JP3644149B2 - Inter-vehicle distance control type constant speed travel device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an inter-vehicle distance control type constant speed traveling device that performs follow-up control on a preceding vehicle so as to maintain a preset inter-vehicle distance.
[0002]
[Prior art]
An inter-vehicle distance control type constant speed traveling device that recognizes a preceding vehicle by a laser radar and a CCD camera and controls the traveling speed of the host vehicle so that the time between the preceding vehicle (= inter-vehicle distance / traveling speed) is about 2 seconds. Is known (for example, see JP-A-7-65297).
In this apparatus, for example, when 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 / h, the own vehicle speed is also set to 80 km / h. Control is performed following the preceding vehicle. In this case, since the inter-vehicle time is about 2 seconds, the inter-vehicle distance is approximately 44.4 m, and the traveling speed of the host vehicle is controlled so as to maintain the inter-vehicle distance. In addition, when the preceding vehicle changes lanes or the own vehicle changes lanes and there is no preceding vehicle on the own lane when following control is performed under the above conditions, the following control is terminated and 100 km is reached. Accelerate to the set vehicle speed of / h and enter constant speed running control.
[0003]
[Problems to be solved by the invention]
Incidentally, such as during traveling highway if example embodiment, if there is a vehicle that has stopped for a traffic jam ahead, since the maximum detection distance of the radar is about 130m, the radar detects the front of the vehicle is stopped Even if the vehicle speed control is performed and the vehicle is decelerated, if the deceleration by the engine brake is insufficient, a brake operation by the occupant is required.
[0004]
An object of the present invention, by road situations is to provide a vehicle-to-vehicle distance control type constant speed running device so as to stop the constant-speed running control.
[0005]
[Means for Solving the Problems]
(1) The invention of claim 1 detects the inter-vehicle distance from the preceding vehicle, detects the traveling speed of the own vehicle (own vehicle speed), and determines the preceding vehicle based on the inter-vehicle distance detection value and the own vehicle speed detection value. Calculate the speed. If the preceding vehicle speed calculation value is lower than the traveling speed command value of the host vehicle, an inter-vehicle distance is set according to the preceding vehicle speed calculation value, and if the preceding vehicle speed calculation value is higher than the traveling speed command value, the host vehicle speed Constant speed travel control is performed so that the detected value becomes the travel speed command value.If the preceding vehicle speed calculation value is lower than the travel speed command value, the host vehicle speed is controlled so that the inter-vehicle distance setting value is maintained and the inter-vehicle distance is maintained. Take control. Then, the traffic information is obtained, and the constant speed traveling control is stopped when the tail of the traffic according to the traffic information is less than a predetermined distance from the current location.
(2) In the inter-vehicle distance control type constant speed traveling device according to claim 2, the traffic jam information obtaining means is a navigation device equipped with a GPS receiver.
(3) The inter-vehicle distance control type constant speed traveling device according to claim 3 includes a VICS unit in which the traffic information obtaining unit receives the traffic information from the road beacon and sends the traffic information ahead of the vehicle to the speed control unit. Is.
[0006]
【The invention's effect】
According to the present invention, the traffic information is obtained, and the constant speed traveling control is stopped when the trailing edge of the traffic congestion is less than a predetermined distance from the current location, so the inter-vehicle distance control type constant speed traveling control is maintained. Reaching the tail of traffic is avoided.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows the configuration of one embodiment.
The laser radar apparatus 1 detects a distance from a front object by transmitting a laser beam, receiving reflected light from the object, and measuring a time from light transmission to light reception. Of course, the preceding object includes a preceding vehicle. The CCD camera 2 captures a road scene ahead 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. Furthermore, the operation switch 5 is an operation member for starting and releasing the system, setting the traveling speed command value (set vehicle speed) of the host vehicle, and the like.
[0008]
The constant speed travel controller 6 is composed of a microcomputer and its peripheral components, and performs constant speed travel while maintaining the inter-vehicle distance from the preceding vehicle according to the weather and road conditions. The constant speed travel 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 recognizes the preceding vehicle on the own lane based on the distance measured by the laser radar device 1 and the image data captured by the CCD camera 2, and the inter-vehicle distance L between the preceding vehicle and the inter-vehicle distance The relative speed Vr with the preceding vehicle is calculated from the time change of the distance L.
[0009]
The vehicle speed control unit 6b calculates the own vehicle speed for following the preceding vehicle while maintaining an optimal 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 own vehicle, the throttle actuator 7 is controlled so that the own 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 own vehicle, the throttle actuator 7 and the automatic transmission controller 8 are controlled so as to maintain the preset inter-vehicle time.
[0010]
When the traveling speed of the preceding vehicle is lower than the set vehicle speed of the own vehicle, that is, when the preceding vehicle is traveling at a slower speed than the own vehicle, the throttle and the shift range are controlled so as to maintain the inter-vehicle distance L, Drive following 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).
[Expression 1]
L [m] = TL [s] · V [m / s] = TL [s] · Vf [m / s]
Here, the preceding vehicle speed V is calculated based on the speed Vf of the host vehicle and the relative speed Vr. However, when the vehicle travels following the preceding vehicle at the same speed as the preceding vehicle, the relative speed Vr is 0. The vehicle speed V is equal to the own vehicle speed Vf.
[0011]
When the relative speed with respect to the preceding vehicle is high, the alarm calculation unit 6c determines whether or not a deceleration operation by the occupant is necessary and issues an alarm by 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 used. Based on the above, the danger is judged, and if there is a danger, the display device 9 and the alarm device 10 warn the driver to encourage the brake operation.
[0012]
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 is based on the own vehicle speed command value from the controller 6. To control.
[0013]
The navigation device 11 includes a GPS receiver, detects a current position of the vehicle, a traveling direction, and the like, a route search function to the destination, and displays a route to the destination on a road map around the current location to guide the occupant. It has a function. The navigation device 11 is also provided with a VICS unit 11a, receives road traffic information such as traffic jams and regulations from road beacons, and sends traffic jam information ahead of the course of the vehicle to the constant speed travel controller 6.
[0014]
FIG. 2 shows the data format of the traffic jam information of the navigation device 11.
This transmission data is divided into three blocks. DATA1 of the first block is 1-bit data relating to the presence or absence of traffic jams on the travel route of the vehicle. If traffic jams occur within a predetermined distance (for example, within 5 km), 1 is generated. 0 if not. DATA2 of the next block is 1-byte data representing the number of kilometers of traffic jam, and DATA3 of the last block is 2-byte data representing the distance from the current location of the vehicle to the tail of the traffic.
[0015]
In this embodiment, when approaching a traffic jam point and the distance from the current location to the tail of the traffic jam is a predetermined distance or less (for example, 300 m or less), not only the inter-vehicle distance control but also the constant speed running control is canceled. As a result, even if a traffic jam occurs ahead, the constant speed traveling control is released with a margin, and the frequency of braking operation with a large deceleration by the occupant can be reduced.
[0016]
The wiper device 12 sends the wiper continuous operation signals LO and HI or the intermittent operation signal INT and information on the intermittent time to the constant speed travel controller 6. In this embodiment, the intermittent time information is a voltage signal corresponding to the intermittent time as shown in FIG. Since the intermittent operation time of the wiper is set according to the rainfall, the rainfall information from the raindrop sensor may be used instead of the intermittent time information of the wiper.
[0017]
The operation when the wiper is operating in the rain will be described.
When the continuous operation signal LO or HI from the wiper device 12 is continuously received for a predetermined time (for example, 10 seconds), the distance detection performance of the laser radar is deteriorated in rainy weather where the wiper continuously operates for a predetermined time or more. Then, the inter-vehicle distance control is stopped, and the process shifts to the constant speed traveling control that maintains the vehicle speed at that time. In this case, the constant speed traveling control may also be canceled and the operation may be shifted to manual operation by the occupant's accelerator operation.
[0018]
In addition, instead of detecting the rainfall based on the continuous operation signal or intermittent operation signal from the wiper device, when measuring the rainfall directly with the raindrop sensor, if the measured rainfall exceeds a predetermined value, the inter-vehicle distance control or constant speed driving Control may be stopped.
[0019]
On the other hand, when the intermittent operation signal INT and the intermittent time information are received from the wiper device 12, the rainfall amount is determined based on the duration and intermittent time of the intermittent operation. For example, if intermittent operation with an intermittent time of 1.5 seconds or less (input voltage 2 V or less) continues for 10 seconds or more, it is determined that the rain detection is relatively large and the distance detection capability of the laser radar is reduced, and the inter-vehicle distance control is performed. Cancel and shift to constant speed running control that maintains the vehicle speed at that time. In this case, the constant speed traveling control may also be canceled and the operation may be shifted to manual operation by the occupant's accelerator operation.
[0020]
The outside air temperature sensor 13 measures the outside air temperature and outputs it to the constant speed running controller 6. Here, the outside air temperature information is a voltage signal corresponding to the outside air temperature although not shown. In this embodiment, when the outside air temperature sensor 13 continuously detects outside air temperature below a predetermined temperature (0 ° C. or below in this embodiment) for a predetermined time or longer (10 seconds or longer in this embodiment), the road surface is It is determined that there is a possibility that sufficient braking force cannot be produced because the vehicle is frozen, and the inter-vehicle distance control is stopped, and the routine proceeds to constant speed traveling control that maintains the vehicle speed at that time.
[0021]
FIG. 4 is a flowchart showing inter-vehicle distance control type constant speed traveling control. The operation of the embodiment will be described with reference to this flowchart.
In step 1, when the device is activated by the operation switch 5, the process proceeds to step 2, and the continuous operation signal LO or HI from the wiper device 12 is input. In Step 3, if the continuous operation signal LO or HI is continuously input for 10 seconds or more, that is, if the wiper is continuously operated for 10 seconds or more, the process proceeds to Step 14, and if not, the process proceeds to Step 4. When the wiper is continuously operated for a predetermined time or longer, it is determined that the distance detection performance of the laser radar device 1 is reduced due to a large amount of rain, and the inter-vehicle distance control is stopped in step 14 and the vehicle is driven at a constant speed at that time. Take control. At this time, the constant speed traveling control based on the set vehicle speed may be performed, or the constant speed traveling control may be canceled and switched to manual.
[0022]
If the wiper has not been continuously operated for 10 seconds or longer, in Step 4, an intermittent operation signal INT and intermittent time information are input. In subsequent step 5, it is confirmed whether or not the intermittent time in the wiper intermittent operation is 1.5 seconds or less and the intermittent operation is continued for 10 seconds or more. Proceed to 6. If the intermittent operation is continued for 10 seconds or more with an intermittent time of 1.5 seconds or less, the inter-vehicle distance control is stopped in step 14, and constant speed running control is performed at the vehicle speed at that time. At this time, the constant speed traveling control based on the set vehicle speed may be performed, or the constant speed traveling control may be canceled and switched to manual.
[0023]
If the wiper is not in operation, the outside air temperature is input from the outside air temperature sensor 13 in step 6, and it is confirmed in step 7 whether or not the outside air temperature of 0 ° C. or less continues for 10 seconds or more. If the outside air temperature of 0 ° C or lower continues for 10 seconds or more, it is determined that the braking capacity may be reduced due to freezing of the road surface, and the inter-vehicle distance control is stopped in step 14, and the vehicle speed at that time is fixed. Speed control is performed. At this time, the constant speed traveling control based on the set vehicle speed may be performed, or the constant speed traveling control may be canceled and switched to manual.
[0024]
If the outside air temperature is high, the traffic jam information is input from the navigation device 11 in step 8, and it is checked in step 9 whether the distance from the current location to the tail of the traffic jam is 300 m or less. When approaching 300 m or less until the tail of the traffic jam, in step 10, the constant speed traveling control is canceled and a warning is given by the display device 9 and the alarm device 10. On the other hand, when the distance to the tail of the traffic jam exceeds 300 m, the constant speed running control is continued in step 12 while performing the inter-vehicle distance control.
[0025]
In the configuration of the above embodiment, the laser radar device 1 and the CCD camera 2 serve as the inter-vehicle distance detection means, the operation switch 5 serves as the speed setting means, the vehicle speed sensor 3 serves as the own vehicle speed detection means, and the constant speed travel controller 6 precedes. car speed calculation means, the inter-vehicle distance setting means and speed control means, navigation device 11 constitute respectively the congestion information acquisition means.
[0026]
In the above-described embodiment, the example in which the laser radar is used as the inter-vehicle distance detection unit has been described. However, the inter-vehicle distance detection unit is not limited to the laser radar, and any type of radar including a radio wave system can be used.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration of an embodiment.
FIG. 2 is a diagram showing a data format of traffic information of the navigation device.
FIG. 3 is a diagram illustrating a relationship between an intermittent time of a wiper and an input voltage.
FIG. 4 is a flowchart illustrating inter-vehicle distance control type constant speed traveling control according to an embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Laser radar apparatus 2 CCD camera 3 Vehicle speed sensor 4 Throttle sensor 5 Operation switch 6 Constant speed travel controller 6a Leading vehicle recognition part 6b Vehicle speed control part 6c Alarm calculation part 7 Throttle actuator 8 Automatic transmission controller 9 Display apparatus 10 Alarm apparatus 11 Navigation Device 11a VICS unit 12 Wiper device 13 Outside air temperature sensor

Claims (3)

An inter-vehicle distance detecting means for detecting an inter-vehicle distance from a preceding vehicle;
Speed setting means for setting a traveling speed command value of the host vehicle;
Own vehicle speed detecting means for detecting the traveling speed of the own vehicle (hereinafter referred to as own vehicle speed);
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;
An inter-vehicle distance setting means for setting an inter-vehicle distance according to the preceding vehicle speed calculation value when the preceding vehicle speed calculation value is lower than the travel speed command value;
When the preceding vehicle speed calculation value is higher than the traveling speed command value, constant speed traveling control is performed so that the own vehicle speed detection value becomes the traveling speed command value, and the preceding vehicle speed calculation value is determined by the traveling speed command value. If the value is lower than the value, it is an inter-vehicle distance control type constant speed traveling device comprising speed control means for controlling the own vehicle speed to control the inter-vehicle distance so as to maintain the inter-vehicle distance setting value,
It has a traffic information acquisition means for acquiring traffic information ,
It said speed control means when said tail of congestion due to traffic congestion information is below a predetermined distance from the current location, distance control type constant speed running apparatus characterized by withdrawing said cruise control. In the inter-vehicle distance control type constant speed traveling device according to claim 1,
The traffic information obtaining means is a navigation device equipped with a GPS receiver . In the inter-vehicle distance control type constant speed traveling device according to claim 1,
The inter-vehicle distance control type constant speed travel device comprising a VICS unit that receives the traffic information from a road beacon and sends traffic information ahead of the vehicle to the speed control means .

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