JP3508414B2 - Inter-vehicle distance control type constant speed traveling device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inter-vehicle distance control type constant speed traveling device for performing follow-up control on a preceding vehicle so as to maintain a preset inter-vehicle distance.

[0002]

2. Description of the Related Art An inter-vehicle distance control for recognizing a preceding vehicle by a laser radar and a CCD camera and controlling the traveling speed of the own vehicle so that the inter-vehicle time (= inter-vehicle distance / traveling speed) with the preceding vehicle is about 2 seconds A type constant speed traveling device is known (see, for example, Japanese Patent Laid-Open No. 7-65297). In this device, for example, the traveling speed command value of the own vehicle (hereinafter referred to as the set vehicle speed) is 100 km / h, and the speed of the preceding vehicle is 80 km.
In the case of / h, the following vehicle is controlled so that the own vehicle speed also becomes 80 km / h. In this case, since the inter-vehicle time is about 2 seconds, the inter-vehicle distance is about 44.4 m,
The traveling speed of the host vehicle is controlled so as to maintain the inter-vehicle distance.

[0003]

By the way, when the preceding vehicle changes lanes or the own vehicle changes lanes and there is no preceding vehicle on the own lane when the following control is performed under the above conditions. Ends the tracking control and 100 km /
The vehicle accelerates to the set vehicle speed of h and enters the constant speed traveling control.

For example, as shown in FIG. 7 (a), when the follower vehicle A traveling at 80 km / h near an interchange on a highway is being tracked and controlled, the exit lane of the interchange as shown in FIG. 7 (b). When the lane is changed to, the set vehicle speed of the own vehicle remains at 100 km / h, so acceleration control is performed on the exit lane where the vehicle must decelerate.

That is, when the vehicle departs from the state of following the preceding vehicle traveling at a speed lower than the set vehicle speed of the own vehicle, the vehicle is accelerated to the set vehicle speed in any road environment. Therefore, at an interchange on a highway or at a tollgate on the main line, if you leave the state of following the preceding vehicle, you must frequently brake to release the acceleration control or release the constant-speed running control. However, there is a problem that the operation is troublesome.

An object of the present invention is to release the constant speed traveling control or prohibit the acceleration control to the set vehicle speed when the vehicle deviates from the following traveling to the preceding vehicle on the road which must be decelerated. Another object of the present invention is to provide an inter-vehicle distance control type constant speed traveling device.

[0007]

[Means for Solving the Problems] (1) The invention of claim 1 searches for a guide route to a destination and passes through the guide route.
A navigation device that sequentially outputs nodes and a navigation device
Based on the transit node entered from the
Whether or not the passing node has to slow down
The deceleration node determination means and the deceleration node determination means
Predetermined distance to the node that has to decelerate
Travel control means for ending constant-speed travel control when approaching to the distance
With. (2) The invention of claim 2 searches for a guide route to a destination.
A navigator that searches for and outputs the transit nodes on the guide route in order.
Navigation device and the passage information input from the navigation device.
If the next passing node slows down based on
Deceleration node determining means for determining whether or not the node is not
And deceleration must be made by the deceleration node determination means.
Accelerating motion when approaching a node that must
And a travel control means for prohibiting. (3) Passing through the constant speed traveling device with inter-vehicle distance control according to claim 3
Information about the node includes the attributes of the link currently running,
The attributes of the next node to reach, the remaining distance to the next node, and the attributes of the node to further next node of the next node are included. (4) inter-vehicle distance control type constant speed running device according to claim 4, run
The line control means, those to set the inter-vehicle distance corresponding to the preceding vehicle speed calculation value based on a predetermined inter-vehicle time
Is .

[0008]

According to the present invention, even if the withdrawal from the following state of the preceding vehicle in a road point must be Hayashi reduction,
The troublesomeness of frequent brake operation and manual release of the constant speed traveling control is eliminated, and operability is improved.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows the configuration of one embodiment.
The laser radar device 1 detects the distance to a front object by transmitting a laser beam, receiving the reflected light from the object, and measuring the time from the light transmission to the light reception. Of course, the front object includes the preceding vehicle. The CCD camera 2 images a road scene in front of the vehicle and outputs image data. The vehicle speed sensor 3 detects the traveling speed Vf (own vehicle speed) of the host vehicle, and the throttle sensor 4 detects the opening of the throttle valve. Further, the operation switch 5 is an operation member for activating and deactivating the system, setting a traveling speed command value (set vehicle speed) of the own vehicle, and the like.

The constant-speed traveling controller 6 is composed of a microcomputer and its peripheral components, and executes a control program described later to carry out constant-speed traveling while maintaining the inter-vehicle distance from the preceding vehicle. The constant speed traveling controller 6 includes a preceding vehicle recognition unit 6a, a vehicle speed control unit 6b, and an alarm calculation unit 6c in software form. The preceding vehicle recognition unit 6a measures the distance measured by the laser radar device 1 and C
The preceding vehicle on the own lane is recognized based on the image data picked up by the CD camera 2, and the distance L between the preceding vehicle and the preceding vehicle,
The relative speed Vr with respect to the preceding vehicle is calculated from the time change of the inter-vehicle distance L.

The vehicle speed control unit 6b calculates the own vehicle speed for following the preceding vehicle while maintaining the optimum inter-vehicle time, and controls the throttle actuator 7 and the automatic transmission controller 8. When the traveling speed of the preceding vehicle is higher than the set vehicle speed of the host vehicle, the throttle actuator 7 is controlled so that the host vehicle speed becomes the set vehicle speed. On the contrary, when the traveling speed of the preceding vehicle is lower than the set vehicle speed of the host vehicle, the throttle actuator 7 and the automatic transmission controller 8 are controlled so as to maintain the preset inter-vehicle time.

When the traveling speed of the preceding vehicle is lower than the set vehicle speed of the host vehicle, that is, when the preceding vehicle travels at a lower speed than the host vehicle, the throttle and the shift range are controlled so as to maintain the inter-vehicle distance L. Then, the vehicle follows the preceding vehicle at the same speed as the preceding vehicle. At this time, the inter-vehicle distance L is calculated by the following equation based on the preset inter-vehicle time TL and the preceding vehicle speed V (= own vehicle speed Vf).

[Equation 1] L [m] = TL [s] .V [m / s] = TL
[S] · Vf [m / s] Here, the preceding vehicle speed V is the speed Vf of the host vehicle and the relative speed V.
Although calculated based on r, the relative speed Vr is 0 when the vehicle follows the preceding vehicle at the same speed as the preceding vehicle, and the preceding vehicle speed V is equal to the own vehicle speed Vf.

When the relative speed with respect to the preceding vehicle is high, the alarm calculation unit 6c determines whether or not the occupant needs to perform a deceleration operation and issues an alarm using the display device 9 and the alarm device 10. When the preceding vehicle suddenly decelerates and approaches the preceding vehicle at a large relative speed, the inter-vehicle distance L and the relative speed Vr sent from the preceding vehicle recognition unit 6a, and the own vehicle speed Vf detected by the vehicle speed sensor 3 are detected. Based on the above, the danger is judged, and if there is a danger, an alarm is issued by the display device 9 and the alarm device 10 in order to prompt the occupant to perform a brake operation.

The throttle actuator 7 opens and closes a throttle valve (not shown) based on the own vehicle speed command value from the controller 6, and the automatic transmission controller 8 based on the own vehicle speed command value from the controller 6 Control the shift range of.

The navigation device 11 is equipped with a GPS receiver, has a function of detecting the current position and traveling direction of the vehicle, a function of searching a route to a destination, a route to the destination displayed on a road map around the current position, and an occupant. Has the function of inducing.
The navigation device 11 also has a function of outputting to the constant-speed controller 6 information about roads that must be decelerated, such as the interchange exit lane on highways and the vicinity of toll gates on main lines. That is, the constant-speed traveling controller 6 is notified of an expressway interchange on the guide route and an approach to the tollgate on the main line within a predetermined distance.

FIG. 2 shows a part of the guide route data of the navigation device 11, and FIG. 3 shows a road map of a part corresponding to the guide route data shown in FIG. The navigation device 11 stores the nodes on the guide route and the incidental information obtained by the route search in the order of passage. This guide route enters the expressway from the intersection 99 (node 99) of the general road via the interchange A (node 100), passes through the toll gate T (node 101), and then the interchange B (node 102) from the expressway. Get out. Furthermore, the road goes through the intersection 103 (node 103).

FIG. 4 shows a format of data output from the navigation device 11 to the constant speed traveling controller 6. This data is composed of four data, DATA1 to DATA4. DATA1 represents the attribute of the link on which the vehicle is currently traveling, and represents a highway, a general road, or the like. DATA2 represents the attribute of the node which the vehicle is scheduled to reach next, and indicates a general road intersection, an expressway interchange, a tollgate on the expressway main line, and the like. DATA
3 indicates the remaining distance to the next node. Furthermore, DAT
A4 represents the attribute of the node next to the node reaching next. For example, when the vehicle is traveling between the tollgate T and the interchange B on the guide route shown in FIG. 3, DATA1 is “highway”, DAT as shown in FIG.
A2 is "High Speed Interchange B (Node 102)",
DATA3 becomes "remaining distance of 1000 m" and DATA4 becomes "general road intersection 103 (node 103)", which indicates that the vehicle exits the expressway at the next waypoint and travels on the general road.

FIG. 6 is a flow chart showing the processing of the constant speed traveling controller 6. The operation of one embodiment will be described with reference to this flowchart. In addition, here, a case where the vehicle travels along the guide route shown in FIG. 3 will be described as an example.
In step 101, when the system is activated by the operation switch 5, the process proceeds to step 102, in which image data from the CCD camera 2 is analyzed to determine whether or not there is a preceding vehicle on the lane. If there is no preceding vehicle, the routine proceeds to step 105, where the throttle valve is controlled so that the vehicle travels at a constant speed at the vehicle speed set by the operation switch 5.

When the preceding vehicle is recognized on the own lane, the routine proceeds to step 103, the speed of the preceding vehicle is compared with the set vehicle speed of the own vehicle, and when the vehicle speed of the preceding vehicle is higher than the set vehicle speed, that is, the preceding vehicle is If the vehicle is traveling at a speed faster than the host vehicle, the routine proceeds to step 105, where the throttle valve is controlled so that the vehicle travels at a constant speed at the set vehicle speed.

On the other hand, when the vehicle speed of the preceding vehicle is lower than the set vehicle speed, that is, when the preceding vehicle is traveling slower than the own vehicle, the routine proceeds to step 104, and as described above, the predetermined inter-vehicle time is calculated by the mathematical expression 1 as described above. The inter-vehicle distance according to the traveling speed is calculated, and the throttle valve and the shift range are controlled so that the inter-vehicle distance is maintained and the vehicle travels at a constant speed.

At step 106, navigation route data DATA1 to DATA4 are input from the navigation device 11. In the following step 107, it is confirmed based on the input guide route data whether or not the next node to reach requires deceleration, for example, an interchange leaving the highway or a tollgate on the main line. If the next node to reach is a node that does not need to decelerate, it continues to run at a constant speed and returns to step 102.

In the guide route shown in FIG. 3, the next node is the interchange B (node 102) of the expressway, and the next node is the general road intersection 103 (node 10).
Since it is 3), it can be judged that the next interchange will take the expressway to the general road. In this case, the next node is a node that has to decelerate, and the process proceeds to step 108 to check whether the remaining distance to the next node is less than or equal to the preset system release distance (for example, 500 m). . If it is not close to the system release distance, continue running at a constant speed and proceed to Step 1
Returning to 02, the above process is repeated.

If the remaining distance to the node requiring deceleration becomes equal to or less than the system release distance, step 109
In step 110, the operation of the system is canceled to terminate the constant speed traveling control, and in step 110, the display device 9 and the alarm device 10 notify that the constant speed traveling mode is completed.

In the configuration of the above embodiment, the laser radar device 1 and the CCD camera 2 serve as an inter-vehicle distance detecting means, the operation switch 5 serves as a speed setting means, the vehicle speed sensor 3 serves as a vehicle speed detecting means, and a constant speed running controller. 6 constitutes a preceding vehicle speed calculating means, a traveling control means, and a deceleration node determining means .

In the above-described embodiment, an example in which the operation of the system is released when approaching the exit of a highway or the tollgate of the main line, which has to slow down, is shown. Only the acceleration operation in the traveling mode may be prohibited. Further, although the example in which the laser radar is used as the means for detecting the inter-vehicle distance is shown, the inter-vehicle distance detecting means by the radio wave method and the ultrasonic wave method may be used.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of an embodiment.

FIG. 2 is a diagram showing a part of guide route data of the navigation device.

3 is a diagram showing roads corresponding to the guide route data shown in FIG. 2. FIG.

FIG. 4 is a diagram showing a data format of a navigation device.

5 is a diagram showing an example of output data of a navigation device that is traveling on the guide route shown in FIG.

FIG. 6 is a flowchart showing an operation of one embodiment.

[Fig. 7] At the interchange exit of the highway,
It is a figure explaining operation | movement of the conventional constant-speed vehicle-to-vehicle distance control apparatus when leaving | separated from following traveling.

[Explanation of symbols]

1 Laser radar device 2 CCD camera 3 vehicle speed sensor 4 Throttle sensor 5 operation switch 6 Constant-speed traveling controller 6a Leading vehicle recognition unit 6b Vehicle speed controller 6c Alarm calculation unit 7 Throttle actuator 8 Automatic transmission controller 9 Display device 10 Alarm device 11 Navigation device

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Claims (4)

(57) [Claims] 1. An inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle, a speed setting means for setting a traveling speed command value of the own vehicle, and a traveling speed of the own vehicle (hereinafter, referred to as own vehicle speed). Own vehicle speed detection means, a preceding vehicle speed calculation means for calculating the speed of the preceding vehicle based on the inter-vehicle distance detection value and the own vehicle speed detection value, and the preceding vehicle speed calculation value is lower than the traveling speed command value In this case, maintain an inter-vehicle distance according to the preceding vehicle speed calculation value .
The vehicle is controlled to follow the preceding vehicle so that
When the degree calculation value is higher than the traveling speed command value, the vehicle speed
Constant speed traveling control is performed so that the traveling speed command value becomes
An inter-vehicle distance control type constant speed traveling device including travel control means , which searches for a guide route to a destination and passes on the guide route.
Based on a navigation device that outputs nodes in sequence and a transit node that is input from the navigation device.
And the next passing node must slow down.
Deceleration node determination means for determining whether or not the vehicle is in a deceleration mode.
Up to a certain distance to a node that must decelerate
A constant-speed traveling device with an inter-vehicle distance control, characterized in that the constant-speed traveling control is terminated when approaching . 2. An inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle, a speed setting means for setting a traveling speed command value of the own vehicle, and a traveling speed of the own vehicle (hereinafter, referred to as own vehicle speed). Own vehicle speed detection means, a preceding vehicle speed calculation means for calculating the speed of the preceding vehicle based on the inter-vehicle distance detection value and the own vehicle speed detection value, and the preceding vehicle speed calculation value is lower than the traveling speed command value In this case, maintain an inter-vehicle distance according to the preceding vehicle speed calculation value .
The vehicle is controlled to follow the preceding vehicle so that
When the degree calculation value is higher than the traveling speed command value, the vehicle speed
Constant speed traveling control is performed so that the traveling speed command value becomes
An inter-vehicle distance control type constant speed traveling device including travel control means , which searches for a guide route to a destination and passes on the guide route.
Based on a navigation device that outputs nodes in sequence and a transit node that is input from the navigation device.
And the next passing node must slow down.
Deceleration node determination means for determining whether or not the vehicle is in a deceleration mode.
Up to a certain distance to a node that must decelerate
An inter-vehicle distance control type constant-speed traveling device characterized by prohibiting acceleration operation when approaching . 3. The inter-vehicle distance control type constant speed traveling device according to claim 1, wherein the information regarding the passing node includes an attribute of a link currently traveling, an attribute of a node to be reached next, and Constant distance traveling type constant speed traveling device characterized in that it includes the remaining distance to the node and the attribute of the node that reaches the next node further next. 4. The inter-vehicle distance control type constant speed traveling device according to any one of claims 1 to 3, wherein the traveling control means responds to the preceding vehicle speed calculation value based on a predetermined inter-vehicle time. An inter-vehicle distance control type constant speed traveling device characterized by setting an inter-vehicle distance.