JP3433553B2 - Car driving 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 traveling control device for an automobile which allows the subject vehicle to travel by following a front object (for example, a preceding vehicle) existing on the traveling path of the subject vehicle.

[0002]

2. Description of the Related Art An example of a traveling control apparatus for an automobile of this type is a scan type which emits a radar wave in front of the vehicle and detects a reflected wave from an object existing in the front to detect the presence or absence of a front object. The radar device scans in a horizontal direction at a relatively wide angle, and from the information obtained by the scanning, a microcomputer is used to estimate based on the traveling state such as the steering angle and yaw rate of the vehicle. By picking up only those in the area along the traveling path of the own vehicle, the one in which the detection of the front object by the scanning radar device is limited to the above area by software has already been developed. There is.

By the way, when a forward object is detected by the scanning type radar device as described above, the radar wave is reflected due to the cant of the road despite the existence of the object on the traveling road. There is a possibility that a phenomenon in which a wave cannot be detected (in other words, the detection data by the scanning radar device disappears) occurs. In such a case, there arises a problem that the detection process of the front object existing on the traveling path by the microcomputer has to be performed again from the beginning.

In order to deal with the above-mentioned problems, automatic tracking is restarted as the same object when the tracked front object disappears and then reappears (in other words, the detection of tracking has been completed). A device that interpolates data only for a predetermined time) has been proposed (for example, JP-A-3-2069).
(See No. 89 rear).

[0005]

When the front object disappears as described above and the data is interpolated for a predetermined time, if the front object is a moving object, the detection data detected before the disappearance is detected. If the interpolation is performed with the fixed value, the front object also moves at each scan interval, which may result in inaccurate data interpolation. In other words, it is necessary to interpolate the interpolation data in correspondence with the moving state of the front object before disappearance during the interpolation time after disappearance and before reappearing.

When the above interpolation is performed, data of an object different from the object being interpolated (for example, a roadside reflector) may be detected near the interpolation position of the object being interpolated. At that time, there is a possibility that the object may be erroneously determined as a real image of the object being interpolated even though the object is different from the object being interpolated. If such an erroneous judgment occurs, it will be a problem in performing follow-up running control of the vehicle.
It is required to eliminate the above erroneous judgment.

The present invention has been made in view of the above points, and during interpolation of object data when a front object disappears, an object different from the object being interpolated is erroneously determined as a real image of the object being interpolated. The purpose is to prevent.

[0008]

In the basic configuration of the present invention, as means for solving the above-mentioned problems, an object detecting means for detecting the presence or absence of an object existing in front of the vehicle (for example, in front of the vehicle) Laser radar device that emits a laser radar wave toward the vehicle and detects a reflected wave from a front object), and the running state of the vehicle (for example, the steering angle data and vehicle speed data of the vehicle, or the yaw rate data and vehicle speed of the vehicle). A vehicle equipped with a traveling path estimating means for estimating a traveling path ahead of the own vehicle based on the data) and an interpolating means for interpolating the object data for a predetermined time when the object data detected by the object detecting means disappears. In the traveling control device, the movement vector amount in the object data detected by the object detection means (for example, the vector amount in the moving direction of the object or the movement of the object). Calculation means for calculating the vector amount), and when the object data is detected in the vicinity of the interpolation position of the interpolation object during the interpolation by the interpolation means, the movement vector amounts of the object and the interpolation object are compared to determine the same object. Determination means for determining whether or not the object detection hand
The object detected by the step has a predetermined movement condition on the traveling path.
It is determined whether there is a
Lock-on determination means for determining the body, the vehicle, and the object to be followed
Follows your vehicle based on its distance and relative speed
A tracking control hand that controls the speed of the vehicle so that it follows the body.
Stage, and the interpolation by the interpolation means
If it has been done, the determination means makes a negative determination
Interpolation is continued for the interpolated object only when
Interpolation continuation means is attached.

[0009]

In the basic configuration of the present invention, the following actions can be obtained by the above means.

That is, when the object data detected by the object detection means (for example, a laser radar device) for the object in front of the vehicle disappears for some reason, the interpolation means interpolates the object data for a predetermined time. But,
During the interpolation, when the object data is detected in the vicinity of the interpolation position of the object being interpolated, the movement vector amount between the object and the interpolation object (for example, the vector amount related to the movement direction of the object or the vector amount related to the movement amount of the object). ) Are compared, and the sameness between the object having the object data detected during interpolation and the interpolation object due to the difference in the movement vector (in other words, the object having the object data detected during interpolation is Whether or not it is a real image) is determined. So
Then, it is determined whether the object detected by the object detection means exists on the traveling path with a predetermined movement condition, and lock-on determination means for determining this as an object to be followed by the own vehicle, and own vehicle and the following object. A tracking control means for controlling the vehicle speed of the own vehicle so that the own vehicle follows the object to be followed based on the distance to the object and the relative speed, and the interpolation by the interpolation means is performed on the object to be followed. And an interpolation continuation unit that continues the follow-up control for the interpolation object only when the determination unit makes a negative determination .
Thus , the interpolation can be continuously executed without erroneously determining the object different from the object being interpolated as the real image of the tracking target object of the vehicle.

[0011]

According to the basic configuration of the present invention, when the object data detected by the object detecting means (for example, a laser radar device) for the object in front of the vehicle disappears for some reason, the interpolating means causes the object to be detected. When the object data is detected in the vicinity of the interpolation position of the object being interpolated while the data is being interpolated for a predetermined time, the movement vector amount between the object and the interpolation object (for example, the vector amount relating to the movement direction of the object or The vector amount relating to the moving amount of the object) is compared, and the identity of the object having the object data detected during interpolation by the difference in the moving vector amount and the interpolated object (in other words, the object data detected during interpolation) Whether or not the object having is a real image of an interpolating object) is determined, and the interpolating object is determined only when a negative determination is made.
Since the interpolation for is continued, there is an excellent effect that the object identification during the interpolation (in other words, the accurate recognition of the interpolated object) can be obtained.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 shows the overall construction of a vehicle travel control device according to an embodiment of the present invention. here,
Reference numeral 1 is a throttle control device for automatically adjusting the opening of a throttle valve (not shown) of the engine intake system, 2 is a control device for an electronically controlled automatic transmission (EAT), and 3 is automatic braking force applied to each wheel. These three types of control devices 1 to 3 are brake control devices for adjustment, and each of them has an actuator (not shown), and each actuator is controlled by the control unit 4.

That is, the control unit 4 outputs a target throttle opening signal to the actuator of the throttle control device 1 for control, and outputs a target brake amount signal to the actuator of the brake control device 3 for control. I do. Also, the control unit 4
Receives a shift position signal from a sensor (not shown) that detects the shift position of the EAT control device 2,
A shift control signal is output to the actuator of the T control device 2 for control.

The information display device indicated by the reference numeral 5 is provided on an instrument panel or the like in the vehicle compartment, and although not shown, an alarm lamp which is turned on upon receiving an alarm signal from the control unit 4 and the control unit 4 are turned on. And a display unit for displaying the self-diagnosis signal on the screen.

The laser radar device shown by reference numeral 6 acts as an object detecting means for detecting an object (for example, a preceding vehicle) existing in front of the own vehicle, and directs the laser radar wave to the front of the own vehicle. It is configured so that the reflected wave that is transmitted by the vehicle and that is reflected by hitting the front object is received, and the distance between the vehicle and the front object is measured by the time difference between the reception time and the transmission time. The detection signal detected by the laser radar device 6 is input to the control unit 4 as an inter-vehicle distance signal. Further, the laser radar device 6 of the present embodiment is of a scan type that scans the laser radar wave in the horizontal direction at a relatively wide angle.

Reference numeral 7 is a throttle opening sensor for detecting the opening of the throttle valve, 8 is a vehicle speed sensor for detecting the vehicle speed, 9 is a steering angle sensor for detecting a steering steering angle (hereinafter, simply referred to as steering angle), and 10 is a steering angle sensor. A yaw rate sensor for detecting the yaw rate generated in the host vehicle, 11 a lateral G sensor for detecting lateral acceleration generated in the host vehicle, 12 a brake switch that is turned on when the brake pedal is depressed, 1
Reference numeral 3 is a clutch switch that is turned on according to the operating state of the clutch, 14 is a lock-on switch, and 15 is an au-cruise switch that is turned on during au-cruise operation of the vehicle. All the detection signals are input to the control unit 4. Although detection signals of an engine speed sensor (not shown) and other sensors and switches are also input to the control unit 4, detailed description thereof will be omitted.

The control unit 4 starts the detection signal from the laser radar device 6 as shown in FIG.
An input information processing unit 16 that receives detection signals from various sensors and switches 7 to 15 and performs predetermined information processing, and information regarding the running state of the vehicle from the input information processing unit 16 (for example, from the vehicle speed sensor 8). Vehicle speed, rudder angle sensor 9
The steering angle from the vehicle and the yaw rate from the yaw rate sensor 10), and based on these, the traveling path estimating means 17 for estimating the traveling path of the own vehicle, and among the information of the input information processing unit 16, particularly the laser radar device. Receiving detection data (ie, object data) relating to the front object detected in 6,
A lock-on determination unit 18 that determines whether the object exists on the traveling path with a predetermined movement condition and determines that the object is a tracking target object of the own vehicle (that is, a lock-on target vehicle),
The own vehicle is made to follow the lock-on target vehicle based on the information of the lock-on target vehicle determined to be the follow-up target object by the lock-on determination means 18 (that is, the distance and relative speed between the own vehicle and the lock-on target vehicle). As described above, among the information of the tracking control means 19 for controlling the vehicle speed of the own vehicle and the information processing unit 16, the object data regarding the tracking target object (that is, the lock-on target vehicle) from the laser radar device 6 disappears. In this case, the interpolation means 20 for interpolating the object data for a predetermined time
And a calculating means 21 for calculating a movement vector amount in the object data detected by the laser radar device 6,
When the object data is detected in the vicinity of the interpolation position of the interpolation object during the interpolation by the interpolation means 20, the determination means 22 compares the movement vector amounts of the object and the interpolation object to determine whether they are the same object or not. And an interpolation continuation unit 23 that continues the interpolation for the interpolation object only when the interpolation unit 20 is performing interpolation on the tracking target object and the determination unit 22 makes a negative determination. There is. The output signal from the tracking control means 19 is output to various actuators via the output information processing section 24.

FIG. 3 is a flow chart showing the main routine of the following control in which the lock-on switch 14 is turned on and the host vehicle follows the preceding vehicle among the controls by the control unit 4. It is shown.

The main routine is for estimating the traveling path (step S ₁ ), registering the lock-on target vehicle (step S ₂ ), executing lock-on (step S ₃ ), recognizing and interpolating existing objects (step S ₃ ). and step S _4), the identification of the interpolation object (step S _5), the continuation of the lock-on, has become since changes and released (step S _6), the subroutine of the estimation of the traveling path is shown in FIG. 4, the lock-on target The subroutine for vehicle registration is shown in FIG. 5, the subroutine for lock-on execution is shown in FIG. 6, the subroutine for recognizing existing objects and the interpolation is shown in FIG. 7, and the subroutine for identifying the interpolated objects is shown in FIG.
Further, a subroutine for continuing, changing and releasing the lock-on is shown in FIG. These will be sequentially described below.

[0021] In (traveling estimation of path) 4, first the vehicle data in step S ₁₁ (steering angle theta, the vehicle speed v, yaw rate [psi) after reading, in step S ₁₂ of the vehicle based on the steering angle theta Turning radius R
₁ by the following _{formula, R 1 = (1 + A} · v 2) (N · L / θ) computed. However, A is a stability factor, N is a steering gear ratio, and L is a wheel base.

Then, in step S ₁₃ , the turning radius R _{2 of the} vehicle is calculated based on the yaw rate ψ by the following formula, R ₂ = v / ψ.

Then, in step S ₁₄ , it is determined which of the two turning radii R ₁ and R ₂ is smaller, and in steps S ₁₅ and S ₁₆ , the smaller one is set as the radius of curvature R of the traveling path. In step S ₁₇ , a predetermined width is provided for the radius of curvature R to generate a traveling path, and the process returns. Here, the smaller turning radius R ₁ , R _{2 is set as} the radius of curvature R of the traveling path because the response delay of the sensors is taken into consideration. The estimation of the traveling route as described above is performed by the traveling route estimating means 1 in the control unit 4.
It is performed by 7. In addition, the estimation of the traveling path is performed by the turning radius R
Alternatively, it may be determined by ₁ or only the turning radius R ₂ .

[0024] In (lock-on registration of the subject vehicle) FIG. 5, after reading the detected data of the forward object detected by the laser radar device 6 in step S ₂₁ (distance and object data indicating a direction), Step S ₂₂ It determines whether the determination whether or not the detected data are continuously detected, or detected data in step S ₂₃ is not less than a predetermined definite level in the predetermined area by. Here, the degree of certainty refers to the number of detections per hour, and both the degree of certainty that is not greater than or equal to a predetermined value and the degree that the detection data is widely scattered outside a predetermined area are not considered to be objects. Above when both determination are both affirmative determination imparts an object identification number for those objects regarded in step S _24.

[0025] Subsequently, it is determined whether an object that grants the object identification number is a mobile in step S _25. This determination is performed by obtaining the speed of the object from the relative speed between the own vehicle and the object and the own vehicle speed, and examining whether the speed of the object is equal to or higher than a predetermined threshold value. Next, it is determined whether or not an object is present in the traveling path at step S _26. When the affirmative determination the both determination are both the object and lock-on (L / O) candidates as a preceding vehicle traveling road in step S _27.

Thereafter, in step S ₁₈ , it is determined whether or not the preceding vehicle which is the lock-on target candidate has the shortest vehicle-to-vehicle distance, that is, the closest preceding vehicle. If the determination is affirmative, step S
_{At 29} , the preceding vehicle is registered as a lock-on target vehicle, and the process returns. The registration of the lock-on target vehicle as described above is performed by the lock-on determination means 18 in the control unit 4.

(Execution of lock-on) In FIG. 6, first, in step S ₃₁ , it is confirmed that the lock-on target vehicle is registered, and then in step S _32.
Perform lock-on at and return. The lock-on is to control the own vehicle speed so that the lock-on target vehicle travels at the same vehicle speed while keeping a predetermined vehicle-to-vehicle distance, and is performed by the follow-up control means 19 in the control unit 4.

(Identification and Interpolation of Existing Object) In FIG. 7, first, in step S ₄₁ , the detection data (object data having distance and direction) of the front object detected by the laser radar device 6 is read, and then step S ₄₂ It determines whether the detected data existing within a predetermined area of each object imparted with the object identification number at a subroutine of the registration of the lock-on target vehicle in, when the determination is affirmative determination, the object identification number at step S ₄₃ it is determined whether the lock-on target vehicle for each, when the determination is affirmative determination, the interpolation counter for lock-on target vehicle in step S ₄₄ (for example, detection of the between the object 20 times of the data detection set the counter) for interpolating the data, the determination is at the negative determination, for the lock-on target vehicle in step S ₄₅ After setting an interpolation counter shorter than the interpolation counter for the non-lock-on target vehicle (for example, a counter that interpolates the detection data related to the object during four times of data detection), the process returns. These processes are performed by the interpolating means 20 in the control unit 4.

When a negative determination is made in step S ₄₂ (that is, when the detection data by the laser radar device 6 disappears), it is determined in step S ₄₆ whether or not the vehicle is a lock-on target vehicle for each object identification number. and, when the determination is affirmative determination, the interpolation counter for lock-on target vehicle is decremented in step S _47, the determination is at the negative judgment decrements the interpolation counter for non-lock-on target vehicle in step S ₄₈ . Then, it is determined whether or not interpolation counter is 0 or less at step S _49, when the determination is affirmative determination, and stripped of object identification number at step S ₅₀ (i.e., assumed to have been extinguished as an object), To return. At this time, the lock-on target vehicle will continue to lock-on / change /
It is processed by the release subroutine. Note that step S
_{When the} negative determination is made in ₄₉ , the process directly returns.

The above-mentioned interpolation will be described in more detail with reference to FIG. 10. The lock-on target vehicle A exists on the traveling path K of the host vehicle M and an object (that is, a preceding vehicle) other than the traveling path K is present. In the case where B, C, and D are present, for example, when the detection data of one of the preceding vehicles B, C, and D (for example, the preceding vehicle B) disappears, the detection data of the preceding vehicle B is , Until the interpolation counter for the non-lock-on target vehicle becomes 0 or less (in the case of this embodiment, during four data detections)
On the other hand, when the detection data of the lock-on target vehicle A disappears while the interpolation is performed, the detection data of the lock-on target vehicle A becomes 0 or less until the interpolation counter for the lock-on target vehicle becomes 0 or less (in the present embodiment. In case of 20 data detections). Therefore, when the detection data of the preceding vehicle B or the lock-on target vehicle A is obtained while the interpolation counter is decrementing, the control process for the preceding vehicle B or the lock-on target vehicle A can be continuously performed. It will be. Moreover, since the detection data is interpolated for the lock-on target vehicle A for a long time, the connection of the follow-up control for the lock-on target vehicle A, which is the follow-up target for the own vehicle M, is not deteriorated. Of.

(Identification of Interpolated Object) Next, a subroutine for identifying an interpolated object will be described, in which case it will be described with reference to FIG.

In FIG. 8, first, in step S ₅₁ , when it is confirmed that the interpolation by the interpolating means 20 is executed for the lock-on target vehicle A, step S _{51
At 52} , the moving vector amount of the lock-on target vehicle A (for example, the vector amount regarding the moving direction and the vector amount regarding the moving amount = relative speed) is calculated by the calculating means 21. Then, it is determined whether there is an object data X made in the interpolation area of the lock-on target vehicle A in step S _53, in the case of affirmative determination, the motion vector amount relating to the object data X proceeds to step S ₅₄ (For example,
The vector amount relating to the moving direction and the vector amount relating to the moving amount = relative speed) are calculated by the calculating means 21, and then the moving vector amounts are compared in step S ₅₅ , and it is determined that the difference between them is within a predetermined value. If so, the process proceeds to step S ₅₆ and the object data X is set as a real image of the lock-on target vehicle A, and the object is identified as the lock-on target vehicle. The object identification is performed by the determination means 22. That is, since there is no difference in the movement vector amount between the object data indicated by the symbol X in FIG. 11 and the lock-on target vehicle A (in other words, the same movement is made), the object data X is This is the real image of the lock-on target vehicle A.

On the other hand, if a negative determination is made in step S ₅₅ , it means that the object data X and the lock-on target vehicle A are different objects, so the _flow proceeds to step S ₅₇ to lock the object data X. The actual image of the ON target vehicle A is not set, and the interpolation so far is continued, and then the process returns. The interpolation is continued by the interpolation continuation unit 23. That is,
Since the object data indicated by the symbol X'in FIG. 11 indicates one of the reflectors L, it cannot be a real image of the lock-on target vehicle A.

When the object data X is the real image of the lock-on target vehicle A in step S ₅₆ , the lock-on target vehicle A is
Has occurred, the interpolation counter is cleared in step S ₅₈ , the movement vector amount is calculated based on the object data X in step S ₅₉ , and then the process returns.

As described above, in this embodiment, when the object data is detected during the interpolation, it is determined whether or not the object data is the real image of the lock-on target vehicle, and based on the determination. Since it is determined whether or not to continue the interpolation, the object identification during interpolation (in particular,
It is possible to accurately identify the lock-on target vehicle.

In the present embodiment, both the vector amount relating to the moving direction and the vector amount relating to the moving amount are used as the moving vector amount serving as the criterion for the determination by the determining means 22, but either one may be used. You can also

Further, in the case of the present embodiment, the interpolation of the lock-on target vehicle has been described, but the present invention is also applicable to the case of interpolation on an object other than the lock-on target vehicle (for example, another preceding vehicle). .

(Continuation / Change / Release of Lock-On) Next, a subroutine of continuation / change / cancellation of lock-on will be described with reference to FIG. 12 at that time.

In FIG. 9, first, in step S ₆₁ , the radius of curvature R of the lock-on target vehicle A and the traveling road K is recognized, and then in step S ₆₂ , the preceding vehicle A ′ on the travel route K closer to the lock-on target vehicle A '. If the determination is affirmative, the preceding vehicle A ′ is changed to the lock-on target vehicle in step S ₆₃ , while if the determination is negative, the lock-on is performed in step S ₆₄ . The lock-on for the target vehicle A is continued. This determination is made by the lock-on determination means 18 in the control unit 4.

[0040] Thereafter, since there is a case where the lock-on target vehicle of object identification number is stripped in step S ₅₁ in the subroutine of "certified interpolation presence object" described above, corresponds to the lock-on target vehicle in step S ₆₅ It is determined whether or not there is detection data for the lock-on target vehicle. When the determination is affirmative, the interpolation counter value for the lock-on target vehicle is given to the object identification number of the lock-on target vehicle in step S ₆₆ , and the determination there when negative determination determines whether the lock-on target vehicle in the object identification number exists in step S _67, the determination is at the negative determination, the lock-on target vehicle is lost in step S _68. The above processing is performed by the interpolation means 20 in the control unit 4.

[0041] Then, the lock-on target vehicle is judged whether or not lost in step S _69, the determination is negative (i.e., not lost) Sometimes, the step S ₆₁
Returning to, while continuing the lock-on, the determination is affirmative (i.e., lost) sometimes, release the lock-on in a step S _70, the process returns. During the period from the lock-on release to the registration of the next lock-on target vehicle, the follow-up control means 19 controls the own vehicle speed to be the predetermined vehicle speed.

The invention of the present application is not limited to the above-mentioned embodiments, but includes various modifications. For example, in the above embodiment, the laser radar device 6
As a scanning type of scanning laser radar waves at a relatively wide angle in the horizontal direction is used, the present invention is
Not only the scanning laser radar device 6 but also a laser radar device that detects an object only within a relatively narrow angle range, and the laser radar device is configured to rotate about a vertical axis by an actuator. Can be similarly applied.

In the above embodiment, when the lock-on judging means 18 judges the lock-on target vehicle, the judgment is made based on the inter-vehicle distance and the relative speed between the own vehicle and the preceding vehicle. Alternatively, the determination may be made based on the speed of the preceding vehicle.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of a vehicle travel control device according to an embodiment of the present invention.

FIG. 2 is a block diagram of a control unit in the vehicle travel control device according to the embodiment of the present invention.

FIG. 3 is a flowchart showing a main routine of control during follow-up traveling in the vehicle traveling control device in the embodiment of the present invention.

FIG. 4 is a flowchart showing a subroutine for estimating a traveling path in the vehicle travel control device in the embodiment of the present invention.

FIG. 5 is a flowchart showing a subroutine for registering a lock-on target vehicle in the vehicle travel control device according to the embodiment of the present invention.

FIG. 6 is a flowchart showing a subroutine of lock-on execution in the vehicle travel control device according to the embodiment of the present invention.

FIG. 7 is a flowchart showing a subroutine of recognizing an existing object and interpolating in a vehicle travel control device according to an embodiment of the present invention.

FIG. 8 is a flowchart showing a subroutine for identifying an interpolated object in the vehicle travel control device according to the embodiment of the present invention.

FIG. 9 is a flowchart showing a subroutine of lock-on continuation / change / release in the vehicle travel control device according to the embodiment of the present invention.

FIG. 10 is an explanatory diagram for explaining interpolation in the vehicle travel control device according to the embodiment of the present invention.

FIG. 11 is an explanatory diagram showing a mode of identifying an interpolated object in the vehicle travel control device according to the embodiment of the present invention.

FIG. 12 is an explanatory diagram for explaining continuation / change / cancellation of lock-on in the vehicle travel control device according to the embodiment of the present invention.

[Explanation of symbols]

6 is an object detection means (laser radar device), 17 is a traveling path estimation means, 18 is a lock-on determination means, 19 is a follow-up control means, 20 is an interpolation means, 21 is a calculation means, 22 is a determination means, and 23 is interpolation continuation. means.

Claims (6)

(57) [Claims] 1. An object detecting means for detecting the presence / absence of an object existing in front of the own vehicle, a traveling road estimating means for estimating a traveling road in front of the own vehicle based on a traveling state of the own vehicle, and the object detecting means. When the object data detected by the object disappears, an interpolating means for interpolating the object data for a predetermined time, a calculating means for calculating a movement vector amount in the object data detected by the object detecting means, and an interpolation by the interpolating means. In the case where the object data is detected in the vicinity of the interpolation position of the interpolated object, the determination means for comparing the movement vector amounts of the object and the interpolated object to determine whether they are the same object ,
The object detected by the object detection means is on the traveling path.
It is judged whether the vehicle exists under a predetermined movement condition, and this
Lock-on determination means for determining the following target object of
Based on the distance and relative speed between the
Controls the vehicle speed of the vehicle so that the vehicle follows the target object.
Tracking control means and the interpolation by the interpolation means
If it is performed on the object,
Complementary to the interpolated object only when a negative determination is made.
A traveling control device for an automobile, comprising: an interpolation continuation means for continuing the interval . 2. A movement vector quantity calculated by said calculating means is an automobile cruise control system of claim 1, wherein that it is a vector amount on the movement direction of the object. 3. A movement vector quantity calculated by said calculating means is an automobile cruise control system of claim 1, wherein the there is a vector quantity related to the amount of movement of the object. 4. A traveling path estimation of the vehicle by the traveling path estimating means, vehicle running control device of claim 1, characterized in that it is made on the basis of the steering angle data and the vehicle speed data of the vehicle. 5. A traveling path estimation of the vehicle by the traveling path estimating means, vehicle running control device of claim 1, characterized in that it is made on the basis of the yaw rate data and vehicle speed data of the vehicle. Wherein said object detecting means, said claim, characterized in that originated the laser radar wave toward the front of the vehicle, there is a laser radar device for detecting a reflected wave from the forward object 1 The traveling control device for the automobile described.