JP3387340B2 - Travel control device for vehicles - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle travel control device for appropriately maintaining and controlling an inter-vehicle distance, and more particularly to a vehicle travel control capable of smoothly performing acceleration / deceleration control until the inter-vehicle distance reaches an appropriate value. Regarding the device.

[0002]

2. Description of the Related Art As a vehicle running control device, there is a device for controlling a distance between a vehicle and a preceding vehicle so that a comfortable drivability can be obtained. The distance between two vehicles may be interrupted between the preceding vehicle and the host vehicle, or the lane of the preceding vehicle or the preceding vehicle may be changed when the vehicle is running with the proper distance maintained. The preceding vehicle that is the target of is changed and the actual inter-vehicle distance is suddenly shortened or increased,
The vehicle may be suddenly decelerated or accelerated in an attempt to maintain the target inter-vehicle distance, which may impair the original comfort.

Therefore, when the actual inter-vehicle distance greatly deviates from the target inter-vehicle distance due to the interruption or lane change as described above, the target inter-vehicle distance is set by approaching the actual inter-vehicle distance. There is a configuration in which the provisional inter-vehicle distance is gradually approached to the original target inter-vehicle distance so as to prevent sudden acceleration / deceleration from occurring (see Japanese Patent Laid-Open No. 4-238741).

[0004]

However, in the above-described conventional apparatus, the provisional target inter-vehicle distance is set only by multiplying the target inter-vehicle distance required only by the original vehicle speed by a constant. Therefore, if there is a relative speed between the host vehicle and the preceding vehicle, such as when the preceding vehicle (including the interrupting vehicle) is moving far away or approaching, the tentative target that does not consider the relative speed Even if the inter-vehicle distance was set, there was room for improvement because sudden acceleration / deceleration occurred so as to suddenly eliminate the relative speed.

Further, considering the relative speed as described above,
As a control method for smoothing acceleration / deceleration, in the control block diagram shown in FIG. 10, it is conceivable to slow down the response speed of the torque target and vehicle speed target generators. However, if the internal responsiveness is slowed to improve the smoothness of acceleration / deceleration, the inter-vehicle distance may overshoot the target value and approach the preceding vehicle too much when the preceding vehicle decelerates. It is difficult to satisfy both quick response and smooth acceleration / deceleration by changing the internal characteristics.

Further, since the distance target generator is designed based on the response of the vehicle speed target generator, and the vehicle speed target generator is designed based on the response of the torque target generator, the torque target and the vehicle speed target are determined. When the characteristics are changed, the closed loop (β ~
Since the stability of θ) also changes, it must be considered to secure the stability. That is, in the closed loop (β ~ θ)
Since the characteristics of the distance target change, the target model of the distance target generation (α ~ β) changes, so that the stability can be secured by changing the characteristics of the distance target generation, or the logic of the distance target generation can be set robustly. That is, the algorithm becomes complicated and the amount of calculation of the CPU increases.

The present invention has been made in view of such a conventional problem, and is a closed loop (β to θ in FIG. 8) in a control system.
By changing the loop (α to β in Fig. 8) that generates the target inter-vehicle distance that is input from the outside without changing the responsiveness and stability of, the complicated algorithm is not required and the amount of CPU calculation is small. An object of the present invention is to provide a vehicle travel control device that improves smoothness of acceleration and deceleration while completing the above.

[0008]

Therefore, according to the invention of claim 1, as shown in FIG. 1, an inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle, and the own vehicle and the preceding vehicle. Relative speed detecting means for detecting the relative speed between the vehicle, the reference vehicle distance setting means for setting the reference vehicle distance, and the vehicle distance detected by the vehicle distance detecting means relative speed該接near direction when the direction of the
Was greatly reduced correction is greater, the magnitude the direction of the relative velocity Re該離 if the relative speed is away and the preceding vehicle and the subject vehicle
If it is not, the inter-vehicle distance greatly increased and corrected is set as a provisional target inter-vehicle distance, and the target inter-vehicle distance is gradually approached to the reference inter-vehicle distance with the provisional target inter-vehicle distance as an initial value. A target inter-vehicle distance setting means for setting a target inter-vehicle distance so as to match, and a vehicle driving force control means for controlling the driving force of the vehicle so as to match the inter-vehicle distance with the target inter-vehicle distance. Characterize. (Operation / Effect) If the relative speed is generated in the direction in which the own vehicle and the preceding vehicle approach in a situation where the inter-vehicle distance is not properly maintained, the current inter-vehicle distance is set by the temporary target inter-vehicle distance setting means. By setting the value corrected for decrease as the temporary target inter-vehicle distance,
The sudden decrease in the relative speed in the approach direction, that is, the sudden deceleration is suppressed.

On the other hand, when the preceding vehicle has a relative speed in a direction away from the own vehicle, the provisional target inter-vehicle distance setting means sets the value obtained by increasing and correcting the current inter-vehicle distance as the provisional target inter-vehicle distance. The sudden decrease of the relative speed in the away direction, that is, the sudden acceleration is suppressed. In this way, a sudden change in the relative speed is suppressed and a sudden acceleration / deceleration is prevented from occurring, so that comfortable running performance is obtained.

[0010]

Further, the larger the relative speed, the larger the change amount of the inter-vehicle distance . Therefore, the provisional target inter-vehicle distance is greatly reduced or increased in accordance with the direction of the relative velocity according to the predicted change amount. By doing so, it is possible to more effectively suppress the occurrence of acceleration / deceleration according to the magnitude of the relative speed.

Further, the invention according to claim 2 is characterized in that the temporary target inter-vehicle distance setting means sets the temporary target inter-vehicle distance at the start of the inter-vehicle distance control. (Operation / Effect) With this configuration, when the inter-vehicle distance control is started when the inter-vehicle distance is short, the inter-vehicle distance control can be smoothly performed to the reference inter-vehicle distance without sudden deceleration. Even when the control is started from a state where the inter-vehicle distance is long, the control can be smoothly performed up to the reference inter-vehicle distance without sudden acceleration.

Then, the setting update of the target inter-vehicle distance is
Since the relative speed is also taken into consideration in addition to the inter-vehicle distance at the time of starting the inter-vehicle distance control, sudden acceleration / deceleration can be prevented even when the control is started in a state where the preceding vehicle is moving away or approaching. Further, the invention according to claim 3 is characterized in that the temporary target inter-vehicle distance setting means sets the temporary target inter-vehicle distance when the deviation between the detected inter-vehicle distance and the reference inter-vehicle distance is larger than a predetermined value. . (Action / Effect) By doing so, when the inter-vehicle distance is suddenly shortened due to an interruption of another vehicle or the lane change of the own vehicle, it is possible to smoothly approach the reference inter-vehicle distance without sudden deceleration. It can be controlled, and when the distance between the driver's vehicle and the preceding vehicle changes lanes and the distance between the vehicles suddenly increases, or when the vehicle approaches the preceding vehicle from a distance, sudden acceleration is prevented and smooth follow-up driving is performed. It can be carried out.

Further, the invention according to claim 4 is characterized in that the temporary target inter-vehicle distance setting means sets the temporary target inter-vehicle distance when the detected variation amount of the inter-vehicle distance is equal to or more than a predetermined value. (Operation / Effect) When the inter-vehicle distance changes abruptly as described above, it is possible to prevent sudden acceleration / deceleration by setting the temporary target inter-vehicle distance based on the amount of change.

Further, in the invention according to claim 5 , the temporary target inter-vehicle distance setting means corrects the correction amount of the temporary target inter-vehicle distance based on the relative speed to be smaller when the vehicle speed of the host vehicle is high. Is characterized by. (Operation / Effect) When setting a normal target inter-vehicle distance, the inter-vehicle distance is likely to change when the vehicle speed of the host vehicle is high for the same reason that the target inter-vehicle distance is set larger when the vehicle speed is higher. An appropriate temporary target inter-vehicle distance can be set by reducing the correction amount of the temporary target inter-vehicle distance.

According to a sixth aspect of the present invention, the temporary target inter-vehicle distance setting means sets the correction amount of the temporary target inter-vehicle distance based on the relative speed when the deviation between the detected inter-vehicle distance and the reference inter-vehicle distance is large. The feature is that it is modified so as to make it smaller. (Operation / effect) When the deviation between the inter-vehicle distance and the reference inter-vehicle distance is large, it takes time to change the provisional target inter-vehicle distance to the reference inter-vehicle distance by reducing the correction amount by the relative speed. You can prevent too much.

The invention according to claim 7 is characterized in that the temporary target inter-vehicle distance setting means sets the temporary target inter-vehicle distance so as not to fall below a limit value. (Operation / Effect) If the relative speed in the approaching direction is large in the situation where the inter-vehicle distance is approaching, the provisional target inter-vehicle distance will be set to a smaller value due to the correction by the relative speed, and the margin will be lost. The provisional target inter-vehicle distance can be set so as not to fall below the limit value to allow a margin.

The invention according to claim 8 is characterized in that the vehicle driving force control means controls the driving force of the vehicle to the driving force of the vehicle-mounted engine and also controls the braking force of the vehicle. . (Action / Effect) In order to perform control to bring the vehicle closer to the target inter-vehicle distance, when accelerating the vehicle, the driving force of the vehicle-mounted engine is increased (the throttle valve opening for a gasoline engine, the fuel injection amount for a diesel engine, etc.). If the vehicle is decelerating, the driving force of the engine is reduced in the case of small deceleration, and the pedaling pressure of the brake pedal is controlled in the case of large deceleration to control the braking force of the vehicle. it can.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.
It will be described with reference to the drawings. FIG. 2 is a functional block diagram showing the configuration of the vehicle travel control device according to the embodiment of the present invention. In the figure, an inter-vehicle distance sensor 1 which is an inter-vehicle distance detecting means detects an inter-vehicle distance between a vehicle and a preceding vehicle by a laser radar or the like.

The vehicle speed sensor 2 which is a vehicle speed detecting means detects the vehicle speed of the own vehicle by generating a pulse or the like according to the wheel speed. The setting / releasing switch 10 composed of the setting switch 10A and the releasing switch 10B is pressed when the driver sets the inter-vehicle distance control and the setting is released.

These inter-vehicle distance sensor 1, vehicle speed sensor 2
Further, each signal of the inter-vehicle distance L, the vehicle speed V, the setting or the cancellation detected by the setting / cancelling switch 10 is input to the control circuit 3 composed of a microcomputer or the like, and the control circuit 3 is based on these detection signals. Various calculations,
A control signal for controlling the inter-vehicle distance is output to a throttle actuator 4 that drives a throttle valve (not shown) of the engine and a brake actuator 5 that drives a brake pedal (not shown) of the vehicle.

Next, an outline (details will be described in a later-described flow chart) of various arithmetic functions of the control circuit 3 will be described for each block shown by a dashed line in the drawing. Relative speed calculator 3
A calculates the relative speed between the own vehicle and the preceding vehicle by differentiating or calculating the difference between the detected inter-vehicle distances. The reference inter-vehicle distance calculation unit 3B sets the reference inter-vehicle distance based on the vehicle speed V, for example.

The temporary target inter-vehicle distance setting unit 3C calculates a temporary target inter-vehicle distance based on the detected inter-vehicle distance, relative speed, and own vehicle speed when the setting signal from the setting switch 10A is input. The target inter-vehicle distance guiding unit 3D brings the target inter-vehicle distance closer to the reference inter-vehicle distance from the temporary target inter-vehicle distance according to the traveling time.

The inter-vehicle distance control section E calculates the throttle valve opening and the brake pedal pressure for controlling the inter-vehicle distance to the target inter-vehicle distance from the inter-vehicle distance, the relative speed and the vehicle speed, and the control signal according to the calculation result. To the throttle actuator 4 and the brake actuator 5 to control the inter-vehicle distance. The throttle actuator 4, the brake actuator 5 and the inter-vehicle distance control section 3E constitute vehicle driving force control means.

Next, a series of inter-vehicle distance control according to the present embodiment will be described with reference to the flowcharts shown in FIGS. In step (denoted as S in the figure. The same applies hereinafter) 1, the inter-vehicle distance L is detected based on the signal from the inter-vehicle distance sensor 1. In step 2, the vehicle speed V is detected based on the signal from the vehicle speed detection sensor 2.

In step 3, the relative speed v is calculated by differentiating or subtracting the inter-vehicle distance L. In step 4, the reference inter-vehicle distance Ls is calculated by the following equation, for example. Reference inter-vehicle distance Ls = C1 (positive constant) × V (vehicle speed) (1) In step 5, it is determined whether or not the release switch 10 has been pressed.

If it is determined that the button has been pressed, it is determined that the driver manually operates the inter-vehicle distance, and the process proceeds to step 6 to set the operation flag to the manual mode.
When it is determined in step 5 that the release switch 10B has not been pressed, and after step 6 has passed, the process proceeds to step 7 and it is determined whether the setting switch 10A has been pressed.

When it is determined that the button has been pressed, it is determined that the inter-vehicle distance is automatically controlled by this control device, the process proceeds to step 8 to set the operation flag to the automatic manual mode, and further proceeds to step 9 to set the target. Set the distance flag to setting mode. When it is determined in step 7 that the setting switch 10A has not been pressed, and after passing through step 9, the process proceeds to step 10 and whether the target distance flag is set in the setting mode, that is, the setting switch 10A is pressed. Immediately after being performed, it is determined whether or not.

When it is determined that the target distance flag is set to the setting mode, that is, immediately after the setting switch is pressed, the process proceeds to step 11 to calculate the temporary target inter-vehicle distance. The provisional target inter-vehicle distance L1, the setting switch
Based on the inter-vehicle distance L detected immediately after 10 A is pressed, the calculated relative speed v, and the vehicle speed V of the host vehicle, the following formula is calculated.

L1 = L + (C2 × v) / V (2) where C2 is a constant (> 0), and the temporary target inter-vehicle distance L1 is, when the relative speed v0 = 0, It matches the inter-vehicle distance L detected when the inter-vehicle distance control is set, and the relative speed v <0.
Is set to a value shorter than the inter-vehicle distance L when the host vehicle is approaching the preceding vehicle, and is set to a value longer than the inter-vehicle distance L when the preceding vehicle is moving away from the host vehicle when the relative speed v> 0. Will be done.

That is, when the relative speed v = 0, the temporary target inter-vehicle distance L1 is made to coincide with the detected inter-vehicle distance L, and the control is started from the place where the inter-vehicle distance is maintained at the current state, so that the sudden addition is performed. You can prevent deceleration. When the vehicle travels at a relative speed v> 0 or a relative speed v <0, the current inter-vehicle distance L is corrected in a direction that does not hinder the change in the inter-vehicle distance L that tends to change depending on the relative speed v, and By increasing the correction amount as the speed v (absolute value) is larger, abrupt changes in the relative speed v can be suppressed, and thus abrupt acceleration / deceleration can be prevented.

Further, in the equation (2), the temporary target inter-vehicle distance L
In the correction term of the relative speed v of 1, the vehicle speed V of the own vehicle is used as a denominator, and when the vehicle speed V is high, the correction amount is corrected to be small. That is, when the vehicle speed V is high,
Since the inter-vehicle distance L is likely to change, the provisional target inter-vehicle distance L1 can be reduced by reducing the correction amount of the provisional target inter-vehicle distance L1.
Can be set. However, it is not essential to consider the vehicle speed V, and the provisional target inter-vehicle distance L1 may be set only by the inter-vehicle distance L and the relative speed v as in the following equation.

L1 = L + C2 × v (3) In addition to the vehicle speed V, the correction amount of the temporary target inter-vehicle distance L1 based on the relative speed v is also calculated between the detected inter-vehicle distance L and the reference inter-vehicle distance Ls. The larger the deviation is, the smaller the correction may be made. With this configuration, when the deviation between the inter-vehicle distance L and the reference inter-vehicle distance Ls is large, the relative speed v of the provisional target inter-vehicle distance L1 is v. By reducing the correction amount due to, the temporary target inter-vehicle distance L1 to the reference inter-vehicle distance L
It can be prevented that it takes too much time to change to s.

Further, it is preferable that the provisional target inter-vehicle distance L1 is set so as not to fall below a limit value (for example, 10 m). That is, when the inter-vehicle distance L is approaching and the relative speed in the approaching direction is also large, the provisional target inter-vehicle distance L1 is set to a smaller value by the correction by the relative speed v, and the margin is lost. The provisional target inter-vehicle distance L1 can be set so as not to fall below the limit value to allow a margin.

FIG. 9 shows an example of the temporary target inter-vehicle distance L1 obtained by taking these points into consideration. Then step 12
Then, the target distance flag is switched to the guidance mode, and thereafter, the target inter-vehicle distance La is gradually made closer to the reference inter-vehicle distance Ls from the temporary target inter-vehicle distance L1.

Through step 12 or step 10
If it is determined that the target distance flag is not in the setting mode, the process proceeds to step 13. In step 13, it is determined whether or not the target distance flag is set to the guidance mode. Immediately after the setting switch 10A is pressed and the temporary target inter-vehicle distance L1 is calculated, the target distance flag is switched to the guidance mode, so the routine proceeds to step 14 to calculate the guidance inter-vehicle distance.

The guided vehicle distance L2 is calculated according to the following equation. Guided inter-vehicle distance L2 = C3 × (Elapsed time after setting) + Temporary target inter-vehicle distance L1 Immediately after the setting switch is pressed, since the elapsed time after setting is 0, the guided inter-vehicle distance L2 is the temporary target inter-vehicle distance L.
Is equal to 1. In step 15, it is determined whether or not the calculated guided inter-vehicle distance L2 substantially matches the calculated reference inter-vehicle distance Ls. Then, the routine proceeds to step 16 until the reference inter-vehicle distance Ls is substantially matched, and the calculated inter-guidance distance L2 is set as the target inter-vehicle distance Ls.

In step 17, it is judged whether the operation flag is in the automatic mode. Immediately after the setting switch 10A is pressed, the automatic mode is set, so the routine proceeds to step 18, where the throttle valve opening θt and the brake pedal pressure Pb (the amount of brake pedal depression) are set in correspondence with the set target distance La. Calculate In step 19, the throttle actuator 4 and the brake actuator 5 are controlled so that the opening θt of the throttle valve and the brake pedal pressure Pb can be obtained.

Thus, immediately after the setting switch 10A is pressed, the temporary target inter-vehicle distance L1 set based on the inter-vehicle distance L and the relative speed v at that time is set, and the initial value of the target inter-vehicle distance La is set. The control of the inter-vehicle distance L is started with the provisional target inter-vehicle distance L1. Then, in the subsequent flow, the release switch 10B is pressed and the setting switch 10
Unless you press A again, the target distance flag is set to the guidance mode, so jump from step 4 to step 5, step 7, step 10, step 13 and proceed to step 14, and press the setting switch 10A. The guide target inter-vehicle distance L2 is calculated according to the elapsed time from
Until the reference inter-vehicle distance Ls substantially matches, the guidance target inter-vehicle distance L2 is similarly set as the target inter-vehicle distance La, and the throttle valve opening and the brake pedal pressure are set so that the inter-vehicle distance L gradually approaches the reference inter-vehicle distance Ls. Control.

The guide target inter-vehicle distance L2 is equal to the reference inter-vehicle distance Ls.
After that, the determination in step 15 becomes NO, the process proceeds to step 20, the target distance flag is switched to the reference mode, the process proceeds to step 21, and the reference inter-vehicle distance Ls is set to the target inter-vehicle distance La, The process proceeds to step 17 and subsequent steps, and shifts to control for maintaining the inter-vehicle distance L at the reference inter-vehicle distance Ls.
Since the target distance flag is switched to the reference mode in the subsequent flow, the determination in step 13 is NO and the reference inter-vehicle distance Ls is set to the target inter-vehicle distance La in step 22, and then the routine proceeds to step 17 and thereafter. The control for maintaining L at the reference inter-vehicle distance Ls is continued.

If the release switch 10B is pressed during the automatic control of the inter-vehicle distance, the determination in step 5 is Y.
As a result of ES, the operation flag is switched to the manual mode, whereby the determination in step 17 becomes NO and the control of the throttle opening and the brake pedal pressure is stopped and the inter-vehicle distance control is stopped. As described above, in the present embodiment, when the inter-vehicle distance control is started, the provisional target inter-vehicle distance is set and the reference inter-vehicle distance is updated at any time. Control can be performed smoothly by approaching the reference inter-vehicle distance without decelerating.Also, even if control is started from a state where the inter-vehicle distance is long, control can be performed smoothly up to the reference inter-vehicle distance without sudden acceleration. You can

Then, the setting update of the target inter-vehicle distance is
Since the relative speed is taken into consideration in addition to the inter-vehicle distance when the inter-vehicle distance control is started, sudden acceleration / deceleration can be prevented and comfortable even when the control is started when the preceding vehicle is moving away or approaching. It is possible to ensure excellent running performance.
Next, a second embodiment of the present invention will be described. Figure 5
2 shows the configuration of the present embodiment, in which the setting / cancelling switch 10 is omitted from the configuration of FIG. 2 of the first embodiment, and the provisional target inter-vehicle distance calculation unit 3C ′ is provided with the setting / cancelling switch 10
When the deviation between the inter-vehicle distance L and the reference inter-vehicle distance Ls is not less than a predetermined value, the provisional target inter-vehicle distance L1 is calculated instead of the signal from The difference is that.

6 and 7 show flowcharts of inter-vehicle distance control according to the second embodiment. Explaining the part different from the first embodiment, instead of switching the operation mode and the target distance flag according to the operation of the setting / release switch 10, in step 31, the currently detected inter-vehicle distance L and the reference inter-vehicle distance are set. It is determined whether or not the deviation (absolute value) from the distance Ls is larger than a predetermined value, and if it is larger, the target distance flag is set to the setting mode, whereby the provisional target inter-vehicle distance L2 is set, and the provisional target inter-vehicle distance L2 is set. The control is performed such that the target inter-vehicle distance L2 is an initial value and gradually approaches the reference inter-vehicle distance Ls.

In the present embodiment, when the detected inter-vehicle distance is far from the target inter-vehicle distance, the provisional target inter-vehicle distance is set and the reference inter-vehicle distance is updated at any time. Smoothly without any sudden deceleration when another vehicle cuts in between the vehicle and the lane of your own vehicle, causing a sudden reduction in the inter-vehicle distance detected with a new preceding vehicle. It can be controlled by approaching the standard inter-vehicle distance,
It is possible to ensure comfortable driving performance.

Further, the lane of the own vehicle or the preceding vehicle changes and the inter-vehicle distance detected between the vehicle and the new preceding vehicle suddenly increases,
Alternatively, even when approaching the preceding vehicle from a distance, sudden acceleration can be prevented and smooth follow-up running can be performed. It should be noted that, as an embodiment that merely responds to a sudden change in the inter-vehicle distance, a configuration may be adopted in which the temporary target inter-vehicle distance is reset by detecting that the amount of change in the inter-vehicle distance is equal to or greater than a predetermined amount.

Further, it goes without saying that the present embodiment and the configuration of the first embodiment may be combined. Specifically, as shown in FIG. 8, step 7 in FIG.
When it is determined that the setting switch 10A has not been pressed in step 3, it is determined whether or not the deviation (absolute value) between the currently detected inter-vehicle distance and the reference inter-vehicle distance is larger than a predetermined value in step 31. In this case, the process proceeds to step 9 and the target distance flag is set to the setting mode, and if the deviation is less than the predetermined value, the process jumps to step 10.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration and functions of the present invention.

FIG. 2 is a block diagram showing the configuration of the first embodiment of the present invention.

FIG. 3 is a flowchart showing a front stage of inter-vehicle distance control according to the embodiment.

FIG. 4 is a flowchart showing a latter stage of the inter-vehicle distance control according to the above embodiment.

FIG. 5 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.

FIG. 6 is a flowchart showing a front stage of inter-vehicle distance control according to the embodiment.

FIG. 7 is a flowchart showing a latter stage of the inter-vehicle distance control according to the above embodiment.

FIG. 8 is a flowchart showing a part of inter-vehicle distance control according to the third embodiment of the present invention.

FIG. 9 is a table showing an example of setting a temporary target inter-vehicle distance according to each embodiment.

FIG. 10 is a general block diagram of inter-vehicle distance control.

[Explanation of symbols]

1 inter-vehicle distance sensor 2 vehicle speed sensor 3 control circuit 3A Relative speed calculator 3B Reference distance calculation unit 3C Temporary target inter-vehicle distance setting unit 3D target inter-vehicle distance guidance unit 3E Inter-vehicle distance control unit 4 Throttle actuator 5 Brake actuator 10 Setting / release switch

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B60K 31/00 F02D 29/02 301 G08G 1/16

Claims (8)

(57) [Claims] 1. An inter-vehicle distance detecting means for detecting an inter-vehicle distance between an own vehicle and a preceding vehicle, a relative speed detecting means for detecting a relative speed between the own vehicle and a preceding vehicle, and a reference inter-vehicle distance for setting a reference inter-vehicle distance. Setting means, the inter-vehicle distance detected by the inter-vehicle distance detecting means,
該接 For directions relative speed is approaching the preceding vehicle and the subject vehicle
When the relative speed in the near direction is large, it is greatly reduced and corrected, and when the relative speed is in the direction in which the own vehicle and the preceding vehicle are separated, the separation
When the relative speed in the direction is large, the inter-vehicle distance greatly corrected is set as a provisional target inter-vehicle distance setting means, and the target inter-vehicle distance is set to the reference inter-vehicle distance with the provisional target inter-vehicle distance as an initial value. A target inter-vehicle distance setting means for setting a target inter-vehicle distance so as to be matched while gradually approaching, and a vehicle driving force control means for controlling the driving force of the vehicle so as to match the inter-vehicle distance with the target inter-vehicle distance. A travel control device for a vehicle, comprising: 2. The vehicle travel control device according to claim 1, wherein the temporary target inter-vehicle distance setting means sets the temporary target inter-vehicle distance at the start of the inter-vehicle distance control. 3. The contract target inter-vehicle distance setting means sets the temporary target inter-vehicle distance when the deviation between the detected inter-vehicle distance and the reference inter-vehicle distance is larger than a predetermined value.
The travel control device for a vehicle according to claim 1 or claim 2 . Wherein said tentative target inter-vehicle distance setting means, according to claim 1 or claim variation of the detected inter-vehicle distance and sets the provisional target vehicle distance when the predetermined or more
2. The vehicle travel control device described in 2 . Wherein said tentative target inter-vehicle distance setting means, a correction amount of the provisional target vehicle distance according to the relative speed, when the vehicle speed of the vehicle is large, claim, characterized in that modified to reduce 1 The traveling control device for a vehicle according to claim 4 . Wherein said tentative target inter-vehicle distance setting means, a correction amount of the provisional target vehicle distance according to the relative speed, when the deviation between the detected inter-vehicle distance and the reference inter-vehicle distance is large, be modified so as to increase The traveling control device for a vehicle according to any one of claims 1 to 5 . 7. The vehicle according to claim 1, wherein the temporary target inter-vehicle distance setting means sets the temporary target inter-vehicle distance so as not to fall below a limit value. Travel control device. Wherein said vehicle driving force control means controls the control and the braking force of the vehicle in the driving force of the vehicle mounted engine, claims 1, wherein the controller controls the driving force of the vehicle 7. The vehicle travel control device according to any one of 7 .