JP4115877B2

JP4115877B2 - Vehicle travel control device

Info

Publication number: JP4115877B2
Application number: JP2003123644A
Authority: JP
Inventors: 基一郎澤本
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2003-04-28
Filing date: 2003-04-28
Publication date: 2008-07-09
Anticipated expiration: 2023-04-28
Also published as: JP2004322962A

Description

【０００１】
【発明の属する技術分野】
本発明は、自車両の前方を走行する先行車両に追従して走行を行うための車両用走行制御装置に関する。
【０００２】
【従来の技術】
従来、車両に搭載したレーダ装置や画像センサ等の先行車両認識手段により、自車両が追従するべき先行車両を検知すると共に、該先行車両との距離や相対速度を算出し、その検知情報に基づいて、先行車両との間でお互いの走行の妨害を行わないように、先行車両との車間距離制御を行う車両用走行制御装置がある。このような装置には、特に周囲の状況を検出する手段と自車両の走行状態を検出する手段を設け、上記２つの手段により検出した信号より運転者の運転方法を学習すると共に、学習した結果を記憶し、学習した結果に基づいて自車両を制御することにより、運転者毎に学習した運転操作手法に従って自動走行制御を実行し、各運転者の好みに応じた自動走行制御を行うものがある（例えば、特許文献１参照。）。
【０００３】
【特許文献１】
特開平０７−１０８８４９号公報
【０００４】
【発明が解決しようとする課題】
上述のように、従来の技術では、自車両の周囲の状況と自車両の走行状態から運転者の運転方法を学習すると共に、学習した結果に基づいて自車両を制御することにより、各運転者の好みに応じた自動走行制御を行うことができるものの、自車両の周囲の状況によっては、運転者の希望とは異なる無用な加速制御や減速制御が発生する可能性があるという問題があった。
【０００５】
すなわち、具体的に説明すると、図３（ａ）に示すように、例えば自車両５０（普通自動車）が走行する高速道路４０上で、自車両５０の進行方向や周囲を、他車両５１、５２、５３、５４が自車両５０と共に時速約７０［ｋｍ］で走行し、自車両５０に搭載された車両用走行制御装置は、自車両５０の進行方向の他車両５１を追従するべき先行車両として検知しているとする。また、自車両５０に搭載された車両用走行制御装置には、自車両５０の運転者が希望する追従走行制御のための走行速度として、セット車速が時速９０［ｋｍ］に設定されていたとする。
【０００６】
このような状態から、図３（ｂ）に示すように、他車両５１が車線変更を行うことにより自車両５０の前方から移動した場合、自車両５０に搭載された車両用走行制御装置では、他車両５１に対しての先行車両としての設定が解除され、これにより車両用走行制御装置は、自車両５０を現在の時速約７０［ｋｍ］からセット車速の時速９０［ｋｍ］まで加速する。その後、車両用走行制御装置が、自車両５０の進行方向で、更に前方を走行する他車両５２を追従するべき先行車両として検知すると、これにより自車両５０をセット車速の時速９０［ｋｍ］から他車両５２の走行速度である時速約７０［ｋｍ］まで減速する。このように、従来の車両用走行制御装置では、周囲の交通状況の変化に対して、運転者が希望しない無用な加速制御や減速制御が発生する可能性があるという問題があった。
【０００７】
本発明は、上記課題に鑑みてなされたもので、周囲の交通状況の変化に対して、無用な加速制御や減速制御が発生することのない車両用走行制御装置を提供することを目的とする。
【００１０】
【課題を解決するための手段】
請求項１の発明に係る車両用走行制御装置は、入力された車速を、自車両の走行目標車速として設定する目標車速設定手段（例えば実施の形態のセット車速入力スイッチ１４）と、前記自車両に搭載されると共に、該自車両の前方に存在する物体を検知する物体検知手段（例えば実施の形態のレーダ装置１、レーダ検知出力部２）と、前記自車両が走行する自車走行軌跡を算出する自車走行軌跡算出手段（例えば実施の形態の自車軌跡推定部６）と、前記物体検知手段と前記自車走行軌跡算出手段が出力する信号に基づいて、前記物体の中から前記自車両が追従するべき先行車両を判定する追従先行車判定手段（例えば実施の形態の先行車決定処理部７）と、前記自車両が前記先行車両に対して、前記走行目標車速以下で追従走行を行うように、前記自車両の速度制御を行う車両制御手段（例えば実施の形態の目標値決定部８、車両状態制御部９）とを備えた車両用追従走行制御装置において、前記先行車両の検知及び解除に伴い所定時間または所定走行距離あたりに発生した、前記車両制御手段による前記自車両の加減速制御の繰り返し回数に基づいて、前記走行目標車速が適切な値であるか否かを判定する目標車速適否判定手段（例えば実施の形態のステップＳ３からステップＳ６の特にステップＳ５）と、前記走行目標車速が適切な値であるか否かを判定する目標車速適否判定手段と、前記走行目標車速の判定結果に基づく処理を行う判定結果反映手段（例えば実施の形態のステップＳ７）とを備えたことを特徴とする。
【００１１】
以上の構成を備えた車両用走行制御装置は、目標車速適否判定手段が、車両制御手段による自車両の加減速制御の繰り返し回数に基づいて、設定された走行目標車速の妥当性を判定することで、自車両の挙動変化の回数から、より正確かつ適切に車両制御手段による追従走行制御の適否と走行目標車速の妥当性とを判定し、例えば自車両の運転者に対して走行目標車速の適否を通知する等、走行目標車速の判定結果に基づく処理を判定結果反映手段に実行させることができる。
【００１２】
請求項２の発明に係る車両用走行制御装置は、入力された車速を、自車両の走行目標車速として設定する目標車速設定手段（例えば実施の形態のセット車速入力スイッチ１４）と、前記自車両に搭載されると共に、該自車両の前方に存在する物体を検知する物体検知手段（例えば実施の形態のレーダ装置１、レーダ検知出力部２）と、前記自車両が走行する自車走行軌跡を算出する自車走行軌跡算出手段（例えば実施の形態の自車軌跡推定部６）と、前記物体検知手段と前記自車走行軌跡算出手段が出力する信号に基づいて、前記物体の中から前記自車両が追従するべき先行車両を判定する追従先行車判定手段（例えば実施の形態の先行車決定処理部７）と、前記自車両が前記先行車両に対して、前記走行目標車速以下で追従走行を行うように、前記自車両の速度制御を行う車両制御手段（例えば実施の形態の目標値決定部８、車両状態制御部９）とを備えた車両用追従走行制御装置において、前記先行車両の検知に伴い所定時間または所定走行距離あたりに発生した、前記車両制御手段による前記自車両の所定値以上の減速度での減速制御回数に基づいて、前記走行目標車速が適切な値であるか否かを判定する目標車速適否判定手段（例えば実施の形態のステップＳ３からステップＳ６の特にステップＳ６）と、前記走行目標車速が適切な値であるか否かを判定する目標車速適否判定手段と、前記走行目標車速の判定結果に基づく処理を行う判定結果反映手段（例えば実施の形態のステップＳ７）とを備えたことを特徴とする。
【００１３】
以上の構成を備えた車両用走行制御装置は、目標車速適否判定手段が、車両制御手段による自車両の所定値以上の減速度での減速制御回数に基づいて、走行目標車速の妥当性を判定することで、自車両に発生した挙動変化の度合いと回数から、より正確かつ適切に車両制御手段による追従走行制御の適否と走行目標車速の妥当性とを判定し、例えば自車両の運転者に対して走行目標車速の適否を通知する等、走行目標車速の判定結果に基づく処理を判定結果反映手段に実行させることができる。
【００１４】
請求項３の発明に係る車両用走行制御装置は、請求項１又は２に記載の車両用走行制御装置において、前記目標車速適否判定手段による前記走行目標車速の判定結果に関する情報を、前記自車両の運転者に提示する提示手段（例えば実施の形態の車両情報指示部１１、音声出力部１２、画像表示部１３）を備え、前記目標車速適否判定手段により前記走行目標車速が不適切な値であると判定された場合、前記判定結果反映手段が、少なくとも、前記運転者に対する前記判定結果の表示、あるいは前記運転者に対する前記最適走行速度の表示、あるいは前記走行目標車速の前記最適走行速度への自動更新のいずれかの処理を行うことを特徴とする。
【００１５】
以上の構成を備えた車両用走行制御装置は、判定結果反映手段が、少なくとも、運転者に対する走行目標車速の判定結果の表示、あるいは運転者に対する最適走行速度の表示、あるいは走行目標車速の最適走行速度への自動更新のいずれかの処理を行うことで、運転者による走行目標車速の最適走行速度への変更を促したり、自らが走行目標車速を最適走行速度へ自動更新することにより、車両制御手段による追従走行制御を、最適走行速度を目標に、より円滑かつ適切に実行させることができる。
【００１６】
【発明の実施の形態】
以下、図面を参照して本発明の実施の形態について説明する。
図１は、本発明の一実施の形態の車両用走行制御装置の構成を示すブロック図である。
図１において、符号１は、本実施の形態の車両用走行制御装置において、車両用走行制御装置が搭載された自車両の周囲にレーダ波を送信すると共に、物体に反射したレーダ波の反射波を受信するために自車両の前方に搭載されたレーダ装置であって、レーダ検知出力部２は、レーダ装置１に設けられると共に、レーダ装置１が受信した反射波を用いて、自車両前方に存在する物体を検知する。
【００１７】
一方、本実施の形態の車両用走行制御装置は、ＣＰＵ（中央演算装置）を備えた車載のＥＣＵ（Electronic Control Unit ）により実現される処理部として、自車軌跡推定部６、先行車決定処理部７、目標値決定部８、車両状態制御部９、道路交通予測部１０、車両情報指示部１１を備えている。
ここで、自車軌跡推定部６は、自車両の速度を算出する車速センサ３、自車両のヨーレートを算出するヨーレートセンサ４、自車両のステアリングの傾きから自車両の進行方向を算出する舵角センサ５を用いて、自車両の走行軌跡（自車軌跡）を算出する処理部である。
【００１８】
また、先行車決定処理部７は、自車軌跡推定部６において算出した自車軌跡と、レーダ検知出力部２が出力する自車両前方に存在する物体の情報とから、自車両が追従するべき先行車両を検知すると共に、検知された先行車両と自車両との距離及び両者の相対速度を含む物体情報を算出する処理部である。
一方、目標値決定部８は、自車両の運転者（搭乗者）により設定された追従車間距離、あるいは自車両の運転者（搭乗者）により設定された、追従走行制御に対する希望の走行速度を示すセット車速に基づいて、自車両が追従するべき先行車両との目標車間距離、及び目標車速、更には自車両の加減速の度合を示す加減速ゲインを決定する処理部である。
【００１９】
そして、車両状態制御部９は、目標値決定部８において決定された先行車両との目標車間距離、目標車速、及び自車両の加減速の度合を示す加減速ゲインを元にアクセルのＯＮ／ＯＦＦやブレーキのＯＮ／ＯＦＦ等、車両の各部の制御を行う。
【００２０】
また、道路交通予測部１０は、レーダ検知出力部２により検知された、自車両の進行方向に存在する複数の他車両の走行速度に基づいて、自車両が走行している現在の道路を走行する上で最適な走行速度を推定する。また、道路交通予測部１０は、求められた最適な走行速度と目標値決定部８に設定されているセット車速とを比較し、自車両のセット車速の妥当性を判断すると共に、自車両が走行している道路を走行する上で最適な走行速度の情報や、自車両のセット車速の妥当性の判断結果を、後述する車両情報指示部１１を介して運転者へ通知する。
【００２１】
また、道路交通予測部１０は、求められた最適な走行速度を、目標値決定部８におけるセット車速として設定し、目標値決定部８及び車両状態制御部９に、道路交通予測部１０により求められた最適な走行速度に基づく、アクセルのＯＮ／ＯＦＦやブレーキのＯＮ／ＯＦＦ等、車両の各部の制御を行わせるようにしても良い。
【００２２】
一方、本実施の形態の車両用走行制御装置は、自車両の搭乗者への表示手段として、スピーカ等の音声表示装置を備えた音声出力部１２と、ＣＲＴ（Cathode Ray Tube）ディスプレイ装置や液晶表示装置等の画像表示装置を備えた画像表示部１３とを具備しており、車両情報指示部１１を介して、目標値決定部８において決定した先行車両に関する情報を先行車両検知情報として、あるいは道路交通予測部１０において求められた最適な走行速度の情報や、自車両のセット車速の妥当性の判断結果をセット車速判定情報として、音声出力部１２や画像表示部１３を用いて運転者等の自車両の搭乗者へ通知（表示）する。
【００２３】
また、セット車速入力スイッチ１４は、自車両の運転者（搭乗者）が、追従走行制御に対する希望の走行速度であるセット車速を入力するためのスイッチであって、入力されたセット車速は、目標値決定部８及び道路交通予測部１０へ通知される。
【００２４】
以上の構成を備えた本実施の形態の車両用走行制御装置は、追従走行制御が動作している間は、レーダ装置１とレーダ検知出力部２により検知された物体の中から、先行車決定処理部７が、自車軌跡推定部６において算出した自車軌跡と、レーダ検知出力部２が出力する自車両前方に存在する物体の情報とから、自車両が追従するべき先行車両を検知すると共に、検知された先行車両と自車両との距離及び両者の相対速度を含む物体情報を算出する。
【００２５】
また、目標値決定部８が、自車両の運転者により設定された追従車間距離やセット車速に基づいて、自車両が追従するべき先行車両との目標車間距離、及び目標車速、更には自車両の加減速の度合を示す加減速ゲインを決定し、車両状態制御部９が、目標値決定部８において決定された先行車両との目標車間距離、目標車速、及び自車両の加減速の度合を示す加減速ゲインを元にアクセルのＯＮ／ＯＦＦやブレーキのＯＮ／ＯＦＦ等、車両の各部の制御を行う。なお、目標値決定部８において決定した先行車両に関する情報は、先行車両検知情報として車両情報指示部１１から音声出力部１２や画像表示部１３へ出力され、運転者へ通知される。
【００２６】
次に、レーダ検知出力部２により検知された、自車両の進行方向に存在する複数の他車両の走行速度に基づいて、自車両が走行する上で最適な走行速度を推定し、自車両のセット車速が妥当か否かを判断する道路交通予測部１０の動作について、更に図面を参照して詳細に説明する。
図２は、本実施の形態の車両用走行制御装置における道路交通予測部１０のセット車速判定動作を示すフローチャートである。
図２において、まず道路交通予測部１０は、レーダ検知出力部２により検知された自車両の進行方向に存在する複数の前走車両（前方を走行する他車両）の数が、所定値以上か否かを判断する（ステップＳ１）。
【００２７】
もし、ステップＳ１において、自車両の進行方向に存在する複数の前走車両の数が所定値以上である場合（ステップＳ１のＹＥＳ）、道路交通予測部１０は、自車両の進行方向に存在する複数の前走車両の走行速度に基づいて、自車両が走行している現在の道路を走行する上で最適な走行速度を推定する（ステップＳ２）。
次に、道路交通予測部１０は、自車両の運転者（搭乗者）により設定された希望の走行速度であるセット車速と求められた最適な走行速度との差分値（＝セット車速−最適な走行速度）が、所定値以上であるか否かを判定する（ステップＳ３）。
【００２８】
ステップＳ３において、セット車速と求められた最適な走行速度との差分が、所定値以上である場合（ステップＳ３のＹＥＳ）、道路交通予測部１０は、自車両のセット車速は不適切な値であると判定する（ステップＳ４）。
一方、ステップＳ３において、セット車速と求められた最適な走行速度との差分が、所定値以上でない場合（ステップＳ３のＮＯ）、道路交通予測部１０は、先行車決定処理部７における先行車両の検知及び解除に伴い目標値決定部８及び車両状態制御部９が実行する、自車両の加減速制御の繰り返し回数が、所定時間または所定走行距離あたりに所定回数以上発生したか否かを判定する（ステップＳ５）。
【００２９】
ステップＳ５において、先行車両の検知及び解除に伴う自車両の加減速制御の繰り返し回数が、所定時間または所定走行距離あたりに所定回数以上である場合（ステップＳ５のＹＥＳ）、道路交通予測部１０は、ステップＳ４へ進み、自車両のセット車速は不適切な値であると判定する（ステップＳ４）。
一方、ステップＳ５において、先行車両の検知及び解除に伴う自車両の加減速制御の繰り返し回数が、所定時間または所定走行距離あたりに所定回数以上でない場合（ステップＳ５のＮＯ）、道路交通予測部１０は、先行車決定処理部７における先行車両の検知に伴い目標値決定部８及び車両状態制御部９が実行する、自車両の所定値以上の減速度での減速制御回数が、所定時間または所定走行距離あたりに所定回数以上発生したか否かを判定する（ステップＳ６）。
【００３０】
ステップＳ６において、先行車両の検知に伴う自車両の所定値以上の減速度での減速制御回数が、所定時間または所定走行距離あたりに所定回数以上である場合（ステップＳ６のＹＥＳ）、道路交通予測部１０は、ステップＳ４へ進み、自車両のセット車速は不適切な値であると判定する（ステップＳ４）。
【００３１】
そして、道路交通予測部１０は、セット車速の判定結果を、車両情報指示部１１を介して、画像表示または音や音声による表示により運転者へ通知し（ステップＳ７）、セット車速判定動作を終了する。なお、この時、道路交通予測部１０は、セット車速の判定結果と共に、求められた最適な走行速度を、車両情報指示部１１を介して、画像表示または音や音声による表示により運転者へ通知するようにしても良い。また、この時、道路交通予測部１０は、求められた最適な走行速度を、目標値決定部８におけるセット車速として設定し、目標値決定部８及び車両状態制御部９に、道路交通予測部１０により求められた最適な走行速度に基づく、アクセルのＯＮ／ＯＦＦやブレーキのＯＮ／ＯＦＦ等、車両の各部の制御を行わせるようにしても良い。
【００３２】
また、ステップＳ１において、自車両の進行方向に存在する複数の前走車両の数が所定値以上でない場合（ステップＳ１のＮＯ）、あるいはステップＳ６において、先行車両の検知に伴う自車両の所定値以上の減速度での減速制御回数が、所定時間または所定走行距離あたりに所定回数以上でない場合（ステップＳ６のＮＯ）、道路交通予測部１０は、何もせずセット車速判定動作を終了する。
【００３３】
なお、上述のフローチャートの説明では、ステップＳ３におけるセット車速と求められた最適な走行速度と比較による判定処理、ステップＳ５における先行車両の検知及び解除に伴う自車両の加減速制御の繰り返し回数による判定処理、ステップＳ６における先行車両の検知に伴う自車両の所定値以上の減速度での減速制御回数による判定処理のいずれかにおいて、１つでも条件が満たされれば自車両のセット車速を不適切な値であると判定する手順について説明したが、自車両のセット車速の妥当性の判定は、上述のステップＳ３、ステップＳ５、ステップＳ６の判定処理のいずれか２つ、あるいは３つ全てにおいて条件を満たした場合を、セット車速を不適切な値であると判定する条件としても良い。
【００３４】
また、本実施の形態では、道路交通予測部１０が、最適走行速度推定手段と、目標車速適否判定手段と、判定結果反映手段とを含んでいる。より具体的には、図２のステップＳ１からステップＳ２が最適走行速度推定手段に相当し、図２のステップＳ３からステップＳ６が目標車速適否判定手段に相当する。また、図２のステップＳ７が判定結果反映手段に相当する。
【００３５】
以上説明したように、本実施の形態の車両用走行制御装置は、道路交通予測部１０に含まれる最適走行速度推定手段が、レーダ検知出力部２により検知された自車両の進行方向に存在する複数の他車両の走行速度に基づいて、自車両が走行するのに適した最適な走行速度を推定する。そして、自車両の運転者（搭乗者）がセット車速入力スイッチ１４を用いて設定したセット車速の妥当性を、道路交通予測部１０に含まれる目標車速適否判定手段が、求められた最適な走行速度に基づいて判定する。
【００３６】
そして、セット車速の判定結果に基づき、道路交通予測部１０に含まれる判定結果反映手段により、少なくとも、運転者に対するセット車速の判定結果の表示、あるいは運転者に対する最適な走行速度の表示、あるいはセット車速の最適な走行速度への自動更新のいずれかの処理を行うことで、運転者による走行目標車速の最適走行速度への変更を促したり、自らが走行目標車速を最適走行速度へ自動更新することにより、目標値決定部８及び車両状態制御部９による追従走行制御を、最適な走行速度を目標に、より円滑かつ適切に実行させることができる。
【００３７】
従って、周囲の交通状況の変化、特に追従走行制御において、追従するべき先行車両としての設定がなされた、自車両の進行方向に存在する他車両の挙動に対して、無用な加速制御や減速制御が発生することを防止することができるという効果が得られる。
【００３８】
すなわち、具体的に説明すると、図３（ａ）に示すように、例えば自車両５０（普通自動車）が走行する高速道路４０上で、自車両５０の進行方向や周囲を、他車両５１、５２、５３、５４が自車両５０と共に時速約７０［ｋｍ］で走行し、自車両５０に搭載された車両用走行制御装置が、自車両５０の進行方向の他車両５１を追従するべき先行車両として検知しているとする。また、自車両５０に搭載された車両用走行制御装置では、自車両５０の進行方向や周囲を走行する他車両５１、５２、５３、５４の走行速度から、自車両５０の最適な走行速度は時速７０［ｋｍ］であることが求められ、これにより自車両５０のセット車速は時速７０［ｋｍ］に設定されていたとする。
【００３９】
このような状態から、図３（ｂ）に示すように、他車両５１が車線変更を行うことにより自車両５０の前方から移動した場合、自車両５０に搭載された車両用走行制御装置では、他車両５１に対しての先行車両としての設定が解除されるが、セット車速が時速７０［ｋｍ］であるため、車両用走行制御装置では、特に大きな加減速制御は発生せず、自車両は円滑な追従走行制御を実行することができる。
【００４０】
【発明の効果】
以上の如く、本発明の車両用走行制御装置によれば、目標車速適否判定手段が、走行目標車速と最適走行速度推定手段により推定された最適走行速度との比較結果か、あるいは車両制御手段による自車両の加減速制御の繰り返し回数か、あるいは車両制御手段による自車両の所定値以上の減速度での減速制御回数の少なくともいずれか１つに基づいて、設定された走行目標車速の妥当性を判定することで、車両制御手段による追従走行制御の適否と走行目標車速の妥当性とを正確かつ適切に判定し、判定結果反映手段が、少なくとも、運転者に対する走行目標車速の判定結果の表示、あるいは運転者に対する最適走行速度の表示、あるいは走行目標車速の最適走行速度への自動更新のいずれかの処理を行い、運転者による走行目標車速の最適走行速度への変更を促したり、自らが走行目標車速を最適走行速度へ自動更新することにより、車両制御手段による追従走行制御を、最適走行速度を目標に、より円滑かつ適切に実行させることができる。
【００４１】
従って、周囲の交通状況の変化、特に追従走行制御において、追従するべき先行車両としての設定がなされた、自車両の進行方向に存在する他車両の挙動に対して、車両制御手段による無用な加速制御や減速制御が発生することを防止することができるという効果が得られる。
【図面の簡単な説明】
【図１】本発明の一実施の形態の車両用走行制御装置の構成を示すブロック図である。
【図２】同実施の形態の車両用走行制御装置における道路交通予測部のセット車速判定動作を示すフローチャートである。
【図３】自車両が走行する道路の交通の流れを説明する模式図である。
【符号の説明】
１レーダ装置（物体検知手段）
２レーダ検知出力部（物体検知手段）
３車速センサ
４ヨーレートセンサ
５舵角センサ
６自車軌跡推定部（自車走行軌跡算出手段）
７先行車決定処理部（追従先行車判定手段）
８目標値決定部（車両制御手段）
９車両状態制御部（車両制御手段）
１０道路交通予測部
１１車両情報指示部（提示手段）
１２音声出力部（提示手段）
１３画像表示部（提示手段）
１４セット車速入力スイッチ（目標車速設定手段）
Ｓ１〜Ｓ２最適走行速度推定手段
Ｓ３〜Ｓ６目標車速適否判定手段
Ｓ７判定結果反映手段[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicular travel control apparatus for traveling following a preceding vehicle traveling in front of the host vehicle.
[0002]
[Prior art]
Conventionally, a preceding vehicle recognition unit such as a radar device or an image sensor mounted on a vehicle detects a preceding vehicle that the host vehicle should follow, calculates a distance or relative speed from the preceding vehicle, and based on the detection information. Thus, there is a vehicular travel control device that performs inter-vehicle distance control with a preceding vehicle so as not to interfere with each other's travel with the preceding vehicle. Such a device is provided with a means for detecting the surrounding situation and a means for detecting the running state of the host vehicle. The driver learns the driving method from the signals detected by the two means and the learning result. And controlling the host vehicle based on the learning result, the automatic driving control is executed according to the driving operation method learned for each driver, and the automatic driving control according to each driver's preference is performed. (For example, refer to Patent Document 1).
[0003]
[Patent Document 1]
Japanese Patent Application Laid-Open No. 07-108849
[Problems to be solved by the invention]
As described above, in the conventional technique, each driver can learn each driver's driving method from the surrounding conditions of the own vehicle and the traveling state of the own vehicle, and control the own vehicle based on the learned result. Although it is possible to perform automatic traveling control according to the preference of the driver, there is a problem that unnecessary acceleration control and deceleration control different from the driver's wishes may occur depending on the situation around the own vehicle .
[0005]
Specifically, as shown in FIG. 3A, for example, on the highway 40 on which the host vehicle 50 (ordinary car) travels, the traveling direction and surroundings of the host vehicle 50 are changed to other vehicles 51 and 52. , 53, 54 travel with the host vehicle 50 at a speed of about 70 [km], and the vehicle travel control device mounted on the host vehicle 50 is a preceding vehicle that should follow the other vehicle 51 in the traveling direction of the host vehicle 50. Suppose that it is detected. In the vehicular travel control apparatus mounted on the host vehicle 50, the set vehicle speed is set to 90 [km] per hour as the travel speed for the follow-up travel control desired by the driver of the host vehicle 50. .
[0006]
From such a state, as shown in FIG. 3B, when the other vehicle 51 moves from the front of the host vehicle 50 by changing the lane, in the vehicle travel control device mounted on the host vehicle 50, The setting as the preceding vehicle for the other vehicle 51 is canceled, and the vehicle travel control apparatus thereby accelerates the host vehicle 50 from the current speed of about 70 [km] to the set speed of 90 [km]. Thereafter, when the vehicle travel control device detects the other vehicle 52 traveling further ahead in the traveling direction of the host vehicle 50 as a preceding vehicle to be followed, the host vehicle 50 is thereby detected from a set vehicle speed of 90 [km] per hour. The speed is reduced to about 70 [km] per hour, which is the traveling speed of the other vehicle 52. As described above, the conventional vehicle travel control device has a problem that unnecessary acceleration control and deceleration control that the driver does not desire may occur in response to changes in surrounding traffic conditions.
[0007]
The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicular travel control device in which unnecessary acceleration control and deceleration control do not occur in response to changes in surrounding traffic conditions. .
[0010]
[Means for Solving the Problems]
The vehicle travel control device according to the invention of claim 1 includes target vehicle speed setting means (for example, the set vehicle speed input switch 14 of the embodiment) for setting the input vehicle speed as a travel target vehicle speed of the host vehicle, and the host vehicle. And an object detection means for detecting an object existing in front of the own vehicle (for example, the radar device 1 and the radar detection output unit 2 of the embodiment), and an own vehicle travel locus on which the own vehicle travels. Based on a signal output from the vehicle traveling locus calculating means (for example, the vehicle locus estimating unit 6 of the embodiment) to be calculated, the object detecting means, and the vehicle traveling locus calculating means, the vehicle travel locus is calculated from the objects. Follow preceding vehicle determining means for determining a preceding vehicle to be followed by the vehicle (for example, the preceding vehicle determination processing unit 7 in the embodiment), and the own vehicle follows the preceding vehicle at a speed less than the target travel vehicle speed. To do In the vehicle follow-up travel control device including vehicle control means (for example, the target value determination unit 8 and the vehicle state control unit 9 in the embodiment) that controls the speed of the host vehicle, the preceding vehicle is detected and released. Accordingly, whether or not the travel target vehicle speed is an appropriate value is determined based on the number of repetitions of acceleration / deceleration control of the own vehicle by the vehicle control means, which occurs around a predetermined time or a predetermined travel distance. Determination means (for example, step S5 from step S3 to step S6 in the embodiment), target vehicle speed suitability determination means for determining whether or not the travel target vehicle speed is an appropriate value, and determination result of the travel target vehicle speed And a determination result reflecting means (for example, step S7 in the embodiment) that performs processing based on the above.
[0011]
In the vehicular travel control apparatus having the above-described configuration, the target vehicle speed suitability determining means determines the validity of the set travel target vehicle speed based on the number of repetitions of acceleration / deceleration control of the host vehicle by the vehicle control means. Thus, from the number of changes in the behavior of the host vehicle, the propriety of the follow-up driving control by the vehicle control means and the validity of the target driving vehicle speed are determined more accurately and appropriately. The determination result reflecting means can execute processing based on the determination result of the travel target vehicle speed such as notification of suitability.
[0012]
According to a second aspect of the present invention, there is provided a vehicular travel control apparatus that includes target vehicle speed setting means (for example, the set vehicle speed input switch 14 of the embodiment) that sets an input vehicle speed as a travel target vehicle speed of the host vehicle, and the host vehicle. And an object detection means for detecting an object existing in front of the own vehicle (for example, the radar device 1 and the radar detection output unit 2 of the embodiment), and an own vehicle travel locus on which the own vehicle travels. Based on a signal output from the vehicle traveling locus calculating means (for example, the vehicle locus estimating unit 6 of the embodiment) to be calculated, the object detecting means, and the vehicle traveling locus calculating means, the vehicle travel locus is calculated from the objects. Follow preceding vehicle determining means for determining a preceding vehicle to be followed by the vehicle (for example, the preceding vehicle determination processing unit 7 in the embodiment), and the own vehicle follows the preceding vehicle at a speed less than the target travel vehicle speed. To do In the vehicle follow-up travel control device including vehicle control means (for example, the target value determination unit 8 and the vehicle state control unit 9 in the embodiment) that controls the speed of the host vehicle, a predetermined amount is detected when the preceding vehicle is detected. It is determined whether or not the travel target vehicle speed is an appropriate value based on the number of times of deceleration control at a deceleration greater than or equal to a predetermined value of the host vehicle generated by the vehicle control means, which occurs around time or a predetermined travel distance. Target vehicle speed suitability determining means (for example, step S6 from step S3 to step S6 in the embodiment), target vehicle speed suitability determining means for determining whether or not the travel target vehicle speed is an appropriate value, and the travel target vehicle speed And a determination result reflecting means (for example, step S7 in the embodiment) for performing processing based on the determination result.
[0013]
In the vehicular travel control apparatus having the above configuration, the target vehicle speed suitability determining means determines the validity of the travel target vehicle speed based on the number of times of deceleration control by the vehicle control means at a deceleration equal to or higher than a predetermined value of the host vehicle. Thus, from the degree and number of behavior changes occurring in the host vehicle, the propriety of the follow-up driving control by the vehicle control means and the appropriateness of the driving target vehicle speed are determined more accurately and appropriately. On the other hand, it is possible to cause the determination result reflecting means to execute processing based on the determination result of the travel target vehicle speed, such as notifying whether the travel target vehicle speed is appropriate.
[0014]
According to a third aspect of the present invention, there is provided a vehicular travel control apparatus according to the first or second aspect , wherein information on the determination result of the travel target vehicle speed by the target vehicle speed suitability determining means is stored in the host vehicle. Presenting means (for example, the vehicle information instruction unit 11, the audio output unit 12, and the image display unit 13 of the embodiment), and the target vehicle speed is determined to be an inappropriate value by the target vehicle speed suitability determining unit. If it is determined that there is, the determination result reflecting means at least displays the determination result for the driver, displays the optimum traveling speed for the driver, or sets the traveling target vehicle speed to the optimum traveling speed. One of the processes of automatic update is performed.
[0015]
In the vehicular travel control apparatus having the above configuration, the determination result reflecting means displays at least the determination result of the travel target vehicle speed for the driver, the display of the optimal travel speed for the driver, or the optimal travel of the travel target vehicle speed. Vehicle control by prompting the driver to change the travel target vehicle speed to the optimal travel speed or by automatically updating the travel target vehicle speed to the optimal travel speed by performing any of the automatic update to speed The following traveling control by the means can be executed more smoothly and appropriately with the optimum traveling speed as a target.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a vehicle travel control apparatus according to an embodiment of the present invention.
In FIG. 1, reference numeral 1 denotes a reflected wave of a radar wave that is transmitted to the surroundings of the host vehicle on which the vehicle travel control apparatus is mounted and reflected from an object in the vehicle travel control apparatus of the present embodiment. The radar detection output unit 2 is provided in the radar device 1 and uses the reflected wave received by the radar device 1 in front of the host vehicle. Detect existing objects.
[0017]
On the other hand, the vehicle travel control device of the present embodiment includes a host vehicle trajectory estimation unit 6 and a preceding vehicle determination process as processing units realized by an in-vehicle ECU (Electronic Control Unit) equipped with a CPU (Central Processing Unit). Unit 7, target value determination unit 8, vehicle state control unit 9, road traffic prediction unit 10, and vehicle information instruction unit 11.
Here, the host vehicle trajectory estimation unit 6 calculates the traveling direction of the host vehicle from the vehicle speed sensor 3 that calculates the speed of the host vehicle, the yaw rate sensor 4 that calculates the yaw rate of the host vehicle, and the steering inclination of the host vehicle. It is a processing unit that calculates a traveling locus (own vehicle locus) of the own vehicle using the sensor 5.
[0018]
Further, the preceding vehicle determination processing unit 7 should follow the own vehicle from the own vehicle locus calculated by the own vehicle locus estimation unit 6 and the information of the object existing ahead of the own vehicle output by the radar detection output unit 2. It is a processing unit that detects the preceding vehicle and calculates object information including the detected distance between the preceding vehicle and the host vehicle and the relative speed between the two.
On the other hand, the target value determination unit 8 sets the desired traveling speed for the following traveling control set by the following vehicle distance set by the driver (passenger) of the own vehicle or the driver (passenger) of the own vehicle. This is a processing unit that determines a target inter-vehicle distance from a preceding vehicle that the host vehicle should follow, a target vehicle speed, and an acceleration / deceleration gain that indicates the degree of acceleration / deceleration of the host vehicle based on the set vehicle speed that is indicated.
[0019]
Then, the vehicle state control unit 9 turns the accelerator ON / OFF based on the target inter-vehicle distance, the target vehicle speed, and the acceleration / deceleration gain indicating the degree of acceleration / deceleration of the host vehicle determined by the target value determination unit 8. And control of each part of the vehicle, such as ON / OFF of the brake.
[0020]
The road traffic prediction unit 10 travels on the current road on which the host vehicle is traveling based on the traveling speeds of a plurality of other vehicles existing in the traveling direction of the host vehicle detected by the radar detection output unit 2. The optimum running speed is estimated. Further, the road traffic prediction unit 10 compares the obtained optimum traveling speed with the set vehicle speed set in the target value determination unit 8 to determine the validity of the set vehicle speed of the own vehicle, Information on the optimum traveling speed for traveling on the traveling road and the determination result of the appropriateness of the set vehicle speed of the host vehicle are notified to the driver via the vehicle information instruction unit 11 described later.
[0021]
Further, the road traffic prediction unit 10 sets the obtained optimum traveling speed as the set vehicle speed in the target value determination unit 8, and the road traffic prediction unit 10 obtains the target value determination unit 8 and the vehicle state control unit 9. You may make it perform control of each part of vehicles, such as ON / OFF of an accelerator, ON / OFF of a brake, etc. based on the optimal traveling speed.
[0022]
On the other hand, the vehicular travel control apparatus of the present embodiment includes an audio output unit 12 including an audio display device such as a speaker, a CRT (Cathode Ray Tube) display device, and a liquid crystal as display means for a passenger of the host vehicle. And an image display unit 13 including an image display device such as a display device, and information related to the preceding vehicle determined by the target value determining unit 8 via the vehicle information instruction unit 11 is used as preceding vehicle detection information, or A driver or the like using the audio output unit 12 or the image display unit 13 using the information on the optimum traveling speed obtained in the road traffic prediction unit 10 and the determination result of the appropriateness of the set vehicle speed of the own vehicle as set vehicle speed determination information. Notification (display) to the passengers of the vehicle.
[0023]
The set vehicle speed input switch 14 is a switch for the driver (passenger) of the own vehicle to input a set vehicle speed that is a desired traveling speed for the follow-up traveling control. The value determination unit 8 and the road traffic prediction unit 10 are notified.
[0024]
The vehicle travel control device of the present embodiment having the above configuration determines the preceding vehicle from the objects detected by the radar device 1 and the radar detection output unit 2 while the follow-up travel control is operating. The processing unit 7 detects a preceding vehicle that the host vehicle should follow from the host vehicle track calculated by the host vehicle track estimation unit 6 and information on an object existing in front of the host vehicle output by the radar detection output unit 2. At the same time, the object information including the detected distance between the preceding vehicle and the host vehicle and the relative speed between the two is calculated.
[0025]
Further, the target value determining unit 8 determines the target inter-vehicle distance and the target vehicle speed with the preceding vehicle to be followed by the own vehicle based on the following inter-vehicle distance and the set vehicle speed set by the driver of the own vehicle, and further the own vehicle The acceleration / deceleration gain indicating the degree of acceleration / deceleration is determined, and the vehicle state control unit 9 determines the target inter-vehicle distance from the preceding vehicle, the target vehicle speed, and the degree of acceleration / deceleration of the host vehicle determined by the target value determination unit 8. Based on the acceleration / deceleration gain shown, each part of the vehicle is controlled such as accelerator ON / OFF and brake ON / OFF. In addition, the information regarding the preceding vehicle determined in the target value determination unit 8 is output as the preceding vehicle detection information from the vehicle information instruction unit 11 to the voice output unit 12 and the image display unit 13 and is notified to the driver.
[0026]
Next, based on the traveling speeds of a plurality of other vehicles existing in the traveling direction of the host vehicle detected by the radar detection output unit 2, an optimal traveling speed for traveling the host vehicle is estimated, The operation of the road traffic prediction unit 10 that determines whether or not the set vehicle speed is appropriate will be described in detail with reference to the drawings.
FIG. 2 is a flowchart showing the set vehicle speed determination operation of the road traffic prediction unit 10 in the vehicle travel control apparatus of the present embodiment.
In FIG. 2, the road traffic prediction unit 10 first determines whether the number of a plurality of preceding vehicles (other vehicles traveling ahead) existing in the traveling direction of the host vehicle detected by the radar detection output unit 2 is equal to or greater than a predetermined value. It is determined whether or not (step S1).
[0027]
If the number of the plurality of preceding vehicles existing in the traveling direction of the host vehicle is greater than or equal to a predetermined value in step S1 (YES in step S1), the road traffic prediction unit 10 exists in the traveling direction of the host vehicle. Based on the traveling speeds of the plurality of preceding vehicles, an optimum traveling speed is estimated for traveling on the current road on which the host vehicle is traveling (step S2).
Next, the road traffic prediction unit 10 determines the difference value between the set vehicle speed that is the desired travel speed set by the driver (passenger) of the host vehicle and the obtained optimum travel speed (= set vehicle speed−optimum). It is determined whether or not the traveling speed is equal to or higher than a predetermined value (step S3).
[0028]
In step S3, when the difference between the set vehicle speed and the determined optimum traveling speed is equal to or greater than a predetermined value (YES in step S3), the road traffic prediction unit 10 determines that the set vehicle speed of the host vehicle is an inappropriate value. It is determined that there is (step S4).
On the other hand, if the difference between the set vehicle speed and the determined optimum traveling speed is not equal to or greater than the predetermined value in step S3 (NO in step S3), the road traffic prediction unit 10 determines the preceding vehicle in the preceding vehicle determination processing unit 7. It is determined whether or not the number of repetitions of the acceleration / deceleration control of the host vehicle, which is executed by the target value determination unit 8 and the vehicle state control unit 9 in accordance with the detection and release, has occurred a predetermined number of times per predetermined time or predetermined traveling distance (Step S5).
[0029]
In step S5, when the number of repetitions of acceleration / deceleration control of the own vehicle accompanying detection and release of the preceding vehicle is equal to or greater than a predetermined number per predetermined time or predetermined travel distance (YES in step S5), the road traffic prediction unit 10 The process proceeds to step S4, where it is determined that the set vehicle speed of the host vehicle is an inappropriate value (step S4).
On the other hand, when the number of repetitions of the acceleration / deceleration control of the own vehicle accompanying the detection and release of the preceding vehicle is not greater than or equal to the predetermined number of times per predetermined time or predetermined distance (NO in step S5), the road traffic prediction unit 10 Is the number of times of deceleration control at a deceleration greater than or equal to a predetermined value of the host vehicle, which is executed by the target value determination unit 8 and the vehicle state control unit 9 in accordance with the detection of the preceding vehicle in the preceding vehicle determination processing unit 7. It is determined whether or not a predetermined number of times has occurred per mileage (step S6).
[0030]
In step S6, when the number of times of deceleration control at a deceleration greater than or equal to a predetermined value associated with detection of the preceding vehicle is greater than or equal to a predetermined number per predetermined time or predetermined travel distance (YES in step S6), road traffic prediction The unit 10 proceeds to step S4 and determines that the set vehicle speed of the host vehicle is an inappropriate value (step S4).
[0031]
Then, the road traffic prediction unit 10 notifies the driver of the set vehicle speed determination result via the vehicle information instruction unit 11 by image display or sound or voice display (step S7), and ends the set vehicle speed determination operation. To do. At this time, the road traffic prediction unit 10 notifies the driver of the optimum traveling speed obtained together with the determination result of the set vehicle speed via the vehicle information instruction unit 11 by image display or sound or voice display. You may make it do. At this time, the road traffic prediction unit 10 sets the obtained optimum traveling speed as a set vehicle speed in the target value determination unit 8, and the road traffic prediction unit 10 sets the target value determination unit 8 and the vehicle state control unit 9. Control of each part of the vehicle, such as ON / OFF of the accelerator and ON / OFF of the brake, based on the optimum traveling speed obtained by 10 may be performed.
[0032]
In step S1, if the number of a plurality of preceding vehicles existing in the traveling direction of the host vehicle is not equal to or greater than a predetermined value (NO in step S1), or in step S6, the predetermined value of the host vehicle accompanying detection of the preceding vehicle. If the number of deceleration controls at the above deceleration is not greater than or equal to the predetermined number of times per predetermined time or predetermined distance (NO in step S6), the road traffic prediction unit 10 ends the set vehicle speed determination operation without doing anything.
[0033]
In the description of the flowchart described above, determination processing based on comparison between the set vehicle speed in step S3 and the determined optimum traveling speed, determination based on the number of repetitions of acceleration / deceleration control of the host vehicle accompanying detection and release of the preceding vehicle in step S5. In any one of the processing and the determination processing based on the number of times of deceleration control at a deceleration greater than or equal to the predetermined value of the host vehicle accompanying the detection of the preceding vehicle in step S6, if any one of the conditions is satisfied, the set vehicle speed of the host vehicle is inappropriate. Although the procedure for determining that the value is a value has been described, the appropriateness of the set vehicle speed of the host vehicle is determined based on the condition in any two or all of the determination processes in steps S3, S5, and S6 described above. When it is satisfied, the set vehicle speed may be determined as an inappropriate value.
[0034]
Further, in the present embodiment, the road traffic prediction unit 10 includes an optimum traveling speed estimation unit, a target vehicle speed suitability determination unit, and a determination result reflection unit. More specifically, steps S1 to S2 in FIG. 2 correspond to the optimum travel speed estimation means, and steps S3 to S6 in FIG. 2 correspond to the target vehicle speed suitability determination means. Step S7 in FIG. 2 corresponds to a determination result reflecting unit.
[0035]
As described above, in the vehicle travel control apparatus of the present embodiment, the optimum travel speed estimation means included in the road traffic prediction unit 10 exists in the traveling direction of the host vehicle detected by the radar detection output unit 2. Based on the traveling speeds of a plurality of other vehicles, an optimum traveling speed suitable for the host vehicle to travel is estimated. Then, the target vehicle speed suitability determination means included in the road traffic prediction unit 10 determines the appropriateness of the set vehicle speed set by the driver (passenger) of the host vehicle using the set vehicle speed input switch 14 and obtains the optimum travel required. Judge based on speed.
[0036]
Based on the determination result of the set vehicle speed, the determination result reflecting means included in the road traffic prediction unit 10 displays at least the determination result of the set vehicle speed for the driver, or the display of the optimum traveling speed for the driver, or the set By performing any of the automatic update of the vehicle speed to the optimal driving speed, the driver is encouraged to change the driving target vehicle speed to the optimal driving speed, or the driver automatically updates the driving target vehicle speed to the optimal driving speed. Thus, the follow-up traveling control by the target value determining unit 8 and the vehicle state control unit 9 can be executed more smoothly and appropriately with the optimal traveling speed as a target.
[0037]
Therefore, useless acceleration control and deceleration control for the behavior of other vehicles existing in the traveling direction of the host vehicle, which is set as a preceding vehicle to be followed in changes in surrounding traffic conditions, particularly in follow-up running control. The effect that generation | occurrence | production of can be prevented is acquired.
[0038]
Specifically, as shown in FIG. 3A, for example, on the highway 40 on which the host vehicle 50 (ordinary car) travels, the traveling direction and surroundings of the host vehicle 50 are changed to other vehicles 51 and 52. 53, 54 travels with the own vehicle 50 at a speed of about 70 [km], and the vehicle travel control device mounted on the own vehicle 50 is a preceding vehicle that should follow the other vehicle 51 in the traveling direction of the own vehicle 50. Suppose that it is detected. Further, in the vehicle travel control device mounted on the host vehicle 50, the optimum travel speed of the host vehicle 50 is determined from the traveling direction of the host vehicle 50 and the travel speeds of the other vehicles 51, 52, 53, 54 that travel around the host vehicle 50. It is required that the speed is 70 [km] per hour, and accordingly, the set vehicle speed of the host vehicle 50 is set to 70 [km] per hour.
[0039]
From such a state, as shown in FIG. 3B, when the other vehicle 51 moves from the front of the host vehicle 50 by changing the lane, in the vehicle travel control device mounted on the host vehicle 50, Although the setting as the preceding vehicle for the other vehicle 51 is cancelled, since the set vehicle speed is 70 [km] per hour, the vehicle travel control device does not generate particularly large acceleration / deceleration control, and the host vehicle Smooth follow-up running control can be executed.
[0040]
【The invention's effect】
As described above, according to the vehicle travel control apparatus of the present invention, the target vehicle speed suitability determination means is the result of comparison between the travel target vehicle speed and the optimum travel speed estimated by the optimum travel speed estimation means, or by the vehicle control means. The validity of the set travel target vehicle speed is determined based on at least one of the number of times of acceleration / deceleration control repetition of the own vehicle or the number of times of deceleration control by the vehicle control means at a deceleration greater than a predetermined value of the own vehicle. By determining, whether or not the follow-up driving control by the vehicle control means is appropriate and the appropriateness of the driving target vehicle speed is determined accurately and appropriately, the determination result reflecting means at least displays the determination result of the driving target vehicle speed to the driver, Alternatively, the driver can either display the optimum driving speed or automatically update the driving target vehicle speed to the optimum driving speed to optimize the driving target vehicle speed by the driver. By prompting a change to the running speed or by automatically updating the target vehicle speed to the optimum driving speed, the following control by the vehicle control means can be executed more smoothly and appropriately with the optimum driving speed as the target. it can.
[0041]
Therefore, unnecessary acceleration by the vehicle control means for the behavior of other vehicles existing in the traveling direction of the host vehicle, which is set as a preceding vehicle to be followed in changes in surrounding traffic conditions, particularly in follow-up running control. It is possible to prevent the occurrence of control and deceleration control.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a vehicle travel control apparatus according to an embodiment of the present invention.
FIG. 2 is a flowchart showing a set vehicle speed determination operation of a road traffic prediction unit in the vehicle travel control apparatus of the embodiment;
FIG. 3 is a schematic diagram for explaining a traffic flow on a road on which the host vehicle travels.
[Explanation of symbols]
1 Radar device (object detection means)
2 Radar detection output (object detection means)
3 vehicle speed sensor 4 yaw rate sensor 5 rudder angle sensor 6 vehicle track estimation unit (vehicle travel track calculation means)
7 Preceding vehicle decision processing part (following preceding vehicle judging means)
8 Target value determination unit (vehicle control means)
9 Vehicle state control unit (vehicle control means)
10 road traffic prediction unit 11 vehicle information instruction unit (presentation means)
12 Voice output unit (presentation means)
13 Image display (presentation means)
14 set vehicle speed input switch (target vehicle speed setting means)
S1 to S2 Optimal travel speed estimation means S3 to S6 Target vehicle speed suitability determination means S7 Determination result reflection means

Claims

Target vehicle speed setting means for setting the input vehicle speed as the travel target vehicle speed of the host vehicle;
An object detecting means for detecting an object mounted on the host vehicle and existing in front of the host vehicle;
Own vehicle travel locus calculating means for calculating the own vehicle travel locus traveled by the own vehicle;
Follow-up preceding vehicle determination means for determining a preceding vehicle that the host vehicle should follow from among the objects based on signals output from the object detection means and the own vehicle travel locus calculation means;
In a vehicle follow-up travel control device comprising vehicle control means for performing speed control of the host vehicle so that the host vehicle performs follow-up travel with respect to the preceding vehicle at the travel target vehicle speed or less.
Whether the travel target vehicle speed is an appropriate value based on the number of repetitions of the acceleration / deceleration control of the own vehicle by the vehicle control means, which occurs per predetermined time or predetermined travel distance with the detection and release of the preceding vehicle. A target vehicle speed suitability judging means for judging whether or not,
A vehicle travel control apparatus comprising: a determination result reflecting means for performing processing based on a determination result of the travel target vehicle speed.

Target vehicle speed setting means for setting the input vehicle speed as the travel target vehicle speed of the host vehicle;
An object detecting means for detecting an object mounted on the host vehicle and existing in front of the host vehicle;
Own vehicle travel locus calculating means for calculating the own vehicle travel locus traveled by the own vehicle;
Follow-up preceding vehicle determination means for determining a preceding vehicle that the host vehicle should follow from among the objects based on signals output from the object detection means and the own vehicle travel locus calculation means;
In a vehicle follow-up travel control device comprising vehicle control means for performing speed control of the host vehicle so that the host vehicle performs follow-up travel with respect to the preceding vehicle at the travel target vehicle speed or less.
The travel target vehicle speed is an appropriate value based on the number of times of deceleration control at a deceleration equal to or greater than a predetermined value of the host vehicle generated by the vehicle control means at a predetermined time or a predetermined travel distance accompanying the detection of the preceding vehicle. A target vehicle speed suitability judging means for judging whether or not
A vehicle travel control apparatus comprising: a determination result reflecting means for performing processing based on a determination result of the travel target vehicle speed.

Comprising a presenting means for presenting information relating to the determination result of the travel target vehicle speed by the target vehicle speed suitability determining means to the driver of the host vehicle,
When the target vehicle speed suitability determining means determines that the travel target vehicle speed is an inappropriate value,
The determination result reflecting means is at least a process of displaying the determination result for the driver, displaying the optimum traveling speed for the driver, or automatically updating the traveling target vehicle speed to the optimum traveling speed. a system as claimed in claim 1 or 2, characterized in that the.