device detects the preceding vehicle 52 traveling at 80 km / h, the constant-speed running control is switched to the following running control, and the own vehicle 51 reaches a predetermined inter-vehicle distance predetermined with respect to the detected preceding vehicle 52. When approaching, the own vehicle 51 is decelerated to 80 km / h, which is the vehicle speed of the preceding vehicle 52, and then the own vehicle 51 follows the preceding vehicle 52 while maintaining the above-mentioned predetermined distance from the preceding vehicle 52. Is controlled by.

Further, in the state of follow-up running, for example, as shown by the one-point chain line in FIG. 3, when the preceding vehicle 52 which was the follow-up target changes lanes to the adjacent lane, or when the own vehicle changes lanes, the follow-up target Is not detected, so that the own vehicle that has followed the preceding vehicle 52 and followed and traveled at 80 km / h is accelerated again to the set speed of 100 km / h (see Patent Document 1).

JP-A-2009-184464 (paragraphs 0072-0072 and FIG. 7)

However, in the control as described in Patent Document 1, if the distance measuring sensor is, for example, a CCD camera, the surrounding brightness may suddenly change due to the own vehicle 51 traveling following the vehicle passing through the tunnel, or the distance measuring sensor may be used. The preceding vehicle 52, which was detected even though the preceding vehicle 52 was traveling in front of the own vehicle 51, due to an external factor such as raindrops adhering to the front of the camera lens. Suddenly, it cannot be detected and it becomes lost, and the following driving is switched to the above-mentioned constant speed driving control. As a result, assuming that the speed during follow-up running is 80 km / h and the set speed during constant speed running is 100 km / h, the own vehicle 51 suddenly switches to constant speed running control from 80 km / h. The vehicle is suddenly accelerated to 100 km / h and suddenly approaches the existing preceding vehicle 52, which may cause inadvertent sudden acceleration against the driver's will.

An object of the present invention is to prevent the own vehicle from being inadvertently accelerated suddenly against the intention of the driver.

In order to achieve the above object, the follow-up travel control device of the present invention controls following the preceding vehicle while maintaining a predetermined inter-vehicle distance with respect to the preceding vehicle which is the tracking target in front of the own vehicle. In the travel control device, the detection means for detecting whether or not there is the preceding vehicle traveling in the same lane as the own vehicle, the setting means for setting the constant speed traveling speed of the own vehicle, and the detection means are the same as the own vehicle. When the preceding vehicle traveling in the lane is not detected, the rotation of the braking means and the engine is accelerated and / or decelerated controlled so that the own vehicle travels at a constant speed at the set speed set by the setting means, and the detection means When the preceding vehicle traveling in the same lane as the own vehicle is detected, the braking means and the control means for accelerating and / or decelerating the rotation of the engine are provided so as to follow the preceding vehicle as a tracking target. When the detecting means no longer detects the preceding vehicle from the following traveling state except for changing the lane of the own vehicle or the preceding vehicle during the following traveling, the control means adjusts the acceleration at the time of acceleration control to the constant speed. It is characterized by switching smaller than the acceleration in running.

According to the present invention, when the detecting means does not detect the preceding vehicle traveling in the same lane as the own vehicle, the braking means by the control means so that the own vehicle travels at a constant speed at the set speed set by the setting means. When the rotation of the engine is controlled to accelerate and / or decelerate and the detecting means detects the preceding vehicle traveling in the same lane as the own vehicle, the braking means is used by the controlling means so as to follow the preceding vehicle as a tracking target. And the rotation of the engine is controlled to accelerate and / or decelerate. By the way, when the detecting means no longer detects the preceding vehicle from the following running state except for the lane change of the own vehicle or the preceding vehicle during the following running, the acceleration when the control means accelerates and controls the acceleration is larger than the acceleration in the constant speed running. Since it can be switched to a small size, even if the detection means does not detect the preceding vehicle from the following running state and suddenly switches to constant speed running control, the acceleration is smaller than the acceleration in constant speed running. As described above, the own vehicle is not suddenly accelerated, and it is possible to prevent accidentally sudden acceleration against the driver's will.

It is a block diagram of one Embodiment of the follow-up travel control device which concerns on this invention. It is an operation explanatory view of FIG. It is operation explanatory drawing of the prior art example.

An embodiment of the follow-up travel control device according to the present invention will be described in detail with reference to FIGS. 1 and 2.

As shown in FIG. 1, the following traveling control device 1 includes a CCD camera 2 that captures the front of the own vehicle, a vehicle speed sensor 3 that detects the vehicle speed of the own vehicle, an ECU (Electronic Control Unit) 4 having a microcomputer configuration, and the like. A brake actuator (corresponding to the "brake means" in the present invention) 5 that automatically applies a brake under the control of the ECU 4, an engine control unit 6 that controls the engine, and a main switch (not shown) for enabling follow-up running control are on. A follow-up set switch 7 for starting the follow-up running in the state, a release switch 8 for the release operation of the constant speed / follow-up run, and a speed setting switch 9 for changing the set speed during the constant speed run. Be prepared. Here, when the main switch and the follow-up set switch 7 are on and the preceding vehicle to be followed is not detected, the ECU 4 performs constant-speed running control with the vehicle speed of the own vehicle at that time as the set speed. The constant speed travel control function of the ECU 4 based on the operation of the follow-up set switch 7 corresponds to the "setting means" in the present invention.

The ECU 4 captures an image captured by the camera 2, for example, collates an image pattern for collation of pedestrians, various vehicles, road structures, etc. stored in the memory built in the ECU 4 with the camera image, and an image by so-called pattern recognition. It has a function as a "detection means" in the present invention that performs recognition processing and detects a preceding vehicle as a tracking target traveling in the same lane as the own vehicle.

Then, when the above-mentioned main switch is on and the follow-up set switch 7 is on and the preceding vehicle described later is not detected, the follow-up set switch 7 is turned on without the driver operating the accelerator pedal. The brake actuator 5 and the engine control unit 6 are controlled by the ECU 4 so that the vehicle travels at a constant speed with the current vehicle speed as the set speed. Further, when the set speed is changed to, for example, 100 km / h by the speed setting switch 9 at the time of controlling the constant speed running or the follow-up running described later, the ECU 4 controls the brake actuator 5 and the engine control unit 6, and the own vehicle It is controlled to run at a constant speed at the changed set speed (100 km / h).

Further, when the main switch for follow-up travel is on and the follow-up set switch 7 is on, the ECU 4 detects the preceding vehicle on the same lane as the follow-up target, and the follow-up target is in the same lane as the own vehicle. When a preceding vehicle traveling on the vehicle is detected, the detected preceding vehicle is selected as a tracking target, and the preceding vehicle is transferred to the preceding vehicle while maintaining a predetermined inter-vehicle distance determined in advance according to the traveling speed. The brake actuator 5 and the engine control unit 6 are controlled by the ECU 4 so as to follow the vehicle.

At this time, if the preceding vehicle changes lanes and deviates from the traveling lane of the own vehicle while following the preceding vehicle, it is determined that the preceding vehicle that has changed lanes is not the tracking target, and the above-mentioned following following control is released. , The brake actuator 5 and the engine control unit 6 are controlled by the ECU 4 so that the own vehicle travels at a constant speed at the set speed set by the speed setting switch 9. When the release switch 8 is turned on during the follow-up running, the ECU 4 releases the control for following the preceding vehicle and the control for running at a constant speed.

By the way, while following the preceding vehicle, the brightness around the own vehicle suddenly changes through the tunnel, raindrops adhere to the front of the camera lens, and so on. If the preceding vehicle that was being detected is suddenly lost and cannot be detected even though the vehicle is running, the control state of the ECU 4 switches from the follow-up running to the constant-speed running control state. The acceleration at the time of acceleration control by the ECU 4 is switched to be smaller than the acceleration in the constant speed running for a predetermined T time after switching from the running to the constant speed running.

Therefore, even if the camera 2 cannot detect the preceding vehicle to be followed due to an external factor and suddenly switches to the constant speed running control, the predetermined T time is accelerated with an acceleration smaller than the acceleration in the constant speed running. Because the control is performed, the own vehicle is not suddenly accelerated as in the conventional case. Such a control function of the ECU 4 corresponds to the "control means" in the present invention.

When the ECU 4 detects from the image taken by the camera 2 that a pedestrian exists in front of the own vehicle, the relative distance between the own vehicle and the pedestrian in the traveling direction is the required deceleration of the own vehicle. It is also possible to operate the automatic brake by controlling the brake actuator 5 by the ECU 4 when the operation timing for avoiding the collision, which is the limit at which the collision can be avoided when braking (braking) is reached. is there.

Next, the control operation of the ECU 4 will be described with reference to the flowchart of FIG.

Now, when the follow-up set switch 7 is turned on while the set speed during constant speed running is set by the speed setting switch 9, as shown in FIG. 2, the speed is equal to or less than the set speed set by the speed setting switch 9. When a preceding vehicle traveling in the same lane as the own vehicle is detected as a tracking target at the speed of, the brake actuator 5 and the engine are controlled by the ECU 4 so that the own vehicle follows the preceding vehicle traveling at the set speed or less. The follow-up travel is controlled by the unit 6 (step S1), and it is determined whether or not the preceding vehicle to be followed is not detected during the control of the follow-up travel, that is, whether or not the preceding vehicle is lost (step S2). If the result is NO, the process returns to step S1.

On the other hand, if the determination result in step S2 is YES, that is, if the preceding vehicle is lost, it is determined whether or not the own vehicle is changing lanes based on the presence or absence of the winker operation at the time of loss (step S3), and this determination result is obtained. If is NO, it is determined whether or not the preceding vehicle is changing lanes at the time of loss based on the image taken by the camera 2 (step S4), and if this determination result is NO, between the own vehicle and the preceding vehicle. However, for example, it is determined whether or not the vehicle is lost at a distance farther than the predetermined inter-vehicle distance to be maintained during follow-up driving (step S5), and if this determination result is NO, a predetermined T time from the time of the loss occurs. Until the lapse of time, the acceleration during acceleration control by the ECU 4 is switched to be smaller than the acceleration in constant speed running and the acceleration is suppressed, and the own vehicle is accelerated to the set speed at the suppressed acceleration (step S6), and then the vehicle is started. Return to.

If the determination results in steps S3, S4, and S5 described above are all YES, it is determined that acceleration suppression is not necessary, and the process proceeds to step S7, and the own vehicle accelerates to the set speed without suppressing the acceleration to a small extent. (Step S7), and then return to the start. At this time, even if the preceding vehicle is lost, if the cause is a lane change of the own vehicle or a lane change of the preceding vehicle, the acceleration is not suppressed and the own vehicle accelerates in normal constant speed running. The acceleration during control will smoothly accelerate to the set speed.

Therefore, according to the above-described embodiment, when the preceding vehicle is no longer detected from the following traveling state based on the captured image of the camera 2, the acceleration control is performed by the ECU 4 except for the lane change of the own vehicle or the preceding vehicle during the following traveling. Since the acceleration at the time of running is switched to be smaller than the acceleration in constant speed running, based on the image taken by the camera 2, the preceding vehicle is not detected from the following running state due to some external factor, so that the constant speed running is suddenly controlled. Even if it is switched, it is accelerated at an acceleration smaller than the acceleration in constant speed running, so it is possible to prevent the own vehicle from being inadvertently accelerated as in the past, and suddenly approach the preceding vehicle against the driver's will. It becomes possible to prevent it from being done.

Further, even if the preceding vehicle is lost because the preceding vehicle cannot be detected from the image taken by the camera 2 due to an external factor, the acceleration is suppressed if the cause is a lane change of the own vehicle or a lane change of the preceding vehicle. Therefore, the own vehicle can be smoothly accelerated to the set speed by the acceleration during the acceleration control in the normal constant speed running, and the driver does not feel uncomfortable.

The present invention is not limited to the above-described embodiment, and various modifications other than those described above can be made without departing from the spirit of the present invention.

For example, the setting means for setting / changing the set speed during constant speed traveling is not limited to the function of the ECU 4 based on the operation of the main switch and the follow-up set switch 7 described above.

Further, in the above-described embodiment, the case where the control for suppressing the acceleration to be small is performed for a predetermined T time after losing sight of the preceding vehicle has been described, but the length of this T time may be variably set.

Further, the control is not limited to controlling the acceleration to be reduced by a predetermined T time after losing sight of the preceding vehicle, and the acceleration suppression may be controlled until a new preceding vehicle to be followed is detected. ..

Then, the present invention can be applied to a device that controls a preceding vehicle to follow the preceding vehicle in front of the own vehicle while maintaining a predetermined inter-vehicle distance.

1 ... Follow-up running control avoidance device 2 ... CCD camera (detection means)
4 ... ECU (setting means, detection means, control means)

Claims (1)

In a follow-up travel control device that controls following a preceding vehicle while maintaining a predetermined inter-vehicle distance with respect to a preceding vehicle that is a follow-up target in front of the own vehicle.
A detection means for detecting whether or not there is a preceding vehicle traveling in the same lane as the own vehicle, and
Setting means for setting the constant speed of the own vehicle and
When the detecting means does not detect the preceding vehicle traveling in the same lane as the own vehicle, the rotation of the braking means and the engine is accelerated so that the own vehicle runs at a constant speed at the set speed set by the setting means. Alternatively, deceleration control is performed, and when the preceding vehicle traveling in the same lane as the own vehicle is detected by the detecting means, the rotation of the braking means and the engine is accelerated and / or so as to follow the preceding vehicle as a tracking target. Equipped with a control means to control deceleration
The control means
When the detection means no longer detects the preceding vehicle from the following traveling state except for the change of lane of the own vehicle or the preceding vehicle during the following traveling, the acceleration during acceleration control is made smaller than the acceleration in the constant speed traveling. A follow-up travel control device characterized by switching.

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