JP3427719B2 - Vehicle travel control device - 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, and more particularly to a vehicle travel control device suitable for detecting the speeds of a plurality of vehicles in front of the vehicle and controlling the vehicle speed based on the detection results. Regarding the device.

[0002]

2. Description of the Related Art Conventionally, for example, Japanese Patent Laid-Open No. Sho 60-131.
As disclosed in Japanese Patent No. 327, there is known a vehicle traveling control device that causes a subject vehicle to follow a preceding vehicle existing in front of the vehicle. The conventional vehicle traveling control device includes an inter-vehicle distance detection device and a vehicle speed detection device. The inter-vehicle distance detection device detects the inter-vehicle distance between the host vehicle and the preceding vehicle immediately before.
The own vehicle speed detection device detects the speed of the own vehicle. With this configuration, the speed of the preceding vehicle can be calculated from the relationship between the inter-vehicle distance and the speed of the host vehicle.

In the above conventional vehicle running control device,
In order to keep the inter-vehicle distance at a predetermined value, the host vehicle is accelerated or decelerated based on the speed of the preceding vehicle and the speed of the host vehicle. More specifically, the host vehicle is decelerated when it is faster than the speed of the preceding vehicle, and is accelerated when it is slower than the speed of the preceding vehicle. The predetermined inter-vehicle distance is set to be longer as the speed of the host vehicle is higher. Therefore, according to the above-described conventional vehicle travel control device, the own vehicle is accelerated immediately before or after the preceding preceding vehicle by accelerating or decelerating the own vehicle based on the relationship between the distance between the own vehicle and the immediately preceding vehicle and the speed of the own vehicle. The vehicle can be followed.

[0004]

In the above-described conventional vehicle traveling control device, when the preceding vehicle immediately preceding the vehicle is accelerated or decelerated regardless of the traveling states of other preceding vehicles, the speed of the host vehicle is also accelerated or decelerated. It changes accordingly. Therefore, in the above conventional device, when the preceding vehicle immediately before is frequently accelerated or decelerated,
The traveling control of the own vehicle is frequently performed, which causes an inconvenience that deteriorates the riding comfort for the occupants of the own vehicle.

The present invention has been made in view of the above points and controls unnecessary traveling by controlling the traveling of the own vehicle based on the traveling states of a plurality of preceding vehicles existing in front of the own vehicle. It is an object of the present invention to provide a vehicle travel control device that prevents the above-mentioned problems and improves the riding comfort for passengers.

[0006]

The above-mentioned object is defined in claim 1.
As described in (1), the traveling information receiving means for receiving the traveling state information of the preceding vehicle existing in the front of the predetermined range from the position of the own vehicle, and the target of the own vehicle based on the received traveling state information of the plurality of preceding vehicles. Speed setting means for setting the speed,
Speed control means for controlling the speed of the host vehicle based on the target speed, and the predetermined range depending on the speed of the host vehicle.
And a further range changing means .

In the present invention, the traveling state information of the preceding vehicle is received using the vehicle-to-vehicle communication and the road-to-vehicle communication. The traveling state information includes at least information necessary for calculating the speed of the preceding vehicle. For example, the speed, position, acceleration, etc. of the preceding vehicle. The speed of the preceding vehicle is calculated based on the received information. A target speed for causing the host vehicle to follow the preceding vehicle is set based on the calculated speed of the preceding vehicle. At this time,
Accordingly, the reception range for receiving the driving state information of the preceding vehicle is received.
The fence is changed. For vehicles, the higher the speed, the more
Since the mileage per hour becomes longer, the speed of the vehicle
If it is late, the reception range is narrow. For this reason,
According to the present invention, the traveling of the preceding vehicle according to the speed of the own vehicle
By changing the range to receive the status information,
The velocity can be set appropriately. Then, the speed control of the own vehicle is performed so that the actual speed of the own vehicle becomes the target speed. According to the above configuration, the host vehicle can run at the target speed set based on the speed of the preceding vehicle. Therefore, according to the present invention, it is possible to drive the own vehicle at a speed along the flow of traffic of the preceding vehicle and improve the riding comfort of the vehicle occupant.

Further, as described in claim 2, the above-mentioned object is, in the vehicle traveling control device according to claim 1, that the own vehicle and the surrounding vehicle existing at the closest position on the same lane as the own vehicle. An inter-vehicle distance control means for controlling an inter-vehicle distance, and a control switch for deactivating the speed control means and activating the inter-vehicle distance control means when the inter-vehicle distance exceeds a predetermined value and falls below the predetermined value. And a vehicle traveling control device.

In the present invention, the vehicle on the same lane as the own vehicle
Distance between the preceding vehicle and the host vehicle that are also close to each other
When the separation is below the specified value from the state where it exceeds the specified value
In addition, the speed control means for controlling the speed of the own vehicle as described above
Deactivated and controls the distance to the vehicle
The inter-vehicle distance control means is activated. Therefore, the present invention
According to the report, the vehicle is the closest to the vehicle and
When there is a long distance from the preceding vehicle that has the greatest impact
Is driving its own vehicle at a speed that follows the traffic flow of the preceding vehicle
However, when the distance between the preceding vehicle and the preceding vehicle becomes shorter,
In this case, you can make your vehicle follow the preceding vehicle.
It is possible to secure safe driving for both.

Further, as described in claim 3, the above-mentioned object is, in the vehicle travel control device according to claim 1, that the own vehicle and the surrounding vehicle existing at the closest position on the same lane as the own vehicle. An inter-vehicle distance control means for controlling an inter-vehicle distance, and when the inter-vehicle distance exceeds a predetermined value from a state where the inter-vehicle distance is equal to or less than a predetermined value, the inter-vehicle distance control means is set to an inactive state and the speed control means is set to an active state. It is achieved by a vehicle travel control device characterized by comprising: In the present invention, when the inter-vehicle distance between the preceding vehicle and the own vehicle, which is located at the closest position on the same lane as the own vehicle, exceeds the predetermined value from the state where the inter-vehicle distance is less than the predetermined value, the inter-vehicle distance control means Deactivated and
The speed control means is activated. Therefore, according to the present invention, when the inter-vehicle distance from the preceding vehicle becomes long, the host vehicle can be driven at a speed along the traffic flow of the preceding vehicle.

As described in claim 4, claims 1 to 3
In the vehicle travel control device according to one of the run
Running of a plurality of preceding vehicles received by the row information receiving means
Driving status information for preceding vehicles with short inter-vehicle distances
More, comprising a weighting means for applying more weight, the speed setting means, a vehicle running control apparatus characterized by setting a target speed of the vehicle based on a result of the weighting means, important on the running of the vehicle It is effective in giving more importance to the speed of the preceding vehicle, which becomes the following, and setting the target speed of the own vehicle more appropriately.

In the present invention, a preceding vehicle having a short inter-vehicle distance
The more that speed is reflected in the target speed of the host vehicle,
The speed of the preceding vehicle with a longer inter-vehicle distance is the target speed of the own vehicle.
Not reflected very often. That is , the target speed of the host vehicle is set with greater importance given to the speed of the preceding vehicle having a shorter inter-vehicle distance. Therefore, according to the present invention, it is possible to set the target speed of the own vehicle by considering the speeds of a plurality of preceding vehicles ahead and placing importance on the speed of the preceding vehicles existing in the vicinity of the own vehicle. it can.

[0013]

[0014]

[0015]

[0016]

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a system configuration diagram of a vehicle running control device according to an embodiment of the present invention. The device of the present embodiment includes an electronic control unit (hereinafter referred to as ECU) 10
Is equipped with. The ECU 10 is a device mainly composed of a microcomputer, and controls the traveling of the vehicle based on signals supplied from various sensors and devices described later. A vehicle speed sensor 12, a radar antenna 14, a navigation device 16, and an inter-vehicle communication device 18 are connected to the ECU 10. The vehicle speed sensor 12 outputs a pulse signal at a cycle corresponding to the vehicle speed. Radar antenna 1
4 is FM-CW (Frequency Modulation-Continuous)
Wave) is a component of radar. Radar antenna 14
Is a directional antenna that transmits and receives signals with a predetermined beam angle spread.

The navigation device 16 is a GPS device.
And outputs the position signal of the own vehicle. The inter-vehicle communication device 18 includes a transmission unit (not shown) and a reception unit (not shown). The transmission unit transmits the position information, speed information, etc. of the own vehicle, and the reception unit transmits the preceding vehicle from the preceding vehicle. It receives the position information, speed information, etc. of the preceding vehicle transmitted. According to the inter-vehicle communication device 18, it is possible to receive various kinds of information of a preceding vehicle located at infinity and to send various kinds of information to a preceding vehicle located at infinity.

An environment recognition unit 11 is built in the ECU 10. The environment recognition unit 11 detects the speed Vd of the host vehicle based on the output signal of the vehicle speed sensor 12. Further, the environment recognition unit 11 detects a preceding vehicle existing within a detection range (normally 80 to 100 m) in front of the vehicle by performing appropriate processing on the signal supplied from the radar antenna 14,
The inter-vehicle distance X between the host vehicle and the preceding vehicle and the speed V of the preceding vehicle are calculated based on the result.

The environment recognition section 11 is used for the navigation device 1.
The position of the host vehicle is detected based on the output signal of 6. In addition, the environment recognition unit 11 detects the preceding vehicle that has transmitted the signal by subjecting the signal received by the inter-vehicle communication device 18 to appropriate processing, and based on the result, detects the distance between the own vehicle and the preceding vehicle. The distance X and the speed V of the preceding vehicle are calculated. Further, the environment recognition unit 11 compares the speed V and the inter-vehicle distance X of the preceding vehicle acquired by both the radar antenna 14 and the inter-vehicle communication device 18,
Improves their reliability.

The environment recognition unit 11 also includes a travel command unit 2
0 is connected. The traveling command unit 20 is the environment recognition unit 1
The velocity Vd of the host vehicle calculated by 0, the velocity V of the preceding vehicle,
Also, based on the inter-vehicle distance X, it outputs travel command signals such as a deceleration request signal and an acceleration request signal necessary for vehicle travel control. A travel control unit 22 is connected to the travel command unit 20. The travel control unit 22 includes a throttle valve 24,
The brake 26 and the A / T shift 28 are connected. The traveling control unit 22 controls and drives the throttle valve 24, the brake 26, or the A / T shift 28 based on the traveling command signal of the traveling command unit 20.

The vehicle running control system according to the present embodiment includes an ECU 1
0 is characterized in that the target speed is set based on the speeds of a plurality of preceding vehicles existing in the acquisition range in front of the vehicle. When the target speed is set based on the speeds of a plurality of preceding vehicles existing in front of the vehicle, the speed of the own vehicle is actually affected by the speed change of one preceding vehicle closest to the front of the vehicle without being significantly affected. The speed is in line with the flow of the preceding vehicle circulating in. Therefore, according to the vehicle travel control device of the present embodiment, it is possible to prevent the vehicle speed from being changed frequently and provide a comfortable ride to the vehicle occupants.

FIG. 2 shows that the preceding vehicle 32, 34 traveling in the same lane as the vehicle 30 and the lane adjacent to the vehicle 30 in front of the vehicle 30 equipped with the vehicle traveling control device of this embodiment. The situation where overtaking vehicles 36 and 38 exist is shown. In a vehicle, the faster the speed, the longer the traveling distance per unit time. Therefore, the faster the speed Vd of the vehicle 30, the wider the acquisition range T for acquiring the position and speed of the preceding vehicle. As shown in Figure 2,
If the speed Vd of the vehicle 30 is high, the acquisition range T1 is set. In this case, information such as the speed, position, and acceleration of the preceding vehicle 34 is acquired by the vehicle 30 equipped with the vehicle travel control device of this embodiment. On the other hand, if the speed Vd of the vehicle 30 is slow, the acquisition range T2 is set. In this case, the vehicle 30
Various information of the preceding vehicle 34 is not acquired.

Based on the speed Vd of the vehicle 30, the acquisition range T
When 1 is set, the vehicle 30 includes the preceding vehicles 32, 3
4 and various information of the passing vehicles 36 and 38 are acquired. The target speed V0 of the vehicle 30 is set based on the obtained information. When setting the target speed of the vehicle 30, the speed of the preceding vehicle closer to the vehicle 30 is taken into consideration.

By the way, in the process in which the overtaking vehicle 36 overtakes the vehicle 30 and then catches up with the preceding vehicle 32,
The relative distance between the overtaking vehicle 36 and the vehicle 30 is determined by the preceding vehicle 3
A situation occurs that is shorter than the relative distance between the vehicle 2 and the vehicle 2.
In this case, the overtaking vehicle 36 may be erroneously recognized as the closest preceding vehicle. In such a situation, vehicle 3
The target speed V0 of 0 is set to a high value based on the high speed of the overtaking vehicle 36 existing closest to the vehicle 30.

The preceding vehicle that is most affected by the traveling of the vehicle 30 is the preceding vehicle 32 that travels on the same lane as the vehicle 30 and is located at the closest position. The vehicle traveling control device of the present embodiment grasps the accurate position of the vehicle existing around the vehicle 30 based on the output signals of the navigation device 16, the inter-vehicle communication device 18, and the radar antenna 14. If the accurate position of the vehicle can be grasped, the speed of the preceding vehicle traveling in the same lane as the vehicle 30 can be further taken into consideration when setting the target speed V0 of the vehicle 30. Therefore, when the relative distance between the overtaking vehicle 36 and the vehicle 30 is shorter than the relative distance between the preceding vehicle 32 and the vehicle 30, the target speed V0 of the vehicle 30 can be set to a low value.

When a plurality of preceding vehicles are detected, the vehicle traveling control apparatus of this embodiment sets the speed along the traveling flow of the preceding vehicle by the above-described method, and the vehicle 3
Properly control the zero speed. FIG. 3 shows a flowchart of an example of a control routine executed by the ECU 10 so as to realize the above functions. The routine shown in FIG. 3 is a routine that is repeatedly started each time the processing is completed.
When the routine shown in FIG. 3 is started, first, step 10
The process of 0 is executed.

In step 100, the speed Vd of the vehicle 30 is detected based on the output signal of the vehicle speed sensor 12. In step 102, the position of the vehicle 30 is detected based on the output signal of the navigation device 16. Step 10
In 4, the acquisition range T for acquiring various information of the preceding vehicle according to the speed Vd of the vehicle 30 is set.

FIG. 4 shows a map defining the speed Vd of the vehicle 30 and the acquisition range T for acquiring various information of the preceding vehicle. In step 104, the acquisition range T for acquiring various information of the preceding vehicle is set by referring to FIG. In step 106, the positions and speeds V of all preceding vehicles (n vehicles) existing in the positions within the acquisition range are detected.

In step 108, the above step 10
The inter-vehicle distance X between the vehicle 30 and all preceding vehicles is calculated based on the position detected by executing the processing of 0 and 106. In step 110, the speed Vd of the vehicle 30
The boundary inter-vehicle distance (Xd) is set based on Vehicle 3
When the inter-vehicle distance (Xa) between 0 and the closest preceding vehicle (hereinafter referred to as the latest preceding vehicle) 32 on the same lane as the vehicle 30 reaches the boundary inter-vehicle distance Xd or less, the traveling control method of the vehicle 30 controls the speed. Switches to headway control.

FIG. 5 shows a map defining the relationship between the speed Vd of the vehicle 30 and the boundary inter-vehicle distance Xd. Step 1 above
In 10, the boundary vehicle distance Xd is set by referring to FIG. 5 which defines the relationship between the speed Vd of the vehicle 30 and the boundary vehicle distance Xd. At step 112, it is judged if the headway distance control flag is set. That is,
It is determined whether or not the traveling control method of the vehicle 30 is the headway distance control method. As a result, if the inter-vehicle distance control flag is not set, that is, if it is determined that the inter-vehicle distance control method is not used, then the process of step 114 is executed.

In step 114, the actual vehicle-to-vehicle distance Xa between the vehicle 30 and the most recent preceding vehicle 32 is the above-mentioned step 11
By executing the processing of 0, it is determined whether or not the distance between the boundary vehicle distances Xd is set longer. As a result, Xa
If it is determined that> Xd, that is, if the preceding vehicle 32 has recently been separated from the vehicle 30 by more than the boundary inter-vehicle distance Xd, the process of step 116 is executed next.

At step 116, the target speed (V0) of the vehicle 30 is set. The target speed V0 of the vehicle 30 is the position of the vehicle 30 detected by executing the processes of steps 102 and 106, the position and speed V of the preceding vehicle (n vehicles), and the inter-vehicle distance between the vehicle 30 and the preceding vehicle. X
Is set according to the following equation.

[0034]

[Equation 1]

[0035]

[Equation 2]

The target speed V0 of the vehicle 30 is set on the basis of the speed of more preceding vehicles as the number of preceding vehicles existing within the acquisition range T increases. According to the above setting, the target speed V0 of the vehicle 30 becomes higher as the speed of the preceding vehicle closer to the vehicle 30 among the many preceding vehicles is higher than the speed of the other preceding vehicles. Therefore, the higher the target speed V0 is set, the smaller the number of preceding vehicles existing within the range of the preceding vehicle and the faster the speed of the preceding vehicle that is closer to the vehicle 30 than the speed of the other preceding vehicles. On the other hand, the lower the speed of the preceding vehicle that is closer to the vehicle 30, the lower the target speed V0 is set. Also, there are many preceding vehicles existing within the preceding vehicle range,
Further, when the speed of the preceding vehicle that is separated from the vehicle 30 is high or low, the target speed of the vehicle 30 is not significantly affected by those speeds and is set based on the speed of the closer preceding vehicle. .

In step 118, the above step 116 is performed.
By executing the processing of (1), it is determined whether the set target speed V0 is faster than the actual speed (actual speed) Vd of the vehicle 30. As a result, if it is determined that the above conditions are satisfied, then the process of step 120 is executed. On the other hand, if it is determined that the above conditions are not satisfied, then the process of step 122 is executed.

In step 120, the speed of the vehicle 30 is increased according to the difference between the target speed V0 and the actual speed Vd. Specifically, control is performed to widen the valve opening of the throttle valve 24. In this case, in order to maintain the smooth acceleration of the vehicle, the rate of increase of the speed of the vehicle 30, that is, the acceleration is limited within a certain range. When the processing of this step 120 ends, the processing of this time is ended.

In step 122, the speed of the vehicle 30 is reduced according to the difference between the target speed V0 and the actual speed Vd. Specifically, the valve opening of the throttle valve 24 is narrowed, the pedal effort of the brake 26 is increased, or
Control for downshifting the A / T shift 28 is performed. In this case, in order to maintain the smooth deceleration of the vehicle, the rate of decrease of the speed of the vehicle 30, that is, the deceleration rate is limited within a certain range. When the process of this step 122 ends, the process this time ends.

In step 114, Xa> Xd
If it is determined that it is not, that is, if the preceding vehicle has recently approached the boundary vehicle distance Xd or less from the vehicle 30, the process of step 124 is executed next. In step 124, the inter-vehicle distance control flag is set. That is, the traveling control method of the vehicle 30 is switched from the speed control for controlling the vehicle 30 to the target speed to the inter-vehicle distance control for maintaining the inter-vehicle distance between the vehicle 30 and the nearest preceding vehicle 32 at a predetermined distance.

At step 126, it is judged if the boundary inter-vehicle distance Xd is longer than the actual inter-vehicle distance Xa between the preceding vehicle 32 and the vehicle 30 recently. As a result, when it is determined that the boundary vehicle distance Xd is longer than the actual vehicle distance Xa, that is, the actual vehicle distance Xa is the boundary vehicle distance Xa.
If it is shorter than d, the process of step 128 is executed next.

At step 128, the speed of the vehicle 30 is reduced. Specifically, control is performed such that the valve opening of the throttle valve 24 is narrowed, the pedal effort of the brake 26 is increased, or the A / T shift 28 is downshifted. In this case, in order to maintain the smooth deceleration of the vehicle, the rate of decrease of the speed of the vehicle 30, that is, the deceleration rate is limited within a certain range. When the process of step 128 is completed, the process this time is completed.

In step 126, if it is determined that the boundary vehicle distance Xd is less than the actual vehicle distance Xa, that is, the actual vehicle distance Xa is the boundary vehicle distance Xd.
If it is longer than, the process of step 130 is performed next. In step 130, the headway distance control flag is reset. That is, the traveling control method of the vehicle 30 switches from vehicle-to-vehicle distance control that maintains the vehicle-to-vehicle distance between the vehicle 30 and the latest preceding vehicle 32 to a predetermined distance to speed control that controls the vehicle 30 to the target speed. When the process of step 130 is completed, the process this time is completed.

FIG. 6 shows a situation in which the control method of the vehicle 30 equipped with the vehicle travel control device of this embodiment is switched based on the inter-vehicle distance between the vehicle 30 and the latest preceding vehicle 32. When it is determined in step 112 that the inter-vehicle distance control flag is set, that is, when the traveling of the vehicle 30 is controlled by the inter-vehicle distance control, the above-described processing of step 126 and thereafter is executed.

According to the above processing, if the vehicle-to-vehicle distance between the preceding vehicle 32 and the vehicle 30 is longer than the boundary vehicle-to-vehicle distance Xd, the target speed is determined based on the speed and position of the preceding vehicle existing within the acquisition range. It is set, and the traveling of the vehicle 30 can be controlled according to the target speed. If the inter-vehicle distance is equal to or less than the boundary inter-vehicle distance Xd, the vehicle 3
The inter-vehicle distance between 0 and the preceding vehicle 32 is the boundary inter-vehicle distance Xd.
The traveling of the vehicle 30 can be controlled so that

As described above, according to the vehicle running control system of this embodiment, when the vehicle-to-vehicle distance between the preceding vehicle 32 and the vehicle 30 is longer than the boundary vehicle-to-vehicle distance, a plurality of preceding vehicles are within the acquisition range of the vehicle 30. Is present, the speed of the vehicle 30 can be increased or decreased based on those speeds and positions. Therefore, in a vehicle equipped with the vehicle travel control device of the present embodiment, proper vehicle travel can be realized by detecting the speed, position, acceleration, etc. of the preceding vehicle existing in front of the vehicle.

In the above embodiment, the target speed is set based on the speed of the preceding vehicle existing in front of the vehicle,
Although the speed of the vehicle 30 is increased or decreased so that the vehicle 30 travels at that speed, the present invention is not limited to this. The maximum speed of the vehicle 30 is set, and the vehicle 30
Vehicle 30 so that its speed does not exceed its maximum speed
You may decide to control driving | running | working.

Further, in the above-mentioned embodiment, the inter-vehicle distance between the vehicle 30 and the most recent preceding vehicle 32 is set at both the switching timing from the speed control means to the inter-vehicle distance control means and the switching timing from the inter-vehicle distance control means to the speed control means. Although the time is set to the boundary inter-vehicle distance Xd, the present invention is not limited to this and may be set to different timings.

Further, in the above embodiment, the vehicle 30
The target speed is set by weighting by multiplying the speed of the preceding vehicle by a value that is inversely proportional to the inter-vehicle distance between the preceding vehicle and the vehicle 30 existing in the acquisition range. The speed of the preceding vehicle may be weighted with a different value for each certain range without limitation.

By the way, in the above embodiment, EC
Based on the information received by the inter-vehicle communication device 18, U10
Claiming by receiving the traveling state information of the traveling vehicle
The "driving information receiving means" described in the range is shown in Fig. 3 above.
Claim by executing the processing of step 116
"Speed setting means" and "Weighting hand"
Stage executes the processing of step 120 or 122 above.
Therefore, the "speed control hand" described in the claims is
By executing the process of step 104 above.
The "range changing means" described in the claims is
By executing the processing of step 128
The "vehicle distance control means" described in the range is the same as in step 12 above.
By executing the processing of 4 and 130
The "control switching means" described in the boxes are respectively realized.

[0051]

As described above, according to the first aspect of the invention, the range of the preceding vehicle to be acquired is changed according to the speed of the own vehicle.
The speed of multiple preceding vehicles in front of the vehicle
It is possible to properly set the target speed of the own vehicle based on the degree.
This allows your vehicle to follow the traffic flow of the preceding vehicle.
Improves ride comfort for passengers while running at a constant speed
Can be made. According to the inventions of claims 2 and 3,
For example, the distance between the host vehicle and the closest preceding vehicle is long.
If the vehicle is traveling at an appropriate speed along the traffic flow of the preceding vehicle,
When the above inter-vehicle distance becomes shorter while driving
You can drive your vehicle safely by controlling the distance between vehicles.
it can. Further, according to the invention of claim 4,
The plurality of preceding vehicles according to the distance between the preceding vehicles
By differentiating between the two speeds, it is more important for own vehicle running
Reflecting the speed of the preceding vehicle, which has a high degree of proximity,
The velocity can be set.

[0052]

[0053]

[Brief description of drawings]

FIG. 1 is a system configuration diagram of a vehicle travel control device that is an embodiment of the present invention.

FIG. 2 is a diagram showing a situation in which a preceding vehicle and an overtaking vehicle exist in front of a vehicle equipped with the vehicle travel control device of the present embodiment.

FIG. 3 is a flowchart of an example of a vehicle travel control routine executed by the ECU of this embodiment.

FIG. 4 is a map that defines the relationship between the speed Vd of the own vehicle and the area acquired by the own vehicle.

FIG. 5 is a map defining a relationship between a vehicle speed Vd and a boundary inter-vehicle distance Xd.

FIG. 6 is a diagram showing a situation in which the control method of a vehicle equipped with the vehicle travel control device of the present embodiment is switched based on an inter-vehicle distance from a preceding vehicle existing at the closest position.

[Explanation of symbols]

10 Electronic control unit (ECU) 11 Environment Recognition Department 12 vehicle speed sensor 14 Radar antenna 16 Navigation device 18 Inter-vehicle communication device 20 Travel command section 22 Travel control unit

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Claims (4)

(57) [Claims] 1. A running information receiving means for receiving running status information of a preceding vehicle existing ahead of a position of the own vehicle by a predetermined range, and a target of the own vehicle based on the received running status information of a plurality of preceding vehicles. A speed setting means for setting a speed, a speed control means for controlling the speed of the own vehicle based on the target speed, and a range changing means for changing the predetermined range according to the speed of the own vehicle. A characteristic vehicle traveling control device. 2.The vehicle traveling control device according to claim 1.
hand, Own vehicle and the closest position on the same lane as the own vehicle
An inter-vehicle distance control means for controlling an inter-vehicle distance with a surrounding vehicle, From the state where the vehicle-to-vehicle distance exceeds a predetermined value,
The speed control means is deactivated and
Control switching means for activating the vehicle distance control means, A vehicle travel control device comprising: 3.The vehicle traveling control device according to claim 1.
hand, Own vehicle and the closest position on the same lane as the own vehicle
An inter-vehicle distance control means for controlling an inter-vehicle distance with a surrounding vehicle, If the inter-vehicle distance is less than or equal to a predetermined value,
In the case that the
And switching control means for activating the speed control means
Dan, A vehicle travel control device comprising: 4. The vehicle traveling control device according to claim 1, wherein the traveling state information of the plurality of preceding vehicles received by the traveling information receiving unit is used to drive the preceding vehicle having a short inter-vehicle distance. The vehicle running control device further comprising weighting means for weighting the state information, wherein the speed setting means sets a target speed of the own vehicle based on a result of the weighting means.