JP4252722B2 - Auto cruise equipment - Google Patents

Description

【００５３】
上記ＣＨＡＮＧＥスイッチの操作方法が表１に示される。
【００５４】
連続押し方式は、ＣＨＡＮＧＥスイッチが押されている間のみ先行車を切り替えるもので、ＣＨＡＮＧＥスイッチを離すと元の先行車認識条件に自動復帰する。
【００５５】
１プッシュ方式は、ＣＨＡＮＧＥスイッチが押されると先行車が切り替えられ、一定時間（例えば３０ｓｅｃ）が経過すると元の先行車認識条件に自動復帰する。
【００５６】
図４（Ａ）に示す例は、既存のＲＥＳＵＭＥスイッチに、先行車を一時的に切り替えるためのＣＨＡＮＧＥスイッチの機能を追加して、ＲＥＳ／ＣＮＧスイッチ３７としたものであり、図４（Ｂ）に示す例は、ＡＣＣシステムの操作レバー３５の既存のＲＥＳ／ＡＣＣスイッチに、先行車を一時的に切り替えるためのＣＨＡＮＧＥスイッチの機能を追加して、ＲＥＳ／ＡＣＣ／ＣＮＧスイッチとしたものである。
【００５７】
【表２】

【００５８】
ＣＨＡＮＧＥスイッチの機能を持たない既存のＲＥＳＵＭＥスイッチには表２に示した機能が既に割り振られている。
【００５９】
即ち、(1) ＡＣＣシステムスタンバイ状態での１プッシュあるいは連続押しにより、前回のクルーズで記憶されているセット車速でＡＣＣ走行を開始するＲＥＳＵＭＥ機能と、(2) ＡＣＣシステム作動中での短時間１プッシュにより、セット車速を１ステップ（例えば１ｋｍ／ｈ）上げるＡＣＣＥＬＥＲＡＴＥ機能と、(3) 先行車無しの状態での連続押しにより、セット車速を連続的に上げるＡＣＣＥＬＥＲＡＴＥ機能とを有している。そこで、(5) 未設定−２のＡＣＣシステム作動中での長時間（１ｓｅｃ程度）１プッシュ方式と、(6) の未設定−３の先行車を検知している状態での連続押し方式とを、操作方式として選択する。
【００６０】
【表３】

【００６１】
つまり、表３に示すように、ＲＥＳ／ＣＮＧスイッチ（図４（Ａ）参照）あるいはＲＥＳ／ＡＣＣ／ＣＮＧスイッチ（図４（Ｂ）参照）を長時間１プッシュ操作すると、先行車が一時的に切り替えられ、一定時間（例えば３０ｓｅｃ）が経過すると、元の先行車認識条件に復帰する。尚、前記一定時間が経過する前に再度スイッチを長時間１プッシュ操作すると、先行車を一時的に切り替える時間が延長され、以下押される度に時間の延長が繰り返される。またＲＥＳ／ＣＮＧスイッチあるいはＲＥＳ／ＡＣＣ／ＣＮＧスイッチを連続押し操作すると、その時点で先行車を検知しているときに限り先行車が一時的に切り替えられる。このように、先行車を検知しているときに限り先行車を一時的に切り替えるのは、先行車無しの状態でのＡＣＣＥＬＥＲＡＴＥ機能と区別するためである。従って、先行車が存在しない状態では、ＲＥＳ／ＣＮＧスイッチあるいはＲＥＳ／ＡＣＣ／ＣＮＧスイッチを連続押し操作しても、先行車を切り替えて自車線に合流する車両を早めにロックオンすることはできない。
【００６２】
次に、先行車を一時的に切り替える５種類の具体的手法を説明する。
(1) ロックオン範囲内の２番目に近いターゲットを先行車とする。
【００６３】
ＡＣＣシステムでは推定した自車の走行軌跡（つまりロックオン範囲の中心）に最も近いターゲットを先行車として認識するが、それを２番目に近いターゲットに切り替える。２番目に近いターゲットが無い場合には先行車無しとする。
(2) 現在認識されている先行車を先行車候補から削除する。
【００６４】
現在の先行車を先行車候補から削除することにより、先行車候補の中の２番目の候補が先行車となる。現在の先行車以外に先行車候補が無い場合には先行車無しとする。
(3) ロックオン範囲を広げ、現在の先行車を除いた中で、最も近いターゲットを先行車とする。
【００６５】
広げたロックオン範囲内に現在の先行車以外のターゲットが存在しない場合には、先行車無しとする。
(4) 現在の先行車を先行車候補から削除し、ロックオン範囲を広げる。
【００６６】
広げたロックオン範囲内に他のターゲットが存在しない場合には、先行車無しとする。(5) スイッチが操作される度に、ロックオン範囲内の２番目に近いターゲット→３番目に近いターゲット→４番目に近いターゲット…と切り替えて行く。
【００６７】
ロックオン範囲内に他の先行車候補が無くなった以後は、先行車無しとする。
【００６８】
前記(3) および前記(4) のロックオン範囲を広げる手法は、隣り車線からの割り込み車や、インターチェンジあるいはサービスエリアからの合流車を早めにロックオンできる効果がある。
【００６９】
図６（Ａ）に示すように、通常のロックオン範囲は、自車の車速とヨーレート（または舵角）とから自車の走行軌跡を算出し、その走行軌跡の左右に車線幅（３．６ｍ）＋マージン分の幅（０．４ｍ）の幅（４．０ｍ）を均等に振り分けて設定する。従って、ロックオン範囲の全幅は４．０ｍで、走行軌跡の左右に各々２．０ｍの幅を持つことになる。
【００７０】
図６（Ｂ）に示すように、ロックオン範囲を広げる第１の方法は、走行軌跡の左右に３車線分の幅（３．６ｍ×３＝１０．８ｍ）−車線内の自車位置の誤差分の幅（０．９ｍ×２＝１．８ｍ）の幅（９．０ｍ）を均等に振り分けて設定する。従って、ロックオン範囲の全幅は９．０ｍで、走行軌跡の左右に各々４．５ｍの幅を持つことになる。
【００７１】
図６（Ｃ）に示すように、ロックオン範囲を広げる第２の方法は、自車からの距離に応じてロックオン範囲を広げる量を変化させるものである。即ち、近距離ではヨーレートセンサや舵角センサの誤差の影響が少ないために誤検知の確率が低く、また遠方での割り込みに対しては時間的な余裕があるために検知タイミングを無理に早める必要はない。従って、ロックオン範囲の全幅を近距離では広く（２０ｍ先で幅５．６ｍ）、遠距離では狭く（５０ｍ先で幅９．０ｍ、１００ｍ先で幅４．０ｍ）とする。
【００７２】
次に、先行車の一時切り替えの作用を図５のフローチャートに基づいて説明する。
【００７３】
その前提は、図３（Ａ）〜図３（Ｃ）に示す新設のＣＨＡＮＧＥスイッチを使用し、その操作方法は表１に示す連続押し方式であり、先行車を切り替える方法は前記(1) のロックオン範囲内の２番目に近いターゲットを先行車とするものである。
【００７４】
図５のフローチャートにおいて、先ずステップＳ１で物体検知装置Ｓｔにより検知エリア内のターゲットを全て検知してターゲットメモリに記憶し、ステップＳ２で自車の車速およびヨーレート（または舵角）に基づいて自車の走行軌跡を算出する。続くステップＳ３で前回のターゲットデータと今回のターゲットデータとを比較してデータの引き継ぎを行い、ステップＳ４でターゲットデータと自車の走行軌跡とから第１先行車候補および第２先行車候補を選択する。第１先行車候補は自車の走行軌跡（つまりロックオン範囲の中心）に最も近いターゲットであり、第２先行車候補は自車の走行軌跡（つまりロックオン範囲の中心）から２番目に近いターゲットである。
【００７５】
続くステップＳ５で今回ＣＨＡＮＧＥスイッチが押されていれば、ステップＳ６で第２先行車候補を先行車とし、またステップＳ５で今回ＣＨＡＮＧＥスイッチが押されていなければ、ステップＳ７で第１先行車候補を先行車とする。そしてステップＳ８で先行車が存在すれば、ステップＳ９で定車間走行制御を実行する。定車間走行制御は、ステップＳ１０で先行車との車間距離が設定車間距離を越えていれば、ステップＳ１１で加速制御を実行し、ステップＳ１０で先行車との車間距離が設定車間距離に一致していれば、ステップＳ１２で定速制御を実行し、ステップＳ１０で先行車との車間距離が設定車間距離未満であれば、ステップＳ１３で減速制御を実行し、これにより車間距離を設定車間距離に一致させるものである。
【００７６】
また前記ステップＳ８で先行車が存在しない場合には、ステップＳ１４で定車速走行制御を実行する。定車速走行制御は、ステップＳ１５で自車速がセット車速を越えていればステップＳ１６で減速制御を実行し、ステップＳ１５で自車速がセット車速に一致していればステップＳ１７で定速制御を実行し、ステップＳ１５で自車速がセット車速未満であればステップＳ１８で加速制御を実行し、これにより自車速をセット車速に一致させるものである。
【００７７】
次に、本実施例の効果を、セット車速よりも遅い先行車に追従する定車間走行を行っているときに、隣り車線から他車両が割り込んできた場合を例にとって説明する。
【００７８】
図７は従来例を示すもので、従来のＡＣＣシステムを装備した自車(2) が車速８０ｋｍ／ｈで先行車(1) に追従する定車間走行を行っている（図７（Ａ）参照）。隣り車線の車両(4) がウインカーを点滅させて自車(2) の前方に割り込もうとするが、その車両(4) は先行車として認識されていないため、自車は先行車(1) に対してそのまま定車間走行を継続する（図７（Ｂ）参照）。前記車両(4) が自車(2) の前方に割り込んで新たな先行車として認識されると、その新たな先行車(4) に対して定車間走行を行うべく、自車は時速８０ｋｍ／ｈから７０ｋｍ／ｈに減速する（図７（Ｃ）参照）。そして車間距離が設定車間距離まで広がると、自車は時速８０ｋｍ／ｈで新たな先行車(4) に追従する定車間走行を行う（図７（Ｄ）参照）。このように、従来のＡＣＣシステムを搭載した車両では、定車間走行中に隣り車線からの割り込みを受けると車速が大きく変化してドライバーが不快感を受けるだけでなく、周囲の車両にもストレスを与えることになる。
【００７９】
図８は本実施例を示すもので、本実施例のＡＣＣシステムを装備した自車(2) が車速８０ｋｍ／ｈで先行車(1) に追従する定車間走行を行っている（図８（Ａ）参照）。隣り車線の車両(4) がウインカーを点滅させて自車(2) の前方に割り込もうとするのに気づいたドライバーがＣＨＡＮＧＥスイッチを押すと、先行車が現在の先行車(1) から割り込み車両(4) に切り替わり、自車(2) は新たな先行車(4) が割り込むためのスペースを確保すべく、時速８０ｋｍ／ｈから時速７５ｋｍ／ｈまで速やかに減速する（図８（Ｂ）参照）。その結果、新たな先行車(4) は自車(2) の前方にスムーズに割り込むことができ、その後にドライバーがＣＨＡＮＧＥスイッチを離しても、自車(2) の正面に移動した新たな先行車(4) はそのまま先行車として認識される（図８（Ｃ）参照）。そして自車(2) は時速８０ｋｍ／ｈまで加速して新たな先行車(4) に追従する定車間走行を行う（図８（Ｄ）参照）。このように、隣り車線の車両が自車の前方に割り込もうとしたときに、本来の先行車に代えて割り込み車両を先行車として認識することにより、自車を早めに減速して割り込み車両をスムーズに割り込ませることができ、自車の車速変化を小さく抑えてドライバーの不快感を軽減するとともに、周囲の車両に与えるストレスを軽減することができる。
【００８０】
以上のように本実施例によれば、ＡＣＣシステムの作動中にドライバーがアクセルペダルやブレーキペダルを操作することなく、手動でスイッチ操作を行うだけで先行車を一時的に切り替えることができ、かつ元の先行車認識条件に自動的に復帰することができるので、ＡＣＣシステムの使い勝手が格段に向上する。具体的には、定車間走行中に先行車を追い越そうとする場合に、先行車をロックオフして現在の車線内で自車をセット車速まで加速し、追い越しに要する時間を短縮することができる。また定車間走行中に隣り車線を高車速で走行してきた車両の後に車線変更して該車両に追従走行しようとする場合に、車線変更後の新たな先行車をロックオフして自車を速やかに加速し、先行車にスムーズに追従することができる。また定車間走行中に先行車が車線変更した場合に、先行車を早めにロックオフして自車をセット車速に向けて速やかに加速することができる。また割り込み車（あるいは合流車）を確認した場合に、先行車をロックオフして割り込み車を早めにロックオンすることにより、車間距離調整を行って割り込みに必要なスペースを空けることができる。また定車速走行中に隣り車線のセット車速よりも遅い車速の車両を誤検知した場合に、誤った先行車をロックオフすることにより、不必要な自動減速を防止してドライバーの違和感を解消することができる。
【００８１】
以上、本発明の実施例を詳述したが、本発明はその要旨を逸脱しない範囲で種々の設計変更を行うことが可能である。
【００８２】
例えば、実施例では物体検知装置Ｓｔとしてレーザーレーダー装置を用いているが、ミリ波レーダー装置やテレビカメラを用いることができる。
【００８３】
【発明の効果】
以上のように請求項１に記載された発明によれば、車間距離制御手段は、先行車判定手段により先行車が判定されたとき、物体検知装置の検知結果に基づき距離算出手段により算出された車間距離が車間距離設定手段により設定された車間距離に一致するように、車速設定手段により設定された車速を上限として自車を加速あるいは減速して自車を定車間走行させる。また車速制御手段は、先行車判定手段により判定される先行車が無い場合に、車両状態検知手段により検知された車速が車速設定手段により設定された車速に一致するように自車を加速あるいは減速して自車を定車速走行させる。車間距離制御手段による制御中にドライバーにより手動操作手段が操作されると、先行車変更手段が先行車判定手段により判定される先行車を変更するので、元の先行車に対する定車間走行を解除して自車を車速設定手段により設定された車速まで加速したり、変更された先行車に対する定車間走行を開始したりすることができる。
【００８４】
具体的には、定車間走行中に先行車を追い越そうとする場合に、先行車をロックオフして現在の車線内で自車をセット車速まで加速し、追い越しに要する時間を短縮することができる。また定車間走行中に隣り車線を高車速で走行してきた車両の後に車線変更して該車両に追従走行しようとする場合に、車線変更後の新たな先行車をロックオフして自車を速やかに加速し、先行車にスムーズに追従することができる。また定車間走行中に先行車が車線変更した場合に、先行車を早めにロックオフして自車をセット車速に向けて速やかに加速することができる。また割り込み車（あるいは合流車）を確認した場合に、先行車をロックオフして割り込み車を早めにロックオンすることにより、車間距離調整を行って割り込みに必要なスペースを空けることができる。また定車速走行中に隣り車線のセット車速よりも遅い車速の車両を誤検知した場合に、誤った先行車をロックオフすることにより、不必要な自動減速を防止してドライバーの違和感を解消することができる。
【００８５】
また請求項２に記載された発明によれば、手動操作手段が操作されている間先行車が変更されるので、ドライバーが必要とする期間だけ先行車を変更することが可能になる。
【００８６】
また請求項３に記載された発明によれば、手動操作手段が再度操作されるまで先行車が変更されるので、ドライバーが必要とする期間だけ先行車を変更することが可能になる。 また請求項４に記載された発明によれば、手動操作手段が操作されてから所定時間先行車が変更されるので、手動操作手段の操作が楽になる。
【００８７】
また請求項５に記載された発明によれば、前記所定時間が経過する前に再度手動操作手段が操作されると、その時点から更に所定時間先行車が変更されるので、ドライバーが必要とする期間だけ先行車を変更することが可能になる。
【００８８】
また請求項６に記載された発明によれば、手動操作手段が所定時間操作されてから所定時間先行車が変更されるので、手動操作手段の操作が楽になる。
【００８９】
また請求項７に記載された発明によれば、前記所定時間が経過する前に再度手動操作手段が操作されると、その時点から更に所定時間先行車が変更されるので、ドライバーが必要とする期間だけ先行車を変更することが可能になる。
【００９０】
また請求項８に記載された発明によれば、軌跡予測手段が車幅方向に所定の幅を持つ自車の進行軌跡を予測し、先行車判定手段は前記進行軌跡内でかつ該進行軌跡の中心に最も近い物体を先行車と判定するので、道路の曲がり状態や物体検知装置の検知誤差に影響されずに先行車を的確に判定することができる。
【００９１】
また請求項９に記載された発明によれば、予測した進行軌跡内であって該進行軌跡の中心に２番目に近い物体を新たな先行車と判定するので、的確な先行車の切り替えが可能になる。
【００９２】
また請求項１０に記載された発明によれば、軌跡予測手段が予測した進行軌跡の幅を軌跡修正手段が拡大するので、割り込み車や合流車を新たな先行車として素早く判定することができる。
【００９３】
また請求項１１に記載された発明によれば、軌跡修正手段が自車からの距離に応じて進行軌跡の幅を拡大する量を変更するので、物体検知装置の検知誤差や他車の割り込み時の時間的余裕に応じて進行軌跡の幅を適切に拡大することができる。
【００９４】
また請求項１２に記載された発明によれば、手動操作手段が操作された回数に応じて、予測した進行軌跡内であって該進行軌跡の中心に次に近い物体を先行車と判定するので、ドライバーの意志に応じて進行軌跡内の任意の車両を先行車として選択することができる。
【００９５】
また請求項１３に記載された発明によれば、現在認識されている先行車以外に先行車候補が無い場合に先行車変更手段は先行車無しとするので、車速が車速設定手段により設定された車速に一致するように、車速制御手段により自車を加速あるいは減速することができる。
【図面の簡単な説明】
【図１】 物体検知装置のブロック図
【図２】 物体検知装置の斜視図
【図３】 新たに追加されたＣＨＡＮＧＥスイッチを示す図
【図４】 ＣＨＡＮＧＥスイッチの機能を追加したＲＥＳＵＭＥスイッチおよび操作レバーを示す図
【図５】 実施例のメインルーチンのフローチャート
【図６】 ロックオン範囲を広げる手法の説明図
【図７】 従来のＡＣＣシステムでの割り込みを説明する図
【図８】 実施例のＡＣＣシステムでの割り込みを説明する図
【図９】 クレーム対応図
【符号の説明】
Ｍ１ 距離算出手段
Ｍ２ 先行車判定手段
Ｍ３ 車間距離設定手段
Ｍ４ 車両状態検知手段
Ｍ５ 車速設定手段
Ｍ６ 車間距離制御手段
Ｍ７ 車速制御手段
Ｍ８ 手動操作手段
Ｍ９ 先行車変更手段
Ｍ１０ 軌跡予測手段
Ｍ１１ 軌跡修正手段
Ｓｔ 物体検知装置[0001]
BACKGROUND OF THE INVENTION
  The present invention, for example, performs an ACC system (Adaptive Cruise Control System) that performs constant vehicle speed travel at a preset vehicle speed when there is no preceding vehicle and maintains constant vehicle distance when there is a preceding vehicle. )
[0002]
[Prior art]
  An ACC system capable of switching between constant vehicle speed traveling and constant vehicle traveling according to the presence or absence of a preceding vehicle is known, for example, from Japanese Patent Application Laid-Open No. 11-42957.
[0003]
[Problems to be solved by the invention]
  When a vehicle equipped with such an ACC system performs a constant inter-vehicle travel that maintains a constant inter-vehicle distance or performs a constant vehicle speed travel that maintains a constant vehicle speed, the preceding detection detected by the object detection device You may want to switch cars.
[0004]
  For example,
(1) When attempting to overtake the preceding vehicle while traveling between fixed vehicles following a preceding vehicle that is traveling at a vehicle speed slower than the set vehicle speed.
[0005]
  When overtaking the preceding vehicle during normal driving, after confirming the surrounding safety, the vehicle is accelerated in the current lane and approaches the preceding vehicle, and then the lane is changed to the overtaking lane to overtake the preceding vehicle. However, because it is impossible to approach the preceding vehicle intentionally while traveling between fixed vehicles using the ACC system, when overtaking the preceding vehicle, after confirming the safety of the surroundings, first change the lane to the overtaking lane and run the fixed vehicle. The vehicle is released and accelerated by driving at a constant vehicle speed to overtake the preceding vehicle, which causes a problem that the time required for overtaking becomes long and stress is applied to the driver. In such a case, if you can switch the preceding vehicle when you check the surrounding safety and decide to overtake, lock off the preceding vehicle and set your vehicle in the current lane to the vehicle speed Accelerate and reduce the time required for overtaking.
(2) While driving between vehicles following a preceding vehicle running at a speed slower than the set vehicle speed, change the lane in the adjacent lane (passing lane) immediately after the vehicle traveling at a higher vehicle speed than the host vehicle, When trying to follow.
[0006]
  In normal driving, if you are directly behind a vehicle that is faster than the current vehicle speed, even if the inter-vehicle distance temporarily decreases, the vehicle does not decelerate and accelerates according to the preceding vehicle. The distance between the vehicles is not increased more than necessary. However, during operation of the ACC system, even if the vehicle speed of the preceding vehicle is faster than the vehicle speed of the host vehicle, priority is given to maintaining the inter-vehicle distance when it is immediately behind and with a short inter-vehicle distance. The vehicle speed is maintained to increase the inter-vehicle distance to the set value. For this reason, there is a problem that the distance between the preceding vehicle and the vehicle ahead is delayed, the timing at which the vehicle starts accelerating again is delayed, disturbing the flow of vehicles in the overtaking lane, and stressing the driver and surrounding vehicles. In such a case, if the vehicle speed of the new preceding vehicle after the lane change is sufficiently high and safety can be confirmed, the preceding vehicle is accelerated temporarily by temporarily locking off the preceding vehicle. Can follow.
(3) When the preceding vehicle changes lanes while traveling between fixed vehicles following a preceding vehicle that is traveling at a vehicle speed slower than the set vehicle speed.
[0007]
  When the following vehicle that follows is changing lanes to enter the interchange or service area, the ACC system detects the movement of the preceding vehicle and switches from constant inter-vehicle travel to constant vehicle speed travel, and the vehicle starts accelerating to the set vehicle speed. However, in order to ensure safety, the ACC system does not switch to constant vehicle speed driving until the preceding vehicle has surely left the lane, so there is a problem that the timing at which the vehicle starts accelerating to the set vehicle speed is delayed. In such a case, if safety is confirmed, the preceding vehicle is temporarily locked off, so that the host vehicle can be quickly accelerated toward the set vehicle speed.
(4) To make it possible to interrupt smoothly when checking an interrupted vehicle.
[0008]
  When checking a vehicle that is entering the driving lane from an interchange or service area, or a vehicle that is entering by blinking a blinker from the adjacent lane, the vehicle speed of the vehicle is adjusted so that the interrupted vehicle can smoothly interrupt during normal driving. Adjust to make room. However, since the vehicle speed cannot be freely adjusted during the operation of the ACC system, there is a problem that the driver and the surrounding vehicle are stressed because the parallel interruption with the interruption vehicle is hindered. In such a case, if safety can be confirmed, the interrupting vehicle is locked on as soon as possible to adjust the inter-vehicle distance to make a space necessary for interruption.
(5) When a vehicle with a vehicle speed slower than the set vehicle speed in the adjacent lane is detected while driving at a constant vehicle speed at the set vehicle speed.
[0009]
  The ACC system estimates the travel locus of the host vehicle from the yaw rate (or rudder angle) and the vehicle speed, and recognizes an object present on the travel locus of the host vehicle from the objects detected by the object detection device as a preceding vehicle. However, there is a case where a vehicle in the adjacent lane is erroneously detected as a preceding vehicle depending on the situation because the future traveling locus is predicted from the current traveling state of the own vehicle and the object detection device has a detection error. . Normally, erroneous detection is canceled in a short time, but if a vehicle slower than the set vehicle speed is erroneously detected as a preceding vehicle, there is a problem that an unexpected deceleration is performed by the ACC system and the driver feels uncomfortable. In such a case, when the driver notices erroneous detection, the erroneous preceding vehicle is locked off, thereby preventing unnecessary automatic deceleration and resolving the driver's uncomfortable feeling.
[0010]
  The conventional ACC system does not have a means of switching the preceding vehicle during traveling between fixed vehicles, and in order to obtain the same effect,
・ Operate the accelerator pedal to temporarily set the ACC system to standby.
・ Operate the brake pedal to release the ACC system
-Cancel the ACC system by operating the cancel switch or main switch.
There are three methods.
[0011]
  However, the method of operating the accelerator pedal and the brake pedal is unexpectedly troublesome because it is necessary to use a foot that is not used during operation of the ACC system. Also, the method of operating the brake pedal and the switch is still troublesome because the released ACC system needs to be operated again.
[0012]
  The present invention has been made in view of the above-described circumstances, and an object thereof is to temporarily switch a preceding vehicle with a simple operation during operation of an ACC system.
[0013]
[Means for Solving the Problems]
  The present invention achieves the above object by the configuration shown in the claim correspondence diagram of FIG.
[0014]
  That is, according to the invention described in claim 1, an object detection device that detects an object in the traveling direction of the host vehicle, a distance calculation unit that calculates a distance to the object based on a detection result of the object detection device, A preceding vehicle determining means for determining a preceding vehicle that the own vehicle should follow based on a detection result of the object detecting device, an inter-vehicle distance setting means for setting an inter-vehicle distance from the preceding vehicle, and a vehicle for detecting a traveling state of the own vehicle When the preceding vehicle is determined by the state detection unit, the vehicle speed setting unit that sets the vehicle speed of the host vehicle, and the preceding vehicle determination unit, the inter-vehicle distance calculated by the distance calculation unit is set by the inter-vehicle distance setting unit. When there is no inter-vehicle distance control means for accelerating or decelerating the host vehicle with the vehicle speed set by the vehicle speed setting means as an upper limit, and there is no preceding vehicle determined by the preceding vehicle determining means, the vehicle state detecting means In an auto-cruise device having vehicle speed control means for accelerating or decelerating the host vehicle so that the detected vehicle speed matches the vehicle speed set by the vehicle speed setting means, the manual operation means operated by the driver, and the inter-vehicle distance And a preceding vehicle changing means for changing the preceding vehicle determined by the preceding vehicle determining means when the manual operating means is operated during the control by the control means.The preceding vehicle changing unit changes the preceding vehicle by deleting the preceding vehicle currently recognized by the preceding vehicle determining unit from the preceding vehicle candidates.An auto-cruise device is proposed.
[0015]
  According to the above configuration, the inter-vehicle distance control means sets the inter-vehicle distance calculated by the distance calculation means based on the detection result of the object detection device by the inter-vehicle distance setting means when the preceding vehicle is determined by the preceding vehicle determination means. The vehicle is accelerated or decelerated with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the inter-vehicle distance, and the vehicle travels between fixed vehicles. The vehicle speed control means accelerates or decelerates the own vehicle so that the vehicle speed detected by the vehicle state detection means coincides with the vehicle speed set by the vehicle speed setting means when there is no preceding vehicle determined by the preceding vehicle determination means. Then make your vehicle run at a constant vehicle speed. When the manual operation means is operated by the driver during the control by the inter-vehicle distance control means, the preceding vehicle changing means changes the preceding vehicle determined by the preceding vehicle determining means, so the fixed inter-vehicle travel with respect to the original preceding vehicle is canceled. Thus, the host vehicle can be accelerated to the vehicle speed set by the vehicle speed setting means, or the fixed inter-vehicle travel can be started with respect to the changed preceding vehicle.
[0016]
  Specifically, when trying to pass a preceding vehicle while driving between fixed vehicles, the preceding vehicle is locked off and the vehicle is accelerated to the set vehicle speed in the current lane to reduce the time required for overtaking Can do. In addition, when a lane change is made after a vehicle that has traveled in the adjacent lane at a high vehicle speed while traveling between fixed lanes and the vehicle is to follow the vehicle, the new preceding vehicle after the lane change is locked off and the vehicle is quickly It is possible to accelerate and follow the preceding vehicle smoothly. Further, when the preceding vehicle changes lanes while traveling between fixed vehicles, the preceding vehicle can be locked off early and the vehicle can be quickly accelerated toward the set vehicle speed. When an interrupted vehicle (or a merged vehicle) is confirmed, the preceding vehicle is locked off and the interrupted vehicle is locked on early, thereby adjusting the inter-vehicle distance and making a space necessary for the interrupt. In addition, when a vehicle with a vehicle speed slower than the set vehicle speed of the adjacent lane is detected erroneously while driving at a constant vehicle speed, unnecessary automatic deceleration is prevented and the driver feels uncomfortable by locking off the erroneous preceding vehicle. be able to.
[0017]
  According to the invention described in claim 2, in addition to the configuration of claim 1, the preceding vehicle changing means changes the preceding vehicle while the manual operating means is being operated. Is proposed.
[0018]
  According to the above configuration, since the preceding vehicle is changed while the manual operation means is operated, it is possible to change the preceding vehicle only during a period required by the driver.
[0019]
  According to the invention described in claim 3, in addition to the configuration of claim 1, the preceding vehicle changing means changes the preceding vehicle until the manual operation means is operated again. Is proposed.
[0020]
  According to the above configuration, since the preceding vehicle is changed until the manual operation means is operated again, it is possible to change the preceding vehicle only during a period required by the driver.
[0021]
  According to the invention described in claim 4, in addition to the configuration of claim 1, the preceding vehicle changing means changes the preceding vehicle for a predetermined time after the manual operation means is operated. A device is proposed.
[0022]
  According to the above configuration, since the preceding vehicle is changed for a predetermined time after the manual operation means is operated, the operation of the manual operation means becomes easy.
[0023]
  The predetermined time is set to 30 sec in the embodiment, but is not limited thereto.
[0024]
  According to the invention described in claim 5, in addition to the configuration of claim 4, when the manual operation means is operated again before the predetermined time elapses, the preceding vehicle changing means further starts from that point. An auto-cruise device is proposed that changes the preceding vehicle for a predetermined time.
[0025]
  According to the above configuration, if the manual operation means is operated again before the predetermined time elapses, the preceding vehicle is changed for a predetermined time from that time, so the preceding vehicle is changed only for a period required by the driver. It becomes possible.
[0026]
  According to the invention described in claim 6, in addition to the configuration of claim 1, the preceding vehicle changing means changes the preceding vehicle for a predetermined time after the manual operation means is operated for a predetermined time. An auto cruise device is proposed.
[0027]
  According to the above configuration, since the preceding vehicle is changed for a predetermined time after the manual operation means is operated for a predetermined time, the operation of the manual operation means becomes easy.
[0028]
  It should be noted that the predetermined time for operating the manual operation means and the predetermined time for changing the preceding vehicle need not be the same. In the embodiment, the former predetermined time is set to 1 sec and the latter predetermined time is set to 30 sec. However, the present invention is not limited to this.
[0029]
  According to the invention described in claim 7, in addition to the configuration of claim 6, when the manual operation means is operated again before the predetermined time elapses, the preceding vehicle changing means further starts from that point. An auto-cruise device is proposed that changes the preceding vehicle for a predetermined time.
[0030]
  According to the above configuration, if the manual operation means is operated again before the predetermined time elapses, the preceding vehicle is changed for a predetermined time from that time, so the preceding vehicle is changed only for a period required by the driver. It becomes possible.
[0031]
  According to the invention described in claim 8, in addition to the configuration of any one of claims 1 to 7, a trajectory for predicting the traveling trajectory of the own vehicle with a predetermined width in the vehicle width direction. Predicting means is provided, and the preceding vehicle determining means determines, among objects detected by the object detection device, an object that is within the traveling locus predicted by the locus predicting means and is closest to the center of the traveling locus as a preceding vehicle. An auto cruise device is proposed.
[0032]
  According to the above configuration, the trajectory predicting means predicts the traveling trajectory of the own vehicle having a predetermined width in the vehicle width direction, and the preceding vehicle determining means precedes the object closest to the center of the traveling trajectory in the traveling trajectory. Since it is determined as a car, it is possible to accurately determine the preceding vehicle without being affected by the curved state of the road or the detection error of the object detection device.
[0033]
  Note that the lock-on range of the embodiment corresponds to the progress locus of the present invention.
[0034]
  According to the ninth aspect of the present invention, in addition to the configuration of the eighth aspect, the preceding vehicle changing means is the second closest to the center of the traveling locus within the traveling locus predicted by the locus predicting means. An auto-cruise device is proposed in which an object is determined as a preceding vehicle.
[0035]
  According to the above configuration, since the second closest object to the center of the traveling locus in the predicted traveling locus is determined as a new preceding vehicle, it is possible to switch the preceding vehicle accurately.
[0036]
  According to the tenth aspect of the present invention, in addition to the configuration of the ninth aspect, there is provided a trajectory correcting means for expanding the width of the progress trajectory predicted by the trajectory predicting means when the manual operating means is operated. An auto cruise device characterized by the above is proposed.
[0037]
  According to the above configuration, since the trajectory correcting means expands the width of the travel trajectory predicted by the trajectory predicting means, it is possible to quickly determine an interrupted vehicle or a merged vehicle as a new preceding vehicle.
[0038]
  According to an eleventh aspect of the invention, in addition to the configuration of the tenth aspect, the trajectory correcting means changes the amount by which the width of the travel trajectory is enlarged according to the distance from the host vehicle. An auto cruise device is proposed.
[0039]
  According to the above configuration, the trajectory correcting means changes the amount by which the width of the travel trajectory is expanded according to the distance from the own vehicle, so according to the detection error of the object detection device and the time margin when another vehicle interrupts. The width of the travel locus can be expanded appropriately.
[0040]
  According to the invention described in claim 12, in addition to the configuration of claim 8, the preceding vehicle changing means is included in the traveling locus predicted by the locus predicting means according to the number of times the manual operation means is operated. An auto-cruise device is proposed in which the next closest object to the center of the travel locus is determined as a preceding vehicle.
[0041]
  According to the above configuration, the object next in the predicted traveling locus and next to the center of the traveling locus is determined as the preceding vehicle according to the number of times the manual operation means is operated. Any vehicle in the traveling locus can be selected as the preceding vehicle.
[0042]
  According to the invention described in claim 13, in addition to the configuration of any one of claims 1 to 12, the preceding vehicle changing means includes a preceding vehicle candidate other than the currently recognized preceding vehicle. There is proposed an auto-cruise device characterized in that there is no preceding vehicle when there is no vehicle.
[0043]
  According to the above configuration, when there is no preceding vehicle candidate other than the currently recognized preceding vehicle, the preceding vehicle changing means has no preceding vehicle, so that the vehicle speed matches the vehicle speed set by the vehicle speed setting means. The own vehicle can be accelerated or decelerated by the vehicle speed control means.
[0044]
  Claims 1 to above13The manual operation means M8 in the invention described in FIG. 3 includes the CHANGE switch 34 shown in FIGS. 3A and 3B, the operation lever 35 shown in FIG. 3C, the RES / CNG switch 37 shown in FIG. This corresponds to the operation lever 35 in FIG.
[0045]
DETAILED DESCRIPTION OF THE INVENTION
  Hereinafter, embodiments of the present invention will be described based on examples of the present invention shown in the accompanying drawings. 1 to 8 show an embodiment of the present invention. FIG. 1 is a block diagram of an object detection device, FIG. 2 is a perspective view of the object detection device, and FIG. 3 is a diagram showing a newly added CHANGE switch. 4 is a diagram showing a RESUME switch and an operation lever to which the function of the CHANGE switch is added, FIG. 5 is a flowchart of a main routine of the embodiment, FIG. 6 is an explanatory diagram of a method for expanding a lock-on range, and FIG. FIG. 7 is a diagram for explaining an interrupt in the ACC system of the embodiment.
[0046]
  As shown in FIGS. 1 and 2, the object detection device St for detecting the distance and direction of an object ahead of the host vehicle includes a laser radar device, and includes a light transmission unit 1, a light transmission scanning unit 2, It comprises a light receiving unit 3, a light receiving scanning unit 4, and a distance measurement processing unit 5. The light transmission unit 1 includes a laser diode 11 integrally provided with a light transmission lens, and a laser diode drive circuit 12 that drives the laser diode 11. The light transmission scanning unit 2 includes a light transmission mirror 13 that reflects the laser output from the laser diode 11, a motor 15 that reciprocates the light transmission mirror 13 about the vertical axis 14, and a motor drive that controls the driving of the motor 15. Circuit 16. The light transmission beam emitted from the light transmission mirror 13 is limited in the left-right width and has an elongated pattern in the vertical direction, which reciprocates in the left-right direction in a predetermined cycle to scan the object.
[0047]
  The light receiving unit 3 includes a light receiving lens 17, a photodiode 18 that receives a reflected wave converged by the light receiving lens 17 and converts it into an electrical signal, and a light receiving amplifier circuit 19 that amplifies an output signal of the photodiode 18. The light receiving scanning unit 4 controls the driving of the light receiving mirror 20 that reflects the reflected wave from the object and guides it to the photodiode 18, the motor 22 that reciprocates the light receiving mirror 20 around the left and right axis 21, and the driving of the motor 22. And a motor drive circuit 23. The light receiving area having a vertically narrowed pattern with a narrow vertical width is scanned back and forth in the vertical direction by the light receiving mirror 20 in a predetermined cycle.
[0048]
  The distance measurement processing unit 5 includes a communication circuit 26 that performs communication between the control circuit 24 that controls the laser diode drive circuit 12 and the motor drive circuits 16 and 23 and the electronic control unit 25 that controls the adaptive cruise control device. A counter circuit 27 that counts the time from laser light transmission to light reception, and a central processing unit 28 that calculates the distance to the object and the direction of the object.
[0049]
  Thus, the portion where the light transmission area elongated in the vertical direction and the light receiving area elongated in the left-right direction becomes an instantaneous detection area, and this detection area has a horizontal width equal to the horizontal scanning width of the light transmission beam, The entire detection area having the vertical width equal to the vertical scanning width of the light receiving area is moved zigzag to scan the object. The distance to the object is detected based on the time from when the light transmission beam is transmitted to when the reflected wave reflected by the object is received, and the instantaneous detection area at that time is detected. The direction of the object is detected based on the direction.
[0050]
  Next, a switch for temporarily switching the preceding vehicle during traveling by the ACC system will be described.
[0051]
  The example shown in FIGS. 3A and 3B shows a CHANGE switch for temporarily switching the preceding vehicle adjacent to the SET switch 31, RESUME switch 32 and CANCEL switch 33 provided on the steering wheel 30. 34 was newly established. In the example shown in FIG. 3C, the operation lever 35 of the ACC system is used, and the CRUISE ON / OFF switch is operated by the button 36 of the operation lever 35 as in the conventional case, and the operation lever 35 is operated downward. The SET / COAST switch is activated, the RES / ACC switch is activated by operating the operating lever 35 upward, and the CANCEL switch is operated by operating the operating lever 35 toward the front. By operating the lever 35 to the other side, a newly installed CHANGE switch is activated. In addition, a CHANGE switch can be arranged at a position where the driver can easily operate, such as an instrument panel or a shift knob.
[0052]
[Table 1]

[0053]
  Table 1 shows the operation method of the CHANGE switch.
[0054]
  In the continuous pressing method, the preceding vehicle is switched only while the CHANGE switch is pressed. When the CHANGE switch is released, the original preceding vehicle recognition condition is automatically restored.
[0055]
  In the 1-push method, the preceding vehicle is switched when the CHANGE switch is pressed, and automatically returns to the original preceding vehicle recognition condition when a certain time (for example, 30 sec) elapses.
[0056]
  The example shown in FIG. 4A is a RES / CNG switch 37 by adding a function of a CHANGE switch for temporarily switching a preceding vehicle to an existing RESUME switch. In the example shown in FIG. 2, a CHANGE / ACC / CNG switch is added to the existing RES / ACC switch of the operation lever 35 of the ACC system by adding a function of a CHANGE switch for temporarily switching the preceding vehicle.
[0057]
[Table 2]

[0058]
  The functions shown in Table 2 are already allocated to the existing RESUME switch that does not have the function of the CHANGE switch.
[0059]
  That is, (1) RESUME function to start ACC running at the set vehicle speed memorized in the previous cruise by one push or continuous push in ACC system standby state, and (2) Short time 1 during ACC system operation. It has an Accelerate function that raises the set vehicle speed by one step (for example, 1 km / h) by pushing, and (3) an Accelerate function that continuously raises the set vehicle speed by continuously pushing without a preceding vehicle. Therefore, (5) 1-push method for a long time (about 1 sec) while the ACC system of unset-2 is in operation, and (6) continuous push-up method in the state of detecting the preceding vehicle of unset-3 Is selected as the operation method.
[0060]
[Table 3]

[0061]
  In other words, as shown in Table 3, if the RES / CNG switch (see FIG. 4A) or the RES / ACC / CNG switch (see FIG. 4B) is pushed for a long time, the preceding vehicle temporarily When a certain time (for example, 30 seconds) elapses, the original preceding vehicle recognition conditions are restored. If the switch is pushed once again for a long time before the predetermined time elapses, the time for temporarily switching the preceding vehicle is extended, and the time extension is repeated every time the switch is pressed. If the RES / CNG switch or the RES / ACC / CNG switch is continuously pressed, the preceding vehicle is temporarily switched only when the preceding vehicle is detected at that time. Thus, the reason why the preceding vehicle is temporarily switched only when the preceding vehicle is detected is to distinguish it from the ACCELATE function in the state where there is no preceding vehicle. Therefore, in a state where there is no preceding vehicle, even if the RES / CNG switch or the RES / ACC / CNG switch is continuously pressed, the vehicle that switches the preceding vehicle and joins the own lane cannot be locked on early.
[0062]
  Next, five specific methods for temporarily switching the preceding vehicle will be described.
(1) Set the second closest target in the lock-on range as the preceding vehicle.
[0063]
  In the ACC system, the target closest to the estimated travel locus of the own vehicle (that is, the center of the lock-on range) is recognized as the preceding vehicle, but it is switched to the second closest target. If there is no second closest target, there is no preceding vehicle.
(2) Delete the currently recognized preceding vehicle from the preceding vehicle candidates.
[0064]
  By deleting the current preceding vehicle from the preceding vehicle candidates, the second candidate among the preceding vehicle candidates becomes the preceding vehicle. If there is no preceding vehicle candidate other than the current preceding vehicle, it is determined that there is no preceding vehicle.
(3) The lock-on range will be expanded and the nearest target will be the preceding vehicle, excluding the current preceding vehicle.
[0065]
  If there is no target other than the current preceding vehicle within the expanded lock-on range, it is determined that there is no preceding vehicle.
(4) The current preceding car is deleted from the preceding car candidates and the lock-on range is expanded.
[0066]
  If there is no other target within the expanded lock-on range, there is no preceding vehicle. (5) Each time the switch is operated, the target is switched from the second closest target in the lock-on range to the third closest target to the fourth target.
[0067]
  After there are no other preceding vehicle candidates within the lock-on range, it is determined that there is no preceding vehicle.
[0068]
  The methods (3) and (4) for expanding the lock-on range have the effect of locking on an interrupted vehicle from the adjacent lane or a merged vehicle from the interchange or service area early.
[0069]
  As shown in FIG. 6A, in the normal lock-on range, the travel locus of the own vehicle is calculated from the vehicle speed and yaw rate (or rudder angle) of the own vehicle, and the lane width (3. 6m) + margin width (0.4m) (4.0m) is equally distributed and set. Accordingly, the entire width of the lock-on range is 4.0 m, and the width of the lock locus is 2.0 m on each of the left and right sides of the travel locus.
[0070]
  As shown in FIG. 6 (B), the first method of expanding the lock-on range is that the width of three lanes (3.6 m × 3 = 10.8 m) on the left and right of the travel locus—the position of the vehicle in the lane The width (9.0 m) of the error width (0.9 m × 2 = 1.8 m) is equally distributed and set. Therefore, the total width of the lock-on range is 9.0 m, and the width of each of the traveling tracks is 4.5 m on both sides.
[0071]
  As shown in FIG. 6C, the second method of expanding the lock-on range is to change the amount of the lock-on range that is expanded according to the distance from the host vehicle. In other words, the probability of false detection is low because the influence of the error of the yaw rate sensor and rudder angle sensor is small at a short distance, and there is a time margin for interrupting at a long distance, so it is necessary to forcibly advance the detection timing. There is no. Accordingly, the entire width of the lock-on range is wide at a short distance (width 5.6 m at a distance of 20 m) and narrow at a long distance (width 9.0 m at a distance of 50 m, and width 4.0 m at a distance of 100 m).
[0072]
  Next, the operation of temporarily switching the preceding vehicle will be described based on the flowchart of FIG.
[0073]
  The premise is that the new CHANGE switch shown in FIGS. 3 (A) to 3 (C) is used, the operation method is the continuous push method shown in Table 1, and the method of switching the preceding vehicle is as described in (1). The second closest target in the lock-on range is the preceding vehicle.
[0074]
  In the flowchart of FIG. 5, first, in step S1, all the targets in the detection area are detected by the object detection device St and stored in the target memory, and in step S2, the vehicle is based on the vehicle speed and yaw rate (or steering angle) of the vehicle. Is calculated. In the next step S3, the previous target data and the current target data are compared and the data is transferred. In step S4, the first preceding vehicle candidate and the second preceding vehicle candidate are selected from the target data and the traveling locus of the own vehicle. To do. The first preceding vehicle candidate is the target closest to the traveling locus of the own vehicle (that is, the center of the lock-on range), and the second preceding vehicle candidate is second closest to the traveling locus of the own vehicle (that is, the center of the lock-on range). Is the target.
[0075]
  If the current CHANGE switch is pressed in step S5, the second preceding vehicle candidate is determined as the preceding vehicle in step S6. If the current CHANGE switch is not pressed in step S5, the first preceding vehicle candidate is determined in step S7. It will be the preceding vehicle. If there is a preceding vehicle in step S8, the inter-vehicle travel control is executed in step S9. In the inter-vehicle running control, if the inter-vehicle distance with the preceding vehicle exceeds the set inter-vehicle distance in step S10, the acceleration control is executed in step S11, and the inter-vehicle distance with the preceding vehicle matches the set inter-vehicle distance in step S10. If so, constant speed control is executed in step S12, and if the inter-vehicle distance with the preceding vehicle is less than the set inter-vehicle distance in step S10, deceleration control is executed in step S13, thereby setting the inter-vehicle distance to the set inter-vehicle distance. To match.
[0076]
  If no preceding vehicle exists in step S8, constant vehicle speed travel control is executed in step S14. In constant vehicle speed running control, if the host vehicle speed exceeds the set vehicle speed in step S15, deceleration control is executed in step S16, and if the host vehicle speed matches the set vehicle speed in step S15, constant speed control is executed in step S17. If the host vehicle speed is lower than the set vehicle speed in step S15, acceleration control is executed in step S18, thereby matching the host vehicle speed with the set vehicle speed.
[0077]
  Next, the effect of the present embodiment will be described by taking as an example a case where another vehicle has interrupted from the adjacent lane when traveling between fixed vehicles following a preceding vehicle slower than the set vehicle speed.
[0078]
  FIG. 7 shows a conventional example. A self-vehicle (2) equipped with a conventional ACC system performs a constant inter-vehicle travel following the preceding vehicle (1) at a vehicle speed of 80 km / h (see FIG. 7 (A)). ). The vehicle (4) in the adjacent lane blinks the blinker and tries to interrupt the front of the vehicle (2), but the vehicle (4) is not recognized as the preceding vehicle, so the vehicle is the preceding vehicle (1 ) Is continued as it is (see FIG. 7B). When the vehicle (4) cuts ahead of the host vehicle (2) and is recognized as a new preceding vehicle, the host vehicle (80) will move at a speed of 80 km / h in order to drive the new preceding vehicle (4). The speed is reduced from h to 70 km / h (see FIG. 7C). When the inter-vehicle distance increases to the set inter-vehicle distance, the host vehicle travels at a constant inter-vehicle speed following the new preceding vehicle (4) at a speed of 80 km / h (see FIG. 7D). In this way, in a vehicle equipped with a conventional ACC system, if an interrupt from the adjacent lane is received while driving between fixed vehicles, the vehicle speed will change greatly, causing the driver to feel uncomfortable, as well as stressing surrounding vehicles. Will give.
[0079]
  FIG. 8 shows the present embodiment. The own vehicle (2) equipped with the ACC system of the present embodiment travels at a constant speed following the preceding vehicle (1) at a vehicle speed of 80 km / h (FIG. 8 ( A)). When the driver who notices that the vehicle in the next lane (4) blinks the blinker and tries to interrupt the front of the vehicle (2) and presses the CHANGE switch, the preceding vehicle interrupts the current preceding vehicle (1). Switching to vehicle (4), own vehicle (2) decelerates quickly from 80 km / h to 75 km / h in order to secure a space for the new preceding vehicle (4) to interrupt (Fig. 8 (B) reference). As a result, the new preceding vehicle (4) can smoothly interrupt in front of the own vehicle (2), and even if the driver then releases the CHANGE switch, the new preceding vehicle (4) has moved to the front of the own vehicle (2). The car (4) is recognized as a preceding car as it is (see FIG. 8C). The own vehicle (2) accelerates up to 80 km / h and travels between the two vehicles following the new preceding vehicle (4) (see FIG. 8D). In this way, when a vehicle in the adjacent lane tries to interrupt the front of the vehicle, the vehicle is decelerated earlier by recognizing the interrupted vehicle as the preceding vehicle instead of the original preceding vehicle. Can be smoothly interrupted, the change in the vehicle speed of the own vehicle can be suppressed to reduce the driver's discomfort, and the stress on the surrounding vehicles can be reduced.
[0080]
  As described above, according to the present embodiment, the driver can temporarily switch the preceding vehicle only by manually operating the switch without operating the accelerator pedal or the brake pedal during the operation of the ACC system, and Since it is possible to automatically return to the original preceding vehicle recognition condition, usability of the ACC system is greatly improved. Specifically, when trying to pass a preceding vehicle while driving between fixed vehicles, the preceding vehicle is locked off and the vehicle is accelerated to the set vehicle speed in the current lane to reduce the time required for overtaking Can do. Also, when changing lanes after a vehicle that has traveled in the adjacent lane at a high vehicle speed while traveling between fixed lanes, and trying to follow the vehicle, the new preceding vehicle after the lane change is locked off and the vehicle is quickly It is possible to accelerate and follow the preceding vehicle smoothly. In addition, when the preceding vehicle changes lanes while traveling between fixed vehicles, the preceding vehicle can be locked off early to accelerate the vehicle toward the set vehicle speed. When an interrupted vehicle (or a merged vehicle) is confirmed, the preceding vehicle is locked off and the interrupted vehicle is locked on early, thereby adjusting the inter-vehicle distance and making a space necessary for the interrupt. In addition, when a vehicle with a vehicle speed slower than the set vehicle speed of the adjacent lane is detected erroneously while driving at a constant vehicle speed, unnecessary automatic deceleration is prevented and the driver feels uncomfortable by locking off the erroneous preceding vehicle. be able to.
[0081]
  As mentioned above, although the Example of this invention was explained in full detail, this invention can perform a various design change in the range which does not deviate from the summary.
[0082]
  For example, although a laser radar device is used as the object detection device St in the embodiment, a millimeter wave radar device or a television camera can be used.
[0083]
【The invention's effect】
  As described above, according to the first aspect of the present invention, the inter-vehicle distance control means is calculated by the distance calculation means based on the detection result of the object detection device when the preceding vehicle is determined by the preceding vehicle determination means. The own vehicle is accelerated or decelerated with the vehicle speed set by the vehicle speed setting means as an upper limit so that the inter-vehicle distance matches the inter-vehicle distance set by the inter-vehicle distance setting means, and the own vehicle travels between fixed vehicles. The vehicle speed control means accelerates or decelerates the own vehicle so that the vehicle speed detected by the vehicle state detection means coincides with the vehicle speed set by the vehicle speed setting means when there is no preceding vehicle determined by the preceding vehicle determination means. Then make your vehicle run at a constant vehicle speed. When the manual operation means is operated by the driver during the control by the inter-vehicle distance control means, the preceding vehicle changing means changes the preceding vehicle determined by the preceding vehicle determining means, so the fixed inter-vehicle travel with respect to the original preceding vehicle is canceled. Thus, the host vehicle can be accelerated to the vehicle speed set by the vehicle speed setting means, or the fixed inter-vehicle travel can be started with respect to the changed preceding vehicle.
[0084]
  Specifically, when trying to pass a preceding vehicle while driving between fixed vehicles, the preceding vehicle is locked off and the vehicle is accelerated to the set vehicle speed in the current lane to reduce the time required for overtaking Can do. In addition, when a lane change is made after a vehicle that has traveled in the adjacent lane at a high vehicle speed while traveling between fixed lanes and the vehicle is to follow the vehicle, the new preceding vehicle after the lane change is locked off and the vehicle is quickly It is possible to accelerate and follow the preceding vehicle smoothly. Further, when the preceding vehicle changes lanes while traveling between fixed vehicles, the preceding vehicle can be locked off early and the vehicle can be quickly accelerated toward the set vehicle speed. When an interrupted vehicle (or a merged vehicle) is confirmed, the preceding vehicle is locked off and the interrupted vehicle is locked on early, thereby adjusting the inter-vehicle distance and making a space necessary for the interrupt. In addition, when a vehicle with a vehicle speed slower than the set vehicle speed of the adjacent lane is detected erroneously while driving at a constant vehicle speed, unnecessary automatic deceleration is prevented and the driver feels uncomfortable by locking off the erroneous preceding vehicle. be able to.
[0085]
  According to the second aspect of the present invention, since the preceding vehicle is changed while the manual operation means is operated, it is possible to change the preceding vehicle only during a period required by the driver.
[0086]
  According to the third aspect of the present invention, since the preceding vehicle is changed until the manual operation means is operated again, it is possible to change the preceding vehicle only during a period required by the driver. According to the invention described in claim 4, since the preceding vehicle is changed for a predetermined time after the manual operation means is operated, the operation of the manual operation means becomes easy.
[0087]
  According to the fifth aspect of the present invention, if the manual operation means is operated again before the predetermined time elapses, the preceding vehicle is changed for a predetermined time from that point, so the driver needs it. It becomes possible to change the preceding vehicle only during the period.
[0088]
  According to the invention described in claim 6, since the preceding vehicle is changed for a predetermined time after the manual operation means is operated for a predetermined time, the operation of the manual operation means becomes easy.
[0089]
  According to the invention described in claim 7, if the manual operation means is operated again before the predetermined time elapses, the preceding vehicle is changed for a predetermined time from that point, so that the driver needs It becomes possible to change the preceding vehicle only during the period.
[0090]
  According to the invention described in claim 8, the trajectory predicting means predicts the travel trajectory of the own vehicle having a predetermined width in the vehicle width direction, and the preceding vehicle determining means is within the travel trajectory and of the travel trajectory. Since the object closest to the center is determined as the preceding vehicle, it is possible to accurately determine the preceding vehicle without being affected by the curved state of the road or the detection error of the object detection device.
[0091]
  According to the ninth aspect of the present invention, the object closest to the center of the traveling locus in the predicted traveling locus is determined as the new preceding vehicle, so that it is possible to accurately switch the preceding vehicle. become.
[0092]
  According to the invention described in claim 10, since the trajectory correcting means expands the width of the progress trajectory predicted by the trajectory predicting means, it is possible to quickly determine an interrupted vehicle or a merged vehicle as a new preceding vehicle.
[0093]
  According to the eleventh aspect of the present invention, the trajectory correcting means changes the amount by which the width of the travel trajectory is enlarged according to the distance from the own vehicle. It is possible to appropriately expand the width of the travel locus according to the time allowance.
[0094]
  According to the twelfth aspect of the present invention, an object within the predicted traveling locus and closest to the center of the traveling locus is determined as the preceding vehicle according to the number of times the manual operation means is operated. Depending on the will of the driver, any vehicle in the traveling track can be selected as the preceding vehicle.
[0095]
  According to the invention described in claim 13, when there is no preceding vehicle candidate other than the currently recognized preceding vehicle, the preceding vehicle change means sets no preceding vehicle, so the vehicle speed is set by the vehicle speed setting means. The host vehicle can be accelerated or decelerated by the vehicle speed control means so as to coincide with the vehicle speed.
[Brief description of the drawings]
FIG. 1 is a block diagram of an object detection device.
FIG. 2 is a perspective view of an object detection device.
FIG. 3 is a diagram showing a newly added CHANGE switch.
FIG. 4 is a diagram showing a RESUME switch and an operation lever to which a function of a CHANGE switch is added.
FIG. 5 is a flowchart of a main routine of the embodiment.
FIG. 6 is an explanatory diagram of a technique for expanding the lock-on range.
FIG. 7 is a diagram for explaining an interrupt in a conventional ACC system.
FIG. 8 is a diagram illustrating an interrupt in the ACC system according to the embodiment.
[Fig. 9] Complaint correspondence diagram
[Explanation of symbols]
M1 distance calculation means
M2 preceding vehicle judgment means
M3 inter-vehicle distance setting means
M4 vehicle state detection means
M5 vehicle speed setting means
M6 inter-vehicle distance control means
M7 vehicle speed control means
M8 manual operation means
M9 preceding vehicle change means
M10 Trajectory prediction means
M11 locus correction means
St object detection device

Claims (13)

An object detection device (St) that detects an object in the traveling direction of the host vehicle; a distance calculation means (M1) that calculates a distance to the object based on a detection result of the object detection device (St);
Preceding vehicle determination means (M2) for determining a preceding vehicle that the host vehicle should follow based on the detection result of the object detection device (St);
An inter-vehicle distance setting means (M3) for setting an inter-vehicle distance from the preceding vehicle;
Vehicle state detection means (M4) for detecting the traveling state of the vehicle;
Vehicle speed setting means (M5) for setting the vehicle speed of the own vehicle;
When the preceding vehicle is determined by the preceding vehicle determining means (M2), the vehicle speed is set so that the inter-vehicle distance calculated by the distance calculating means (M1) matches the inter-vehicle distance set by the inter-vehicle distance setting means (M3). An inter-vehicle distance control means (M6) for accelerating or decelerating the host vehicle with the vehicle speed set by the means (M5) as an upper limit;
When there is no preceding vehicle determined by the preceding vehicle determining means (M2), the vehicle is detected so that the vehicle speed detected by the vehicle state detecting means (M4) matches the vehicle speed set by the vehicle speed setting means (M5). Vehicle speed control means (M7) for accelerating or decelerating;
In an auto cruise device equipped with
Manual operation means (M8) operated by a driver;
When manual operation means during the control by the inter-vehicle distance control means (M6) (M8) is operated, and a preceding vehicle changing means for changing a preceding vehicle is determined (M9) by the preceding vehicle judgment means (M2) ,
The preceding vehicle changing means (M9) changes the preceding vehicle by deleting the preceding vehicle currently recognized by the preceding vehicle determining means (M2) from the preceding vehicle candidates .   The auto cruise device according to claim 1, wherein the preceding vehicle changing means (M9) changes the preceding vehicle while the manual operation means (M8) is being operated.   The auto cruise device according to claim 1, wherein the preceding vehicle changing means (M9) changes the preceding vehicle until the manual operation means (M8) is operated again.   The auto cruise device according to claim 1, wherein the preceding vehicle changing means (M9) changes the preceding vehicle for a predetermined time after the manual operation means (M8) is operated. Preceding vehicle changing means (M9), when the re manual actuating means before the predetermined time elapses (M8) is operated, and changes the further predetermined time Masaki row vehicles from that point, claims 4. The auto cruise device according to 4.   The auto cruise device according to claim 1, wherein the preceding vehicle changing means (M9) changes the preceding vehicle for a predetermined time after the manual operation means (M8) is operated for a predetermined time.   The preceding vehicle changing means (M9) further changes the preceding vehicle for a predetermined time from that point when the manual operation means (M8) is operated again before the predetermined time elapses. Auto cruise device as described in   A trajectory predicting means (M10) for predicting the traveling trajectory of the own vehicle with a predetermined width in the vehicle width direction is provided, and the preceding vehicle determining means (M2) predicts a trajectory among the objects detected by the object detecting device (St). The auto according to any one of claims 1 to 7, characterized in that an object closest to the center of the traveling locus in the traveling locus predicted by the means (M10) is determined as a preceding vehicle. Cruise equipment.   The preceding vehicle changing means (M9) determines an object that is second closest to the center of the traveling locus in the traveling locus predicted by the locus predicting means (M10) as a preceding vehicle. Auto cruise device as described in   The trajectory correcting means (M11) for enlarging the width of the progress trajectory predicted by the trajectory predicting means (M10) when the manual operating means (M8) is operated. Auto cruise device.   The auto-cruise device according to claim 10, wherein the trajectory correcting means (M11) changes an amount of expanding the width of the travel trajectory according to the distance from the host vehicle.   The preceding vehicle changing means (M9) selects an object in the traveling locus predicted by the locus predicting means (M10) and closest to the center of the traveling locus according to the number of times the manual operation means (M8) is operated. 9. The auto cruise device according to claim 8, wherein the auto cruise device is determined as a preceding vehicle. The preceding vehicle changing means (M9) is characterized in that when there is no preceding vehicle candidate other than the currently recognized preceding vehicle, there is no preceding vehicle. Auto cruise equipment.

Images