JP2020152291A - Follow-up travelling control device - Google Patents

Follow-up travelling control device Download PDF

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JP2020152291A
JP2020152291A JP2019054222A JP2019054222A JP2020152291A JP 2020152291 A JP2020152291 A JP 2020152291A JP 2019054222 A JP2019054222 A JP 2019054222A JP 2019054222 A JP2019054222 A JP 2019054222A JP 2020152291 A JP2020152291 A JP 2020152291A
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vehicle
target
follow
preceding vehicle
deceleration
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JP7254421B2 (en
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侑吾 西川
Yugo Nishikawa
侑吾 西川
志歩 田中
Shiho Tanaka
志歩 田中
亘 下村
Wataru Shimomura
亘 下村
増田　基
Motoi Masuda
基 増田
真治 松原
Shinji Matsubara
真治 松原
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Daihatsu Motor Co Ltd
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Abstract

To prevent the own vehicle from being suddenly decelerated inadvertently against the driver's will.SOLUTION: A brake actuator 5 is controlled so as to be decelerated at a deceleration speed less than a deceleration speed in a main selection when the brake actuator 5 is required to be controlled to be decelerated by ECU4 in a temporary selection where it is not determined whether a target which has been detected in front of an own vehicle on the basis of images photographed by a camera 2 and which has not been set as a preceding vehicle as a following target, may be set or not as the preceding vehicle which is the following target.SELECTED DRAWING: Figure 1

Description

本発明は、自車両前方の追従対象である先行車両に対して所定の車間距離を保持しつつ先行車両に追従走行する制御を行う追従走行制御装置に関する。 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.

従来、例えば特許文献１に記載のように、カメラやレーザレーダ等の測距センサにより検出される自車両前方の物標との距離、および、車速センサにより検出される自車両の自車速と当該物標との相対速度等に基づき、当該物標が自車両と同一車線を走行する先行車両であるかどうかを検出し、車両と同一車線を走行する先行車両である場合に、検出した先行車両を追従対象として、所定の車間距離を保持しつつ先行車両に追従して走行する制御を行う追従走行制御装置がある。 Conventionally, for example, as described in Patent Document 1, the distance to a target in front of the own vehicle detected by a distance measuring sensor such as a camera or a laser radar, and the own vehicle speed of the own vehicle detected by the vehicle speed sensor and the said. Based on the relative speed with the target, it is detected whether the target is a preceding vehicle traveling in the same lane as the own vehicle, and if the target is a preceding vehicle traveling in the same lane as the vehicle, the detected preceding vehicle There is a follow-up travel control device that controls the vehicle to follow the preceding vehicle while maintaining a predetermined inter-vehicle distance.

特開２０１１−１９４９００号公報（段落００２３〜００２４および図１）Japanese Unexamined Patent Publication No. 2011-194900 (paragraphs 0023 to 0024 and FIG. 1)

しかし、上記した特許文献１のような制御では、測距センサの性能限界に起因して、次のような問題が起こり得る。すなわち、図３に示すように、道路を直進中の自車両５１がカーブ路５２に進入しようとしたときに、例えば測距センサであるカメラの撮影画像から、自車両５１の前方におけるカーブ入り口に設置されているガードレール５２ａを、図中の四角囲みの斜線部分のように移動していく物標と捉えられて追従対象の先行車両であると誤識されることがあり、しかも追従対象であると誤認されるガードレール５２ａの移動速度が非常に遅いために、自車両５１との間の距離が所定距離に縮まったときに自動的にブレーキ手段が作動されて自車両５１が急減速される。 However, in the control as described in Patent Document 1, the following problems may occur due to the performance limit of the distance measuring sensor. That is, as shown in FIG. 3, when the own vehicle 51 traveling straight on the road tries to enter the curved road 52, for example, from the image taken by the camera, which is a distance measuring sensor, to the curve entrance in front of the own vehicle 51. The installed guardrail 52a may be regarded as a moving target as shown by the shaded area in the square in the figure, and may be mistaken as a preceding vehicle to be followed, and it is also a tracking target. Since the moving speed of the guardrail 52a misidentified as is very slow, the braking means is automatically activated when the distance between the guardrail 52a and the own vehicle 51 is shortened to a predetermined distance, and the own vehicle 51 is suddenly decelerated.

このように、ガードレール５２ａが移動しない静止物と判定されれば追従対象と誤認されることはないが、カメラの性能限界に起因してガードレール５２ａが移動する物体であると誤認されてしまうと、自車両５１のドライバは、追従対象ではなくガードレール５２ａであることが分かっているにも拘らず、ドライバの意に反して自車両５１が不用意に急減速されることから違和感を覚えるという問題がある。 In this way, if the guardrail 52a is determined to be a stationary object that does not move, it will not be mistaken for a tracking target, but if the guardrail 52a is mistaken for a moving object due to the performance limit of the camera, Although it is known that the driver of the own vehicle 51 is not a follow target but a guardrail 52a, there is a problem that the driver of the own vehicle 51 feels uncomfortable because the own vehicle 51 is inadvertently suddenly decelerated against the intention of the driver. is there.

本発明は、ドライバの意に反して、不用意に自車両が急減速されるのを防止できるようにすることを目的とする。 An object of the present invention is to prevent the own vehicle from being inadvertently decelerated against the will of the driver.

上記した目的を達成するために、本発明の追従走行制御装置は、自車両前方の追従対象である先行車両に対して所定の車間距離を保持しつつ前記先行車両に追従走行する制御を行う追従走行制御装置において、自車両前方の物標が自車両と同じ車線を走行する前記先行車両であるかどうかの検出を行う検出手段と、前記検出手段により検出された前記物標を追従対象である先行車両に設定してよいかどうか判断し、設定すると判断すれば追従走行すべくブレーキ手段およびエンジンの回転を制御する制御手段とを備え、前記制御手段は、前記検出手段により検出された前記物標を、追従対象である先行車両ではないが追従対象である先行車両に設定してよいかどうか確定しない状態で、前記ブレーキ手段を減速制御する必要があるときには、追従走行中の減速度よりも小さい減速度で減速するように前記ブレーキ手段を制御することを特徴としている。 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 the target in front of the own vehicle is the preceding vehicle traveling in the same lane as the own vehicle, and the target detected by the detection means are the tracking targets. It is provided with a braking means and a control means for controlling the rotation of the engine so as to determine whether or not the vehicle can be set in the preceding vehicle, and if it is determined to set the setting, the control means is the object detected by the detection means. When it is necessary to control the deceleration of the braking means in a state where it is uncertain whether or not the mark may be set to the preceding vehicle which is not the preceding vehicle which is the tracking target but is the following target, the deceleration during the following running is more than the deceleration. It is characterized in that the braking means is controlled so as to decelerate with a small deceleration.

本発明によれば、検出手段により検出された自車両前方の物標を、追従対象である先行車両ではないが追従対象である先行車両に設定してよいかどうか確定しない状態で、制御手段により、ブレーキ手段を減速制御する必要があるときには、追従走行中における減速度よりも小さい減速度で減速するようにブレーキ手段が制御されるため、追従対象と確定できない状態においてブレーキ手段を減速制御する必要が生じたときには、自車両を通常の追従走行中の減速度よりも小さい減速度で減速させることができ、従来のように、ドライバの意に反して、不用意に自車両が急減速されることを防止してドライバに与える違和感をなくすことができる。 According to the present invention, the control means determines whether or not the target in front of the own vehicle detected by the detection means may be set to the preceding vehicle which is not the preceding vehicle which is the tracking target but is the tracking target. When it is necessary to control the deceleration of the braking means, the braking means is controlled so as to decelerate at a deceleration smaller than the deceleration during the following running. Therefore, it is necessary to control the deceleration of the braking means in a state where the tracking target cannot be determined. When this occurs, the own vehicle can be decelerated with a deceleration smaller than the deceleration during normal follow-up driving, and the own vehicle is inadvertently suddenly decelerated against the driver's will as in the past. This can be prevented and the discomfort given to the driver can be eliminated.

本発明に係る追従走行制御装置の一実施形態のブロック図である。It is a block diagram of one Embodiment of the follow-up travel control device which concerns on this invention. 図１の動作説明図である。It is an operation explanatory view of FIG. 従来例の動作説明図である。It is operation explanatory drawing of the prior art example.

本発明に係る追従走行制御装置の一実施形態について、図１および図２を参照して詳細に説明する。 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.

図１に示すように、追従走行制御装置１は、自車両前方を撮影するＣＣＤカメラ２と、自車両の車速を検出する車速センサ３と、マイクロコンピュータ構成のＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ Ｃｏｎｔｒｏｌ Ｕｎｉｔ）４と、ＥＣＵ４の制御により自動ブレーキをかけるブレーキアクチュエータ（本発明における「ブレーキ手段」に相当）５と、エンジン制御を行うエンジン制御部６と、追従走行の開始操作のための追従セットスイッチ７と、追従解除操作のための追従解除スイッチ８とを備える。 As shown in FIG. 1, the follow-up travel 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, a follow-up set switch 7 for starting a follow-up run, and a follow-up release. It is provided with a follow-up release switch 8 for operation.

ＥＣＵ４は、カメラ２による撮影画像を取り込み、例えばＥＣＵ４に内蔵のメモリに格納されている歩行者、各種車両、道路構造物等の照合用画像パターンとカメラ画像とを照合していわゆるパターン認識による画像認識処理を行い、自車両と同一車線を走行する追従対象としての先行車両を検出する本発明における「検出手段」としての機能を有する。 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.

このとき、ＥＣＵ４は、カメラ２の撮影画像を処理して自車両前方に物標を検出すると、
（１）検出した物標と自車両との間の距離が予め設定された仮選択許可範囲内（例えば、１００ｍ以内）であるかどうか、
（２）検出した物標の移動速度は所定速度以上かどうか、
（３）検出した物標は所定の近距離内の静止物であるかどうか、
等の判定を行い、物標と自車両との間の距離が仮選択許可範囲内であって、物標の移動速度は所定速度以上ではなく近距離内の静止物であると判断されると、当該物標は追従対象である先行車両に設定してよいと判断して追従対象の本選択を行う一方、物標と自車両との間の距離が仮選択許可範囲内であっても物標の移動速度は所定速度以上であって近距離内の静止物でないと判断されると、当該物標は、追従対象である先行車両ではないが追従対象と確定できないものと判断して追従対象との仮選択を行うようになっている。なお、物標と自車両との間の距離が仮選択許可範囲内でない場合には、追従対象は存在しないと判断する。 At this time, when the ECU 4 processes the captured image of the camera 2 and detects a target in front of the own vehicle,
(1) Whether or not the distance between the detected target and the own vehicle is within the preset provisional selection permission range (for example, within 100 m).
(2) Whether the movement speed of the detected target is faster than the specified speed
(3) Whether the detected target is a stationary object within a predetermined short distance
Etc., and it is determined that the distance between the target and the own vehicle is within the provisional selection permission range, and the moving speed of the target is not higher than the predetermined speed but a stationary object within a short distance. , The target is determined to be set to the preceding vehicle to be followed, and the main selection of the follow target is performed. On the other hand, even if the distance between the target and the own vehicle is within the provisional selection permission range. If it is determined that the moving speed of the target is equal to or higher than the predetermined speed and the object is not a stationary object within a short distance, it is determined that the target is not the preceding vehicle that is the tracking target but cannot be determined as the tracking target. It is designed to make a tentative selection with. If the distance between the target and the own vehicle is not within the provisional selection permission range, it is determined that there is no tracking target.

そして、追従セットスイッチ７がオンされている状態で、ＥＣＵ４により、上記した追従対象の本選択が行われると、ＥＣＵ４により、追従対象として本選択された先行車両から走行速度に応じて予め定められた所定の車間距離を保持しつつ先行車両と同じ速度で追従走行するように、ブレーキアクチュエータ５およびエンジン制御部６が制御される。また、追従走行中に追従解除スイッチ８がオンされると、ＥＣＵ４により先行車両を追従する制御が解除される。 Then, when the main selection of the follow-up target is performed by the ECU 4 while the follow-up set switch 7 is turned on, the ECU 4 determines in advance from the preceding vehicle that is finally selected as the follow-up target according to the traveling speed. The brake actuator 5 and the engine control unit 6 are controlled so as to follow and travel at the same speed as the preceding vehicle while maintaining a predetermined inter-vehicle distance. Further, when the follow-up release switch 8 is turned on during the follow-up running, the control for following the preceding vehicle is released by the ECU 4.

このとき、セットスイッチ７の操作により、例えば高速道路の制限速度である１００ｋｍ／ｈを設定速度として、自車両が定速で走行するようにブレーキアクチュエータ５およびエンジン制御部６が制御され、追従すべき先行車両が検出されたときには設定速度の範囲内で先行車両に追従走行するように、ブレーキアクチュエータ５およびエンジン制御部６が制御される。 At this time, by operating the set switch 7, for example, the brake actuator 5 and the engine control unit 6 are controlled and follow the speed limit of 100 km / h on the highway so that the own vehicle travels at a constant speed. When the preceding vehicle to be driven is detected, the brake actuator 5 and the engine control unit 6 are controlled so as to follow the preceding vehicle within the set speed range.

さらに、例えば隣接車線を走行する先行車両が車線変更するなどによって、自車両と同一車線を走行する新たな先行車両が認識されると、当該先行車両が追従対象として本選択されて追従する制御が開始されることになるが、例えば１００ｋｍ／ｈで定速走行中に、このように新たに車線変更してきた先行車両が追従対象として本選択され、しかも本選択された先行車両の速度が８０ｋｍ／ｈと自車両よりも遅い場合には、ＥＣＵ４により、予め設定された所定の減速度で減速するようにブレーキアクチュエータ５が通常ブレーキ制御され、その後先行車両と同一速度で追従するようにエンジン制御部６が制御される。 Further, when a new preceding vehicle traveling in the same lane as the own vehicle is recognized, for example, when the preceding vehicle traveling in the adjacent lane changes lanes, the preceding vehicle is finally selected as the tracking target and is controlled to follow. Although it will be started, for example, while traveling at a constant speed of 100 km / h, the preceding vehicle that has newly changed lanes in this way is finally selected as the tracking target, and the speed of the selected preceding vehicle is 80 km / h. When h is slower than the own vehicle, the ECU 4 normally brake-controls the brake actuator 5 so as to decelerate at a predetermined deceleration set in advance, and then the engine control unit so as to follow at the same speed as the preceding vehicle. 6 is controlled.

一方、自車両前方に物標が検出されても当該物標が上記した追従対象として仮選択された状態では、ブレーキアクチュエータ５を減速制御する必要があるときであっても、上記した本選択時における所定の減速度よりも小さい減速度で減速するようにブレーキアクチュエータ５が緩ブレーキ制御される。すなわち、本選択の場合における減速制御のように、大きな減速度で急ブレーキがかかることがない。このようなＥＣＵ４の制御機能が、本発明における「制御手段」に相当する。 On the other hand, even if a target is detected in front of the own vehicle, in the state where the target is temporarily selected as the tracking target described above, even when the brake actuator 5 needs to be decelerated and controlled, the above-mentioned main selection is performed. The brake actuator 5 is slowly brake-controlled so as to decelerate at a deceleration smaller than the predetermined deceleration in. That is, unlike the deceleration control in the case of this selection, sudden braking is not applied with a large deceleration. Such a control function of the ECU 4 corresponds to the "control means" in the present invention.

また、ＥＣＵ４により自車両の前方に歩行者が存在することが検出された場合には、車速センサ３による検出車速およびカメラ２による撮影画像に基づき、自車両と歩行者と進行方向における相対距離が導出され、導出された自車両と歩行者との距離が、所要減速度で自車両を制動した（ブレーキをかけた）ときに衝突を回避可能な限界である衝突を回避すべき作動タイミングに達したときに、ＥＣＵ４により、ブレーキアクチュエータ５が制御されて自動ブレーキを作動させることも可能である。 When the ECU 4 detects that a pedestrian is present in front of the own vehicle, the relative distance between the own vehicle and the pedestrian in the traveling direction is determined based on the vehicle speed detected by the vehicle speed sensor 3 and the image taken by the camera 2. Derived, the distance between the derived vehicle and the pedestrian reaches the operation timing to avoid the collision, which is the limit that can avoid the collision when the vehicle is braked (brake) at the required deceleration. At that time, the brake actuator 5 can be controlled by the ECU 4 to operate the automatic brake.

次に、ＥＣＵ４の制御動作について図２のフローチャートを参照して説明する。 Next, the control operation of the ECU 4 will be described with reference to the flowchart of FIG.

図２に示すように、ＥＣＵ４により、カメラ２の撮影画像を画像処理して自車両前方に物標が検出されているかどうかの判定がなされ（ステップＳ１）、この判定結果がＮＯ、つまり物標が検出されないときには、ステップＳ２に移行して所定の設定速度で定速走行するようにエンジン制御部６が制御される（ステップＳ２）。 As shown in FIG. 2, the ECU 4 processes the captured image of the camera 2 to determine whether or not a target is detected in front of the own vehicle (step S1), and the determination result is NO, that is, the target. When is not detected, the engine control unit 6 is controlled so as to shift to step S2 and travel at a constant speed at a predetermined set speed (step S2).

一方、ステップＳ１の判定結果がＹＥＳ、つまり物標が検出されたときには、検出された物標に追従すべく自車両の目標加速度が導出され（ステップＳ３）、自車両と物標との車間距離等に基づき自車両を減速する必要があるかどうかの判定がなされ（ステップＳ４）、この判定結果がＮＯであればステップＳ２に移行し、判定結果がＹＥＳであれば、当該物標を追従対象であると確定しているか、つまり当該物標が追従対象として本選択されているかどうかの判定がなされる（ステップＳ５）。 On the other hand, when the determination result in step S1 is YES, that is, when the target is detected, the target acceleration of the own vehicle is derived to follow the detected target (step S3), and the distance between the own vehicle and the target is derived. It is determined whether or not it is necessary to decelerate the own vehicle based on the above (step S4), and if the determination result is NO, the process proceeds to step S2, and if the determination result is YES, the target is followed. That is, it is determined whether or not the target is finally selected as the tracking target (step S5).

そして、ステップＳ５の判定結果がＹＥＳで本選択されている場合には、ステップＳ６に移行し、追従中にブレーキ制御が必要なときには、所定の減速度による通常ブレーキ制御が行われ（ステップＳ６）、ステップＳ５の判定結果がＮＯで、本選択ではなく仮選択されているとの判定結果である場合にはステップＳ７に移行し、ブレーキ制御が必要なときの減速度は、ステップＳ６の通常ブレーキ制御における減速度よりも小さい減速度による緩ブレーキ制御が行われる（ステップＳ７）。なお、ステップＳ２，Ｓ６，Ｓ７の処理を経た後はステップＳ１に戻る。 Then, when the determination result in step S5 is YES and the final selection is made, the process proceeds to step S6, and when brake control is required during tracking, normal brake control by a predetermined deceleration is performed (step S6). If the determination result in step S5 is NO and the determination result is that the selection is tentatively selected instead of the final selection, the process proceeds to step S7, and the deceleration when brake control is required is the normal brake in step S6. Slow brake control is performed by deceleration smaller than the deceleration in control (step S7). After the processing of steps S2, S6, and S7, the process returns to step S1.

なお、上記したステップＳ５，Ｓ７の処理により仮選択の緩ブレーキ制御が行われる状態から、図２のステップＳ５の判定によって本選択に変わった場合には、通常ブレーキ制御が実行される。 When the tentative selection slow brake control is changed to the final selection by the determination in step S5 of FIG. 2 by the above-mentioned processes of steps S5 and S7, the normal brake control is executed.

したがって、上記した実施形態によれば、カメラ２の撮影画像に基づき検出された自車両前方の物標を、追従対象である先行車両ではないが追従対象である先行車両に設定してよいかどうか確定しない仮選択の状態において、ＥＣＵ４により、ブレーキアクチュエータ５を減速制御する必要があるときには、本選択の状態における減速度よりも小さい減速度で減速するようにブレーキアクチュエータ５が制御されるため、例えばカーブ路に設置されたガードレールを誤認するなど、追従対象と確定できない仮選択の状態においてブレーキ制御が必要な事態が生じたときには、本選択のときよりも小さい減速度で緩ブレーキ制御を行うことができ、従来のように、ドライバの意に反して不用意に自車両が急減速されるのを防止でき、ドライバに与える違和感をなくすことができる。 Therefore, according to the above-described embodiment, whether or not the target in front of the own vehicle detected based on the image taken by the camera 2 may be set to the preceding vehicle which is not the preceding vehicle which is the tracking target but is the tracking target. When it is necessary for the ECU 4 to control the deceleration of the brake actuator 5 in the uncertain temporary selection state, the brake actuator 5 is controlled so as to decelerate at a deceleration smaller than the deceleration in the final selection state. When a situation occurs that requires brake control in a tentative selection state where it cannot be determined as a follow-up target, such as misidentifying a guard rail installed on a curved road, slow brake control can be performed with a smaller deceleration than in this selection. It is possible to prevent the own vehicle from being inadvertently decelerated against the intention of the driver as in the conventional case, and to eliminate the discomfort given to the driver.

また、仮選択の緩ブレーキ制御が行われる状態から本選択の状態に変わった場合には、通常ブレーキ制御が実行されるため、ドライバは何も違和感を覚えることなく快適な運転を行うことができる。 In addition, when the temporary selection slow brake control is changed to the final selection state, the normal brake control is executed, so that the driver can drive comfortably without feeling any discomfort. ..

なお、本発明は上記した実施形態に限定されるものではなく、その趣旨を逸脱しない限りにおいて上述したもの以外に種々の変更を行なうことが可能である。例えば、上記した実施形態では、検出手段をＣＣＤカメラ２とした場合について説明したが、カメラ以外に、レーザレーダやミリ波レーダを用いる場合にも本発明を適用することができる。 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, in the above embodiment, the case where the detection means is the CCD camera 2 has been described, but the present invention can be applied to the case where a laser radar or a millimeter wave radar is used in addition to the camera.

また、上記した実施形態では、仮選択か本選択かの切り分け条件として、自車両と物標との距離が仮選択許可範囲かどうか、物標の移動速度が所定速度以内かどうか、物標が近距離静止物かどうかを例示したが、仮選択か本選択かの切り分け条件はこれに限定されるものではない。 Further, in the above-described embodiment, as the conditions for distinguishing between the provisional selection and the main selection, whether the distance between the own vehicle and the target is within the provisional selection permission range, whether the moving speed of the target is within the predetermined speed, and the target Although it is illustrated whether the object is a short-distance stationary object, the conditions for distinguishing between the provisional selection and the final selection are not limited to this.

そして、本発明は、自車両前方の追従対象である先行車両に対して所定の車間距離を保持しつつ先行車両に追従走行する制御を行う装置に適用することができる。 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 …追従走行制御回避装置
２ …ＣＣＤカメラ（検出手段）
４ …ＥＣＵ（制御手段） 1 ... Follow-up running control avoidance device 2 ... CCD camera (detection means)
4 ... ECU (control unit)

Claims (1)

自車両前方の追従対象である先行車両に対して所定の車間距離を保持しつつ前記先行車両に追従走行する制御を行う追従走行制御装置において、
自車両前方の物標が自車両と同じ車線を走行する前記先行車両であるかどうかの検出を行う検出手段と、
前記検出手段により検出された前記物標を追従対象である先行車両に設定してよいかどうか判断し、設定すると判断すれば追従走行すべくブレーキ手段およびエンジンの回転を制御する制御手段とを備え、
前記制御手段は、
前記検出手段により検出された前記物標を、追従対象である先行車両ではないが追従対象である先行車両に設定してよいかどうか確定しない状態で、前記ブレーキ手段を減速制御する必要があるときには、追従走行中の減速度よりも小さい減速度で減速するように前記ブレーキ手段を制御することを特徴とする追従走行制御装置。 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 the target in front of the own vehicle is the preceding vehicle traveling in the same lane as the own vehicle.
It is provided with a braking means and a control means for controlling the rotation of the engine so as to determine whether or not the target detected by the detecting means may be set in the preceding vehicle to be followed, and if it is determined to set the target, the following vehicle. ,
The control means
When it is necessary to control the deceleration of the braking means in a state where it is not certain whether or not the target detected by the detecting means may be set to the preceding vehicle which is not the preceding vehicle which is the tracking target but is the tracking target. , A follow-up travel control device, characterized in that the braking means is controlled so as to decelerate at a deceleration smaller than the deceleration during follow-up travel.
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JP2004017895A (en) * 2002-06-19 2004-01-22 Nissan Motor Co Ltd Preceding vehicle following control device
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