JP4191126B2 - Vehicle travel safety device having a constant speed travel control device - Google Patents

Description

  The present invention relates to a travel safety device for a vehicle including a constant speed travel control device.

Conventionally, for example, a constant speed travel control device that performs speed control so as to maintain a predetermined set speed set by a driver's switch operation is detected, and a curve existing ahead in the traveling direction of the vehicle is detected. A travel safety device that activates a safety device provided in a vehicle when the vehicle speed exceeds an appropriate speed for a curve is known (see, for example, Patent Document 1).
Japanese Patent No. 3269897

By the way, in the traveling safety device according to the above-described conventional technology, a continuous curve in which a plurality of curves are continuously arranged in front of the traveling direction of the vehicle is detected during operation of the constant speed traveling control device, and any one of the plurality of curves is detected. When the vehicle travels toward the next curve after passing the vehicle, it is desired to appropriately set the timing and change amount when changing the set speed for the speed control during operation.
The present invention has been made in view of the above circumstances, and it is possible to appropriately operate the constant speed traveling control device when passing through a continuous curve existing ahead in the traveling direction of the vehicle when performing the constant speed traveling control. An object of the present invention is to provide a travel safety device for a vehicle including a constant speed travel control device.

In order to solve the above-described problems and achieve the object, a traveling safety device for a vehicle including the constant speed traveling control device according to the first aspect of the present invention includes storage means (for example, implementation) for storing road data. Map data storage unit 23) in the form, own vehicle position detecting means for detecting the position of the own vehicle (for example, current position detecting unit 21 in the embodiment), and vehicle speed detecting means for detecting the speed of the own vehicle. (For example, a vehicle speed sensor 33 in the embodiment) and curve recognition means for recognizing the shape of a curve existing in the traveling direction of the host vehicle based on the road data stored in the storage means (for example, in the embodiment A curve recognizing unit 61) and an appropriate speed setting unit (for example, an appropriate vehicle speed setting unit 6 in the embodiment) for setting an appropriate speed capable of appropriately passing through the curve based on the shape of the curve recognized by the curve recognizing unit. ), Target speed setting means (for example, the input unit 24 in the embodiment) for setting the target speed by the driver's input operation, and the speed detected by the vehicle speed detection means so as to match the target speed. A vehicle travel safety device comprising a constant speed travel control device including constant speed travel control means (for example, constant speed travel control unit 65 in the embodiment) for controlling acceleration or deceleration of the host vehicle. The vehicle is provided with will detection means for detecting the driver's acceleration intention (for example, the driving intention detection unit 67 in the embodiment), and the constant speed traveling control means has the target speed during the control of the constant speed traveling control means. And correcting the target speed so that the speed detected by the vehicle speed detecting means becomes the appropriate speed when the speed is larger than the appropriate speed for the forward curve recognized by the curve recognizing means, If the acceleration intention is detected by the intention detecting means serial front curve after passing calculates the curve distance from the curve ahead that the passage to the tip of the curve, the said curve distance is a predetermined 1 When the vehicle is longer than the distance, the target speed before correction is set as the predetermined speed to perform acceleration control, and when the distance between the curves is shorter than a predetermined second distance less than the predetermined first distance, the host vehicle Acceleration is suppressed or prohibited, and when the distance between the curves is equal to or less than a predetermined first distance and equal to or greater than a second distance, an average value of the current speed and the appropriate speed of the previous curve is set as the predetermined speed. It is characterized by performing acceleration control .

  According to the traveling safety device for a vehicle including the above-described constant speed traveling control device, when the target speed is larger than the appropriate speed during the constant speed traveling control, the constant speed traveling control is executed by correcting the target speed. You can pass the curve properly while continuing. Furthermore, if the driver's intention to accelerate, for example, depression of the accelerator pedal, is detected after passing a curve in front of adjacent curves in a continuous curve, the vehicle is accelerated to a predetermined speed, thereby driving at a constant speed. While continuing the execution of the control, each of the continuous curves can be properly passed, and the driver's acceleration intention can be appropriately reflected in the traveling state of the host vehicle. In addition, by setting the predetermined speed when accelerating the host vehicle to a speed that is equal to or lower than the target speed of constant speed running control that is set based on the distance from the front curve to the previous curve, the host vehicle is excessively accelerated. Can be prevented.

As described above, according to the traveling safety device for a vehicle including the constant speed traveling control device according to the first aspect of the present invention, a plurality of continuous curves are obtained while continuing the constant speed traveling control. The vehicle can pass appropriately, and the acceleration intention of the driver can be appropriately reflected in the traveling state of the host vehicle, and the host vehicle can be prevented from being excessively accelerated.
Further , acceleration reflecting the driver's acceleration intention can be performed, and the previous curve can be properly passed.
Furthermore , constant speed traveling control can be appropriately executed between adjacent curves of the continuous curve in accordance with the driver's intention to accelerate.
Furthermore , it is possible to appropriately pass the previous curve while continuing the execution of the constant speed traveling control.

  Hereinafter, a travel safety device for a vehicle including a constant speed travel control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  As shown in FIG. 1, a vehicle travel safety device 10 including a constant speed travel control device according to the present embodiment uses, for example, an automatic transmission (AT) or continuously variable automatic transmission (AT) as a driving force of an internal combustion engine 11. CVT) and other safety devices equipped with a navigation device 13, a control device 14, a brake actuator 15, and an alarm device (not shown). And a device (not shown).

The navigation device 13 includes, for example, a current position detection unit 21, a navigation processing unit 22, a map data storage unit 23, an input unit 24, and a display unit 25.
Further, the current position detection unit 21 corrects an error in the GPS signal using, for example, a GPS (Global Positioning System) signal for measuring the position of the vehicle using an artificial satellite or an appropriate base station, for example. A positioning signal receiving unit 31 that receives a positioning signal such as a D (Differential) GPS signal for improving positioning accuracy, and an inclination angle (for example, a longitudinal axis of the vehicle) A gyro sensor 32 that detects a tilt angle with respect to the vertical direction and a yaw angle that is a rotation angle of the center of gravity of the vehicle about the vertical axis, and a change amount of the tilt angle (for example, a yaw rate) and a vehicle speed (vehicle speed) are detected. A vehicle speed sensor 33, and the current position of the vehicle by a received positioning signal or by an autonomous navigation calculation process based on a detection signal such as a vehicle speed or a yaw rate. The position is calculated.

  The map data storage unit 23 includes a computer-readable storage medium such as a magnetic disk device such as a hard disk device or an optical disk device such as a CD-ROM, CD-R, MO, or DVD. The map data storage unit 23 stores road data such as road width data, intersection angles of multiple roads, intersection shapes and positions, and the like as map data for displaying a map on the display unit 25, for example. Yes.

For example, for the road data acquired from the map data storage unit 23, the navigation processing unit 22 performs the positioning signal and / or autonomous navigation calculation processing in the current position detection unit 21 or the vehicle current obtained from either of them. Map matching is performed based on the position information, the result of position detection is corrected, and the current position of the detected vehicle, or an appropriate input input by the operator via the input unit 24 including various switches, a keyboard, etc. The map display on the display unit 25 is controlled with respect to the position of the vehicle.
In addition, the navigation processing unit 22 performs processing such as vehicle route search and route guidance, and displays, for example, route information to the destination and various additional information along with the road data acquired from the map data storage unit 23. To the unit 25.

  The control device 14 includes a speed control unit 41, an engine control unit 42, a shift control unit 43, and a brake control unit 44. The speed control unit 41 further includes a curve recognition unit 61, an appropriate vehicle speed. The setting part 62, the comparison part 63, the action | operation part 64, the constant speed travel control part 65, the target vehicle speed update part 66, and the driving intention detection part 67 are comprised.

The curve recognition unit 61 acquires road data stored in the map data storage unit 23, and detects a curve existing on the road as a road shape in the traveling direction of the host vehicle based on the road data.
For example, the curve recognizing unit 61 is a node that is a basis of road data, that is, a point for grasping the road shape (for example, white circles and black circles shown in FIG. 2) and a link that connects each node (for example, FIG. 2). The shape of the curve is recognized based on the white circle and the black circle shown in FIG. Then, for example, a curve shape value including a curve diameter, a curvature and a polarity, a curve length (curve depth), a turning angle required for passing through the curve, and the like is calculated and output to the appropriate vehicle speed setting unit 62.

Based on the curve shape value recognized by the curve recognition unit 61, the appropriate vehicle speed setting unit 62 calculates the speed of the vehicle (proper speed VS) that can properly pass through this curve. Then, the appropriate vehicle speed setting unit 62 outputs data of the set appropriate speed VS to the comparison unit 63.
Here, the appropriate vehicle speed setting unit 62 includes a lateral acceleration calculation unit that calculates acceleration (lateral acceleration) generated in the lateral direction of the vehicle when passing the curve. That is, first, the lateral acceleration calculation unit calculates the lateral acceleration that is allowed when the curve recognition unit 61 appropriately passes through the curve based on the shape of the curve recognized by the curve recognition unit 61. Next, the appropriate vehicle speed setting unit 62 calculates the speed of the vehicle that causes the vehicle to generate this lateral acceleration, and sets this speed as the appropriate speed VS.
Note that the lateral acceleration allowed for the host vehicle when passing the curve changes depending on the road surface condition, the tire condition, the loading condition, and the like. Therefore, the appropriate speed VS may be set in consideration of these factors.
In addition, when there is an ascending slope before the recognized curve shape, the appropriate speed VS is set to increase in accordance with the magnitude of the slope.

The comparison unit 63 compares the vehicle speed (current speed) VP detected by the vehicle speed sensor 33 of the current position detection unit 21 with the appropriate speed VS set by the appropriate vehicle speed setting unit 62, and compares the comparison result. Output to the operating unit 64.
The operating unit 64 controls the operation of the engine control unit 42, the shift control unit 43, and the brake control unit 44 based on the comparison result in the comparison unit 63. For example, if the current speed VP detected by the vehicle speed sensor 33 is different from the appropriate speed VS set by the appropriate vehicle speed setting section 62 in the comparison result of the comparison unit 63, for example, the detected current speed VP of the vehicle is appropriate. When the vehicle is not in the proper vehicle state, such as a state higher than the speed VS, the alarm device is activated to alert the driver or the brake actuator 15 is activated via the brake control unit 44. Automatically decelerate the vehicle.

The operating unit 64 activates the safety device including the alarm device and the brake actuator 15 from the current speed VP to the appropriate speed VS until the vehicle reaches the entrance position of the curve recognized by the curve recognition unit 61. It is set based on the time or distance required for deceleration.
For example, as shown in FIG. 2, when the vehicle A is traveling at a speed V1 (for example, speed V1> appropriate speed VS), in order to properly pass the curve C existing forward in the traveling direction, the curve C The vehicle speed is set to the appropriate speed VS at the entrance position CS.
At this time, for example, at a predetermined deceleration GS (for example, 0.2 G = 0.2 × 9.8 m / s ² ), the current speed V1 (for example, 100 km / h) to the appropriate speed VS (for example, 40 km / h). In the case of deceleration to h), the time T required for deceleration is obtained by T = (V1−VS) / GS. Then, based on this time T, the distance required for deceleration, that is, the required deceleration distance L0 is calculated, and the deceleration start position C0 (black circle C0 shown in FIG. 2) just before the required deceleration distance L0 from the entrance position CS of the curve C is calculated. Is set.

Furthermore, for example, a reaction time (for example, about 0.5 s) from when an alarm is issued to alert the driver until the driver actually reacts and depresses the brake, and after the driver depresses the brake. The reaction idling distance ΔL0 is calculated in consideration of the idling time (for example, about 0.3 s) until the brake actually starts to work. As a result, the alarm start position CW is set by the reaction idling distance ΔL0 from the deceleration start position C0 (black circle C0 shown in FIG. 2).
That is, when the vehicle A reaches the alarm start position CW set before the curve C, that is, the distance between the current position of the vehicle A and the entrance position CS of the curve C (distance Ln between deceleration target points) An alarm is issued when the required alarm distance LW is set as shown in the following formula (1).

The constant speed traveling control unit 65 is operated via the input unit 24 in advance when the operation of the constant speed traveling control is instructed by an operator's on operation by a switch or the like provided in the input unit 24 of the navigation device 13, for example. An appropriate target speed VO set by the user is maintained, for example, the throttle opening degree, the brake fluid pressure, and the like are controlled, and the vehicle is automatically accelerated or decelerated to perform speed control.
The constant speed traveling control unit 65 determines that the detected current speed VP is appropriate when the current speed VP of the vehicle is higher than the appropriate speed VS of the curve recognized by the curve recognizing unit 61 when the constant speed traveling control is executed. The target speed VO of the constant speed traveling control is corrected so that the speed becomes VS.
Here, the constant speed traveling control unit 65 enables an acceleration operation by an accelerator pedal, an intervention operation such as a deceleration operation by a brake pedal and a stop of the constant speed traveling control during the execution of the constant speed traveling control, and the traveling behavior of the vehicle. Is set so that the will of the driver is appropriately reflected.
The constant speed running control is stopped when an operator's off operation is input by a switch or the like provided in the input unit 24 or when it is detected that the current speed VP of the vehicle has decreased below a predetermined lower limit speed. It has become so.

The target vehicle speed update unit 66 is, for example, various switches provided in the input unit 24 of the navigation device 13, for example, an acceleration switch that increases the currently set target speed VO, or a deceleration that reduces the currently set target speed VO. In addition to the operator's manual input operation using a switch or the like, the target speed VO is updated in accordance with the operating state of the driver's accelerator pedal or brake pedal. For example, when the vehicle is accelerated by depressing the accelerator pedal during execution of constant speed traveling control, the speed at the time when the depressing operation of the accelerator pedal is completed is updated and set as the target speed VO.
The constant speed traveling control unit 65 can control the reaction force load against the pedal stroke of the accelerator pedal, for example, by appropriate hydraulic control with respect to the displacement of the accelerator pedal, or a member that regulates the displacement of the accelerator pedal, for example. The accelerator pedal was operated when the constant speed running control was executed, and the accelerator pedal operation was stopped with the pedal stroke of the accelerator pedal at an appropriate value (that is, the driver's pedaling force and reaction force load were equalized) Is detected), the driver is able to place his / her feet lightly on the accelerator pedal while maintaining the throttle opening at this point, It is set so that it can be used as a so-called footrest.
For this reason, in addition to the detection signal output from the vehicle speed sensor 33, the speed control unit 41 includes an accelerator opening sensor 51 that detects an accelerator opening related to the amount of operation of the accelerator pedal by the driver, and a brake by the driver. The detection signals output from the brake pedal sensor 52 that detects the pedal operation amount and the throttle opening sensor 53 that detects the throttle opening are input.

The driving intention detection unit 67 detects the presence or absence of the driver's acceleration intention by detecting, for example, an accelerator pedal operation by the driver.
The constant speed traveling control unit 65 passes the appropriate forward curve when passing through a continuous curve consisting of a plurality of curves that are continuous when the constant speed traveling control is executed. When the acceleration intention is detected, the vehicle is accelerated to a predetermined speed set based on the distance from the forward curve that has passed through to the previous curve. Here, the predetermined speed at the time of accelerating the vehicle is equal to or less than the target speed VO of the constant speed traveling control that is being executed, and is set to the appropriate speed VS for the previous curve set by the appropriate vehicle speed setting unit 62. For example, an average value of the current speed VP and the appropriate speed VS of the previous curve is set.

  The vehicle travel safety device 10 including the constant speed travel control device according to the present embodiment has the above-described configuration. Next, the operation of the vehicle travel safety device 10 including the constant speed travel control device, in particular, In a state in which execution of constant speed traveling control is instructed by an operator's ON operation by a switch or the like provided in the input unit 24, speed control after passing an appropriate curve in a continuous curve composed of a plurality of continuous curves Processing will be described with reference to the accompanying drawings.

First, in step S01 shown in FIG. 3, it is determined whether or not it is after passing the curve.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 02.
In step S02, based on the map data stored in the map data storage unit 23, it is determined whether or not the next curve shape exists ahead of the curve after passing.
If the determination result of step S02 is “NO”, the series of processes is terminated.
On the other hand, if the determination result of step S02 is “YES”, the process proceeds to step S03.
In step S03, it is determined whether or not the accelerator pedal operation by the driver is stopped or the accelerator pedal is depressed.
If the determination result in step S03 is “NO”, that is, if the accelerator pedal operation is released or the accelerator pedal is stepped back, the series of processing ends.
On the other hand, if the determination result in step S03 is “YES”, it is determined that the driver wants to stop the acceleration or deceleration of the vehicle, and the process proceeds to step S04.

In step S04, for the next detected curve shape, a curve shape value including, for example, the minimum curve diameter, maximum curvature, polarity, curve length (curve depth), turning angle required for passing the curve, etc. And an appropriate speed VS at which the curve shape can be properly passed is calculated based on the estimated curve shape value.
Next, in step S05, based on the map data stored in the map data storage unit 23, a distance (inter-curve distance) from the passed curve to the next curve shape is calculated.
Next, in step S06, the current speed VP and the current position of the vehicle are acquired.
Next, in step S07, it is determined whether or not the detected current speed VP is larger than the appropriate speed VS of the next curve shape.
When this determination result is “NO”, it is determined that the next curve shape has a higher degree of difficulty in passing according to the curve shape value than the curve after passing, and the process proceeds to step S08.
On the other hand, if the determination result is “YES”, that is, it is determined that the next curve shape has a lower degree of difficulty in passing according to the curve shape value than the curve after passing, and the process proceeds to step S09.

In Step S08, relatively long values are set as the predetermined first distance La and second distance Lb (<first distance La), and the process proceeds to Step S10.
In step S09, a relatively short value is set as the predetermined first distance La and second distance Lb (<first distance La), and the process proceeds to step S10.
In step S10, it is determined whether or not the inter-curve distance from the passed curve to the next curve shape is longer than a predetermined first distance La.
If this determination is “NO”, the flow proceeds to step S 12 described later.
On the other hand, if this determination is “YES”, the flow proceeds to step S11.
In step S11, it is determined that the position of the next curve shape is relatively far, and the speed is returned to the speed before entering the passed curve, and is executed at the time before entering the passed curve. The target speed VO of the constant speed traveling control that has been performed is set as the target speed VO of the constant speed traveling control currently being executed, and the process proceeds to step S15 described later.

In step S12, it is determined whether or not the inter-curve distance from the passed curve to the next curve shape is shorter than the predetermined second distance Lb.
If this determination is “NO”, the flow proceeds to step S 14 described later.
On the other hand, if the determination is “YES”, the flow proceeds to step S13.
In step S13, it is determined that the position of the next curve shape is relatively close, and the acceleration control is not executed, and the series of processes is terminated.
In step S14, the average value of the current speed VP and the appropriate speed VS of the next curve shape is set as the target speed VO for the constant speed running control currently being executed, and the process proceeds to step S15.

In step S15, based on the deviation between the target speed VO of the constant speed traveling control currently being executed and the current speed VP, for example, the acceleration gain is changed so as to increase as the deviation increases. Set.
In step S16, acceleration control for accelerating the vehicle is executed in accordance with the set acceleration gain, and a series of processing ends.

  As described above, according to the traveling safety device 10 for a vehicle including the constant speed traveling control device according to the present embodiment, when the target speed VO is larger than the appropriate speed VS during the constant speed traveling control, this target speed VO. By correcting the above, it is possible to appropriately pass the curve while continuing the execution of the constant speed traveling control. Furthermore, if the driver's intention to accelerate, for example, depression of the accelerator pedal, is detected after passing a curve in front of adjacent curves in a continuous curve, the vehicle is accelerated to a predetermined speed, thereby driving at a constant speed. While continuing the execution of the control, each of the continuous curves can be properly passed, and the driver's acceleration intention can be appropriately reflected in the traveling state of the host vehicle. In addition, by setting the predetermined speed when accelerating the host vehicle to a speed equal to or lower than the target speed VO of constant speed traveling control set based on the distance between the curves from the preceding curve to the preceding curve, It is possible to prevent excessive acceleration.

It is a functional block diagram which shows the structure of the vehicle travel safety apparatus which comprises the constant speed travel control apparatus which concerns on one Embodiment of this invention. It is a figure which shows the action | operation timing of the alarm when a vehicle approachs a curve. It is a flowchart which shows operation | movement of the travel safety apparatus of the vehicle which comprises the constant speed travel control apparatus shown in FIG.

Explanation of symbols

10. Vehicle travel safety device 21 equipped with a constant speed travel control device 21 Current position detection unit (own vehicle position detection means)
23 Map data storage unit (storage means)
24 input unit (target speed setting means)
33 Vehicle speed sensor (vehicle speed detection means)
61 Curve recognition unit (curve recognition means)
62 Appropriate vehicle speed setting section (appropriate speed setting means)
65 Constant-speed traveling control unit (constant-speed traveling control means)
67 Driving intention detector (will detection means)

Claims (1)

Storage means for storing road data;
Own vehicle position detecting means for detecting the position of the own vehicle;
Vehicle speed detection means for detecting the speed of the host vehicle;
Curve recognition means for recognizing the shape of a curve existing in the traveling direction of the host vehicle based on the road data stored by the storage means;
An appropriate speed setting means for setting an appropriate speed capable of appropriately passing through the curve based on the shape of the curve recognized by the curve recognition means;
Target speed setting means for setting the target speed by the driver's input operation;
A vehicle travel safety device comprising a constant speed travel control device comprising constant speed travel control means for controlling acceleration or deceleration of the host vehicle so that the speed detected by the vehicle speed detection means coincides with the target speed. There,
Equipped with a will detection means for detecting the driver's acceleration will,
The constant speed traveling control means is configured to detect the vehicle speed detecting means when the target speed is larger than the appropriate speed for the forward curve recognized by the curve recognizing means during the control of the constant speed traveling control means. The target speed is corrected so that the detected speed becomes the appropriate speed, and if the acceleration detection is detected by the will detection means after passing through the front curve, The distance between the curves to the previous curve is calculated, and when the distance between the curves is longer than a predetermined first distance, the target speed before correction is set as the predetermined speed to perform acceleration control, and the distance between the curves Is shorter than the predetermined second distance less than the predetermined first distance, the acceleration of the host vehicle is suppressed or prohibited, and the distance between the curves is equal to or less than the predetermined first distance and equal to or greater than the second distance. The traveling safety device for a vehicle comprising a cruise control device, characterized in that the average value of the current speed and the previous proper velocity curve for setting and acceleration control as the predetermined speed.

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