JP4593442B2 - Inter-vehicle distance control device - Google Patents

Description

  The present invention relates to an inter-vehicle distance control device.

Conventionally, for example, in an inter-vehicle distance control device that controls the inter-vehicle distance between the host vehicle and the preceding vehicle by causing the host vehicle to follow the preceding vehicle, a control mode in which the inter-vehicle distance is set to a relatively short value. In the control mode in which the inter-vehicle distance is set to be a relatively long value, the occupant can control the own vehicle by allowing overshoot that causes the own vehicle to approach the preceding vehicle beyond the target inter-vehicle distance. There is known an inter-vehicle distance control device that prevents a user from feeling uncomfortable with the traveling behavior of the vehicle (see, for example, Patent Document 1).
JP 2004-217175 A

By the way, in the inter-vehicle distance control device according to the above-described prior art, it is only necessary to set whether or not to allow overshoot according to each control mode selected in advance by the driver. Even if the driver's driving intention (for example, whether or not he / she wants to accelerate or decelerate) changes, the convergence state when the actual inter-vehicle distance converges to the target inter-vehicle distance, for example, overshoot amount or convergence The speed or the like cannot be changed, and the occupant may feel uncomfortable with the traveling behavior of the host vehicle.
The present invention has been made in view of the above circumstances, and it is possible to prevent an occupant from feeling uncomfortable with the traveling behavior of the own vehicle when controlling the inter-vehicle distance between the own vehicle and the preceding vehicle. An object is to provide a distance control device.

In order to solve the above problems and achieve the object, the inter-vehicle distance control device according to the first aspect of the present invention is an object detection unit (for example, in the embodiment) that detects an object existing in the traveling direction of the host vehicle. Radar apparatus 11 and object position detection unit 21), and preceding vehicle determination means (for example, in the embodiment) for determining whether or not the object detected by the object detection means is a preceding vehicle related to the control of the own vehicle. Control object setting unit 24) and an inter-vehicle distance detection means for detecting an actual inter-vehicle distance between the host vehicle and the preceding vehicle based on the output of the object detection means (for example, the control object setting unit in the embodiment) 24), target inter-vehicle distance setting means for setting a target inter-vehicle distance between the host vehicle and the preceding vehicle (for example, the travel control unit 25 in the embodiment), the actual inter-vehicle distance, and the target inter-vehicle distance. based on the, before A following distance control device and a vehicle distance control means (e.g., serving also as the driving control unit 25 in the embodiment) for controlling the inter-vehicle distance between the preceding vehicle and the subject vehicle, the driver's accelerating intention Acceleration / deceleration intention detection means (for example, a driving intention detection unit 23 in the embodiment) for detecting at least one of the deceleration intention and the inter-vehicle distance control means when the inter-vehicle distance control means causes the host vehicle to follow the preceding vehicle In addition, when the vehicle is allowed to overshoot the vehicle closer to the preceding vehicle beyond the target inter-vehicle distance, and the acceleration intention is detected by the acceleration / deceleration intention detection means, the acceleration intention is not detected compared to the prior the actual inter-vehicle distance as overshoot amount the actual inter-vehicle distance when the vehicle is approaching to the preceding vehicle is equal to or less than the target inter-vehicle distance increases Change the convergence characteristics when caused to converge to the target inter-vehicle distance, and when the deceleration intention is detected by said deceleration intention detecting means, as compared with the case where the deceleration intention is not detected, the overshoot amount is reduced Thus, the convergence characteristic is changed as described above .

According to the inter-vehicle distance control device having the above configuration, by changing the convergence characteristic when the actual inter-vehicle distance between the host vehicle and the preceding vehicle converges to the target inter-vehicle distance based on the driver's acceleration intention or deceleration intention The driving intention of the driver can be appropriately reflected in the driving behavior of the vehicle.
Further, according to the inter-vehicle distance control device having the above-described configuration, the inter-vehicle distance control means exceeds the target inter-vehicle distance when the driver's acceleration intention is detected as compared with the case where the acceleration intention is not detected. Then, the amount of overshoot that approaches the preceding vehicle is increased, and the distance between the actual vehicle and the preceding vehicle is set to be relatively short. As a result, the driving intention of the driver can be appropriately reflected in the driving behavior of the vehicle, and the driver can be prevented from feeling uncomfortable in the inter-vehicle control.
Further, according to the inter-vehicle distance control device having the above-described configuration, the inter-vehicle distance control means exceeds the target inter-vehicle distance when the driver's intention to decelerate is detected, compared to when the decelerating intention is not detected. The amount of overshoot that approaches the preceding vehicle is reduced, and the distance between the actual vehicle and the preceding vehicle is set to be relatively long. As a result, the driving intention of the driver can be appropriately reflected in the driving behavior of the vehicle, and the driver can be prevented from feeling uncomfortable in the inter-vehicle control.

  Furthermore, in the inter-vehicle distance control device according to the second aspect of the present invention, the inter-vehicle distance control means controls the inter-vehicle distance based on the actual inter-vehicle distance and the relative speed between the host vehicle and the preceding vehicle. And the convergence characteristic is changed by changing the target acceleration when the acceleration intention or the deceleration intention is detected by the acceleration / deceleration intention detection means. .

  According to the inter-vehicle distance control device configured as described above, the inter-vehicle distance control means is required to converge the actual inter-vehicle distance to the target inter-vehicle distance based on the actual inter-vehicle distance and the relative speed between the host vehicle and the preceding vehicle. Set the target acceleration. Then, by changing the target acceleration in accordance with the driver's intention to accelerate or decelerate, the convergence characteristic when the actual inter-vehicle distance converges to the target inter-vehicle distance can be changed. As a result, the driving intention of the driver can be appropriately reflected in the driving behavior of the vehicle.

  Furthermore, in the inter-vehicle distance control device according to the third aspect of the present invention, the inter-vehicle distance control means changes the target acceleration depending on whether the host vehicle is approaching or moving away from the preceding vehicle. It is a feature.

According to the inter-vehicle distance control device having the above-described configuration, the inter-vehicle distance control means sets the convergence characteristic when converging the actual inter-vehicle distance between the vehicle and the preceding vehicle to the target inter-vehicle distance to the driver's acceleration intention or deceleration intention. In addition, it changes depending on whether the host vehicle is approaching or leaving the preceding vehicle.
Thereby, for example, when the control operation of the inter-vehicle distance control means and the driving intention of the driver match, the driving intention of the driver can be appropriately reflected in the driving behavior of the own vehicle, When the control operation of the distance control means and the driver's driving intention are contradictory, the control operation of the inter-vehicle distance control means can be prioritized and the actual inter-vehicle distance can be appropriately converged to the target inter-vehicle distance.

Furthermore, in the inter-vehicle distance control device according to the fourth aspect of the present invention, accelerator pedal depression amount detection means (for example, accelerator pedal operation sensor 15 in the embodiment) for detecting the depression amount of the accelerator pedal by the driver; Pedal reaction force control means for controlling the accelerator pedal reaction force (for example, reaction force load in the embodiment) based on outputs from the accelerator pedal depression amount detection means and the inter-vehicle distance control means (for example, in the embodiment) A pedal reaction force control unit 26), wherein the acceleration / deceleration intention detection means is operated when an accelerator pedal depression amount by a driver is larger than an accelerator pedal depression amount according to an output from the inter-vehicle distance control means. It is characterized by detecting that the person has the acceleration intention.

  According to the inter-vehicle distance control device having the above-described configuration, the pedal reaction force control means includes, in advance, a control state of the inter-vehicle distance control means, an accelerator pedal opening (that is, an accelerator pedal depression amount) and an accelerator pedal reaction force. The predetermined correspondence relationship is stored. When the accelerator pedal depression amount detected by the accelerator pedal depression amount detection means is larger than the accelerator pedal depression amount corresponding to the control state of the inter-vehicle distance control means, the driver has an intention to accelerate. Judge that. Thereby, based on a driver | operator's accelerator pedal operation, a driver | operator's driving intention can be detected appropriately.

Furthermore, in the inter-vehicle distance control device according to the fifth aspect of the present invention, accelerator pedal depression amount detection means (for example, accelerator pedal operation sensor 15 in the embodiment) for detecting the depression amount of the accelerator pedal by the driver; Pedal reaction force control means for controlling the accelerator pedal reaction force (for example, reaction force load in the embodiment) based on outputs from the accelerator pedal depression amount detection means and the inter-vehicle distance control means (for example, in the embodiment) The acceleration / deceleration intention detection means is operated when the accelerator pedal depression amount by the driver is smaller than the accelerator pedal depression amount according to the output from the inter-vehicle distance control means. It is characterized in that it is detected that the person has the deceleration intention.

  According to the inter-vehicle distance control device having the above-described configuration, the pedal reaction force control means includes, in advance, a control state of the inter-vehicle distance control means, an accelerator pedal opening (that is, an accelerator pedal depression amount) and an accelerator pedal reaction force. The predetermined correspondence relationship is stored. If the accelerator pedal depression amount detected by the accelerator pedal depression amount detection means is smaller than the accelerator pedal depression amount corresponding to the control state of the inter-vehicle distance control means, the driver has a willingness to decelerate. Judge that. Thereby, based on a driver | operator's accelerator pedal operation, a driver | operator's driving intention can be detected appropriately.

Furthermore, in the inter-vehicle distance control device according to the sixth aspect of the present invention, the pedal reaction force control means is configured such that the depression amount of the accelerator pedal by the driver is greater than the depression amount of the accelerator pedal according to the output from the inter-vehicle distance control means. When the value is larger, the accelerator pedal reaction force is increased.

  According to the inter-vehicle distance control device having the above configuration, the pedal reaction force control means sets in advance a predetermined accelerator pedal depression amount corresponding to a predetermined control state of the inter-vehicle distance control means, and the accelerator pedal depression amount detection means When the accelerator pedal depression amount detected by the driver is larger than a predetermined accelerator pedal depression amount, the accelerator pedal reaction force is increased. Thereby, the driver can appropriately recognize the control state of the inter-vehicle distance control means via the accelerator pedal reaction force.

Furthermore, in the inter-vehicle distance control device according to the seventh aspect of the present invention, the pedal reaction force control means is configured such that the depression amount of the accelerator pedal by the driver is greater than the depression amount of the accelerator pedal according to the output from the inter-vehicle distance control means. If it is smaller, the accelerator pedal reaction force is reduced.

  According to the inter-vehicle distance control device having the above configuration, the pedal reaction force control means sets in advance a predetermined accelerator pedal depression amount corresponding to a predetermined control state of the inter-vehicle distance control means, and the accelerator pedal depression amount detection means When the accelerator pedal depression amount detected by the driver is smaller than a preset accelerator pedal depression amount, the accelerator pedal reaction force is decreased. Thereby, the driver can appropriately recognize the control state of the inter-vehicle distance control means via the accelerator pedal reaction force.

As described above, according to the inter-vehicle distance control device of the present invention described in claim 1, the convergence characteristic when the actual inter-vehicle distance between the host vehicle and the preceding vehicle is converged to the target inter-vehicle distance is By changing based on the acceleration intention or deceleration intention of the vehicle, the driving intention of the driver can be appropriately reflected in the driving behavior of the vehicle, and the driver can be prevented from feeling uncomfortable in the inter-vehicle control. .
Furthermore, according to the inter-vehicle distance control device of the present invention as set forth in claim 2, the target inter-vehicle distance is converged to the target inter-vehicle distance by changing the target acceleration in accordance with the driver's intention to accelerate or decelerate. The convergence characteristic can be changed, and the driving intention of the driver can be appropriately reflected in the driving behavior of the vehicle.

Further, according to the inter-vehicle distance control device of the third aspect of the present invention, for example, when the control operation of the inter-vehicle distance control means coincides with the driving intention of the driver, the driving behavior of the vehicle is The driving intention can be appropriately reflected. On the other hand, for example, when the control action of the inter-vehicle distance control means and the driver's driving intention conflict, the control action of the inter-vehicle distance control means is given priority, The distance can be appropriately converged to the target inter-vehicle distance .

Furthermore, according to the inter-vehicle distance control device of the present invention described in claim 4 or claim 5 , it is possible to appropriately detect the driver's driving intention based on the driver's accelerator pedal operation.
Further, according to the inter-vehicle distance control device of the present invention described in claim 6 or 7 , the driver can appropriately recognize the control state of the inter-vehicle distance control means via the accelerator pedal reaction force.

Hereinafter, an inter-vehicle distance control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, for example, the inter-vehicle distance control device 10 according to the present embodiment includes a radar device 11, a vehicle state sensor 12, a navigation device 13, a brake pedal operation sensor 14, an accelerator pedal operation sensor 15, A travel state setting switch 16, a brake actuator 17, a throttle actuator 18, an output device 19, and a processing device 20 are provided.

  The radar device 11 is configured by integrally providing a radar such as a millimeter wave radar and a radar control unit. For example, the radar control unit transmits a millimeter wave transmission signal from the radar so as to scan the detection target region set in front of the traveling direction of the host vehicle, and the reflection caused by the reflection of the transmission signal by the object. The signal is received by the radar, and the reflection signal and the transmission signal are mixed to generate a beat signal and output to the processing device 20.

  The vehicle state sensor 12 includes, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle, a yaw angle (a rotation angle around the vertical axis of the vehicle center of gravity), and a yaw rate (the vertical direction of the vehicle center of gravity). A yaw rate sensor that detects the rotational angular velocity around the axis, a steering angle sensor that detects the steering angle (direction and magnitude of the steering angle input by the driver) and the actual steering angle (steering angle) according to the steering angle, A steering torque sensor for detecting steering torque, a positioning signal such as a GPS (Global Positioning System) signal for measuring the position of the vehicle using an artificial satellite, or an information transmission device outside the host vehicle is transmitted. A position sensor or the like, and a position sensor that detects the current position and the traveling direction of the host vehicle based on detection results of an appropriate gyro sensor, acceleration sensor, and the like are provided.

As a map data for displaying a map on a display screen (not shown), the navigation device 14 stores, for example, road width data, road data such as intersection angles of multiple roads, intersection shapes and positions, and the like. Map matching based on the current position of the own vehicle detected by the vehicle state sensor 12 is performed on the road data, the display position of the current position of the own vehicle on the display screen is corrected, and the current position of the detected own vehicle is detected. The map display on the display screen is controlled with respect to the position or an appropriate vehicle position input by the operator via various switches, a keyboard, and the like.
In addition, the navigation device 14 performs route search calculation processing based on an appropriate destination and waypoint input from the operator via various switches, a keyboard, or the like, or an appropriate destination and waypoint output from the processing device 20. And the route information to the destination and waypoints and various additional information are displayed on the display screen together with the road data, and various voice messages are output from a speaker (not shown) to guide the route.

The brake pedal operation sensor 14 detects an operation state of a brake pedal (not shown) by the driver, that is, an on / off state of the brake pedal and a brake pedal operation amount, and outputs a detection result to the processing device 20.
The accelerator pedal operation sensor 15 detects an operation state of an accelerator pedal (not shown) by the driver, that is, an on / off state of the accelerator pedal and an accelerator pedal operation amount, and outputs a detection result to the processing device 20.
The driving state setting switch 16 is a signal for instructing the driving state of the vehicle according to the driver's input operation, for example, follow-up control that follows the preceding vehicle or constant speed driving control that converges the vehicle speed to an appropriate target vehicle speed. In addition to a signal for instructing execution start or stop of the running control, a signal for instructing acceleration or deceleration of the host vehicle by, for example, increase or decrease of the target vehicle speed is output to the processing device 20.

The brake actuator 17 decelerates the host vehicle by controlling the brake fluid pressure, for example, based on the control signal output from the processing device 20.
Based on the control signal output from the processing device 20, the throttle actuator 18 controls, for example, the throttle opening degree to accelerate or decelerate the host vehicle.
The reaction force actuator 19 is a reaction force load with respect to the pedal stroke of the accelerator pedal by, for example, appropriate hydraulic control with respect to the displacement of the accelerator pedal, a member that regulates the displacement of the accelerator pedal, or a drive control of the pedal drive motor, for example. Act.

  The processing device 20 includes, for example, an object position detection unit 21, a host vehicle trajectory estimation unit 22, a driving intention detection unit 23, a control target setting unit 24, a travel control unit 25, and a pedal reaction force control unit 26. Configured.

The object position detection unit 21 calculates the distance to the object in a predetermined detection target area based on the frequency of the beat signal output from the radar apparatus 11 and in the millimeter wave transmission direction when the reflected signal is received. Based on the direction of the object, the position of the object in the detection target area is detected.
The own vehicle trajectory estimation unit 22 is detected by, for example, the time change of the position of the own vehicle detected by the vehicle state sensor 12, the running state of the own vehicle, for example, the vehicle speed of the own vehicle detected by the vehicle speed sensor, and the yaw rate sensor. The travel locus of the host vehicle is estimated based on the yaw rate of the host vehicle.

The driving intention detection unit 23 detects the presence or absence of the driver's intention to accelerate based on, for example, a driver's accelerator pedal depression operation detected by the accelerator pedal operation sensor 15 or an acceleration instruction input from the traveling state setting switch 16. For example, the driver decelerates by the depression operation of the brake pedal detected by the brake pedal operation sensor 14, the depressing operation of the accelerator pedal detected by the accelerator pedal operation sensor 15, the deceleration instruction input from the traveling state setting switch 16, or the like. Detect the presence or absence of will.
For example, the driver's intention detector 23 has the driver's intention to accelerate when the amount of depression of the accelerator pedal by the driver is larger than the amount of depression of the accelerator pedal according to the execution state of follow-up control by the travel controller 25 described later. On the other hand, when the amount of depression of the accelerator pedal by the driver is smaller than the amount of depression of the accelerator pedal according to the execution state of follow-up control by the travel control unit 25 described later, it is detected that the driver has a willingness to decelerate. .

The control target setting unit 24 is based on the position of the object detected by the object position detection unit 21, the travel locus of the host vehicle estimated by the host vehicle track estimation unit 22, and the driving intention detected by the driving intention detection unit 23. Among objects in a predetermined detection target area detected by the radar device 11, a control target related to the travel control of the host vehicle by the travel control unit 25 described later, such as a preceding vehicle in follow-up control or collision avoidance control, is set.
For example, when the control target setting unit 24 sets a preceding vehicle that the host vehicle follows as a control target or a preceding vehicle that avoids a collision of the host vehicle, the control target setting unit 24 includes a plurality of objects present in the estimated travel locus of the host vehicle. The preceding vehicle is set according to the priority based on the distance from the host vehicle, the relative speed, and the like.

The traveling control unit 25 controls the traveling state, for example, the speed of the host vehicle according to various traveling controls that are instructed to be executed by a control signal input from the traveling state setting switch 16 or the like.
For example, when a control signal instructing execution of follow-up control to follow the preceding vehicle is input, the traveling control unit 25 includes information such as the distance from the host vehicle to the preceding vehicle (inter-vehicle distance) and the relative speed, Based on the target inter-vehicle distance set in advance or calculated by a predetermined calculation, the target vehicle speed of the host vehicle, further the target acceleration, etc. are set so that the actual inter-vehicle distance maintains the target inter-vehicle distance below the predetermined upper limit speed. The acceleration operation and the deceleration operation of the host vehicle are controlled by driving and controlling the brake actuator 17 and the throttle actuator 18 so that the actual vehicle speed detected by the vehicle state sensor 12 matches the target vehicle speed.

Further, the travel control unit 25 detects the driver's acceleration intention or deceleration intention detected by the driving intention detection unit 23, and the relative traveling state (for example, relative speed) between the preceding vehicle and the host vehicle set as a control target. The target inter-vehicle distance between the preceding vehicle and the host vehicle is converged to the target inter-vehicle distance by changing the target acceleration, for example, depending on whether the vehicle is approaching or separating from each other. Change the convergence characteristics.
For example, the traveling control unit 25 allows overshoot that causes the host vehicle to approach the preceding vehicle beyond the target inter-vehicle distance Lp when performing the follow-up control that causes the host vehicle to follow the preceding vehicle. For example, as illustrated in FIG. In addition, the inter-vehicle distance between the host vehicle and the preceding vehicle is longer than the target inter-vehicle distance Lp, and the vehicle speed V of the host vehicle is greater than the vehicle speed VF of the preceding vehicle ((VF−V) <0) from the initial state S. The inter-vehicle distance between the host vehicle and the preceding vehicle is shorter than the target inter-vehicle distance Lp by the normal overshoot amount L, and the vehicle speed V of the host vehicle is equal to the vehicle speed VF of the preceding vehicle ((VF−V) = 0). Through the overshoot state M, the inter-vehicle distance between the host vehicle and the preceding vehicle is equal to the target inter-vehicle distance Lp, and the vehicle speed V of the host vehicle is equal to the vehicle speed VF of the preceding vehicle ((VF−V) = 0. ) To Equilibrium E In addition, when the driver's intention to accelerate or decelerate is not detected, the vehicle travels along a state track N such that the distance between the host vehicle and the preceding vehicle is shorter than the target inter-vehicle distance Lp by the normal overshoot amount L. The traveling state of the host vehicle is controlled so that the state changes.

For example, in the state track N shown in FIG. 2, in a state where the vehicle speed VF of the preceding vehicle is constant, the travel control unit 25 first decelerates the host vehicle in the period from the start state S to the overshoot state M. .
In the period from the overshoot state M to the equilibrium state E, the host vehicle is decelerated until the relative speed (VF-V) reaches an appropriate maximum value VR, and then the relative speed (VF- The vehicle is accelerated until V) reaches zero from an appropriate maximum value VR.

At this time, for example, when the driver's acceleration intention is detected by the driving intention detection unit 23, the travel control unit 25 detects that the overshoot amount is higher than the normal overshoot amount L compared to the case where the acceleration intention is not detected. The convergence characteristic is changed so that the acceleration overshoot amount La (> L) is increased. As a result, the traveling state of the host vehicle changes, for example, along the acceleration state track A shown in FIG.
On the other hand, for example, when the driver's intention to decelerate is detected by the driving intention detector 23, the travel controller 25 decelerates the overshoot amount from the normal overshoot amount L as compared to the case where the decelerating intention is not detected. The convergence characteristic is changed so as to decrease to the hour overshoot amount Ld (<L). As a result, the traveling state of the host vehicle changes, for example, along a deceleration state track D shown in FIG.

The pedal reaction force control unit 26 controls the reaction force load on the pedal stroke of the accelerator pedal in accordance with the driver's driving intention detected by the driving intention detection unit 23 and the execution state of the traveling control by the traveling control unit 25.
For example, the pedal reaction force control unit 26 uses the accelerator pedal depression amount Aa corresponding to the accelerator opening corresponding to the execution state of the traveling control by the traveling control unit 25 as a boundary value, and the accelerator pedal depression amount larger than the boundary value is determined. A region where the amount of depression of the accelerator pedal is greater than the boundary value and is greater than the amount of depression of the accelerator pedal Ad corresponding to the start position of the pedal stroke of the accelerator pedal is defined as a transition region. An area of the accelerator pedal depression amount smaller than the accelerator pedal depression amount Ad corresponding to the start position of the stroke is set as the release area. Then, the reaction force load in the stepping-in area is relatively larger than the reaction force load in the transition area so that the reaction force is close to the accelerator pedal depression amount according to the execution state of the travel control. Set the load step.

  For example, as shown in FIG. 4, the pedal reaction force control unit 26 sets the reaction force load to increase in accordance with an increase in the accelerator pedal depression amount in the stepping increase region, and changes from the stepping increase region to a transient state. At the accelerator pedal depression amount Aa corresponding to the execution state of the traveling control that shifts to the region, the reaction force load is further decreased from the stepped region side boundary value Fa to the transient region side boundary value Fn (<Fa). In the region, the reaction force load is maintained at the transient region side boundary value Fn until the accelerator pedal depression amount reaches the accelerator pedal depression amount corresponding to the start position of the pedal stroke of the accelerator pedal.

  The inter-vehicle distance control device 10 according to the present embodiment has the above-described configuration. Next, the operation of the inter-vehicle distance control device 10, particularly the driver's intention to accelerate or decelerate, and the preceding vehicle set as a control target The process of changing the convergence characteristics when the actual inter-vehicle distance between the preceding vehicle and the own vehicle converges to the target inter-vehicle distance according to the relative running state of the vehicle and the own vehicle will be described with reference to the accompanying drawings. To do.

First, for example, in step S01 shown in FIG. 5, for example, it is determined whether or not a preceding vehicle is set as a control target for travel control such as follow-up control that causes the host vehicle to follow the preceding vehicle.
If this determination is “NO”, the flow proceeds to step S 02, in which the target acceleration Gt of the host vehicle is set to zero, and the series of processing ends.
On the other hand, if this determination is “YES”, the flow proceeds to step S 04.

In step S03, the relative speed (VF-V) and the inter-vehicle distance between the preceding vehicle and the host vehicle are detected based on the output of the radar apparatus 11.
In step S04, the actual inter-vehicle distance is converged to the target inter-vehicle distance based on the relative speed (VF-V) between the preceding vehicle and the host vehicle, the inter-vehicle distance (actual inter-vehicle distance), and the target inter-vehicle distance. The target acceleration Gt of the own vehicle that is required is set.

In step S05, for example, an open region, a transient region, and a stepping region with respect to the accelerator pedal depression amount set in accordance with the execution state of the running control being executed (for example, follow-up control that causes the host vehicle to follow the preceding vehicle). Whether or not the driver's intention to accelerate is detected by determining whether or not the driver's accelerator pedal depression amount detected by the accelerator pedal operation sensor 15 is within the increased region with respect to the increased region. Determine whether.
If this determination is “NO”, the flow proceeds to step S 10 described later.
On the other hand, when the determination result is “YES”, for example, as shown in FIG. 3, the convergence characteristic is set so that the overshoot amount increases from the normal overshoot amount L to the acceleration overshoot amount La (> L). In order to execute the process to change, it progresses to step S06.

In step S06, for example, it is determined whether or not the sign of the relative speed (VF-V) between the preceding vehicle and the host vehicle is negative, so that the host vehicle is approaching the preceding vehicle. Determine whether or not.
If this determination is “NO”, the flow proceeds to step S 08 described later.
On the other hand, when the determination result is “YES”, for example, in the state trajectory a1 reaching the overshoot state M from the start state S shown in FIG. 3, the process proceeds to step S07, and in this step S07, the target acceleration Gt is set to a predetermined value. A value (Gt × G1) obtained by multiplying the following characteristic weakening coefficient G1 (<1) is newly set as the target acceleration Gt, and the process proceeds to step S10 described later. Thus, for example, compared to the normal state track N shown in FIG. 3, the state track a1 reflects the driver's intention to accelerate, allowing an increase in the amount of overshoot and relatively reducing the deceleration of the host vehicle. Will do.

In step S08, for example, by determining whether the sign of the relative speed (VF-V) between the preceding vehicle and the host vehicle is positive, is the host vehicle separated from the preceding vehicle? Determine whether or not.
If this determination is “NO”, the flow proceeds to step S 10 described later.
On the other hand, if this determination is “YES”, for example, in the state trajectory a2 from the overshoot state M shown in FIG. 3 to the equilibrium state E, the process proceeds to step S09. In this step S09, the target acceleration Gt is set to a predetermined value. A value (Gt × G2) obtained by multiplying the follow-up characteristic strengthening coefficient G2 (> 1) is newly set as the target acceleration Gt, and the process proceeds to step S10 described later. Accordingly, for example, in the state trajectory a2, the tracking characteristic is strengthened in response to the weakening of the tracking characteristic in the state trajectory a1 as compared to the normal state trajectory N shown in FIG.

In step S10, for example, an open region, a transient region, and a stepping region with respect to the accelerator pedal depression amount set in accordance with the execution state of the running control being executed (for example, follow-up control that causes the host vehicle to follow the preceding vehicle). Whether or not the driver's intention to decelerate is detected by determining whether or not the driver's accelerator pedal depression amount detected by the accelerator pedal operation sensor 15 is a value within the open region with respect to the increase region. Determine.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, when the determination result is “YES”, for example, as shown in FIG. 3, the convergence characteristic is set so that the overshoot amount decreases from the normal overshoot amount L to the deceleration overshoot amount Ld (<L). In order to execute the process to change, it progresses to step S11.

In step S11, for example, it is determined whether or not the sign of the relative speed (VF-V) between the preceding vehicle and the host vehicle is negative, so that the host vehicle is in an approaching state with respect to the preceding vehicle. Determine whether or not.
If this determination is “NO”, the flow proceeds to step S 13 described later.
On the other hand, when the determination result is “YES”, for example, in the state trajectory d1 reaching the overshoot state M from the starting state S shown in FIG. 3, the process proceeds to step S12. In this step S12, the target acceleration Gt is set to a predetermined value. A value (Gt × G3) obtained by multiplying the follow-up characteristic strengthening coefficient G3 (> 1) is newly set as the target acceleration Gt, and the series of processes is terminated. Thus, for example, compared to the normal state trajectory N shown in FIG. 3, the state trajectory d1 reflects the driver's intention to decelerate, allowing the reduction of the overshoot amount and relatively increasing the deceleration of the host vehicle. Will do.

In step S13, for example, it is determined whether or not the sign of the relative speed (VF-V) between the preceding vehicle and the host vehicle is positive, so that the host vehicle is in a separated state with respect to the preceding vehicle. Determine whether or not.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, when the determination result is “YES”, for example, in the state trajectory d2 reaching the equilibrium state E from the overshoot state M shown in FIG. 3, the process proceeds to step S14, and in this step S14, the target acceleration Gt is set to a predetermined value. A value (Gt × G4) obtained by multiplying the follow-up characteristic weakening coefficient G4 (<1) is newly set as the target acceleration Gt, and the series of processing ends. Thereby, for example, in the state trajectory d2, the tracking characteristic is weakened in response to the strengthening of the tracking characteristic in the state trajectory d1 as compared with the normal state trajectory N shown in FIG.

  As described above, according to the inter-vehicle distance control device 10 according to the present embodiment, when the driver's acceleration intention is detected, the host vehicle exceeds the target inter-vehicle distance compared to the case where the acceleration intention is not detected. Then, the amount of overshoot that approaches the preceding vehicle is increased, and the distance between the actual vehicle and the preceding vehicle is set to be relatively short. On the other hand, when the driver's intention to decelerate is detected, the overshoot amount is decreased and the actual inter-vehicle distance between the host vehicle and the preceding vehicle is relatively longer than when the driver's intention to decelerate is not detected. Set as follows. As a result, the driving intention of the driver can be appropriately reflected in the traveling behavior of the host vehicle, and the driver can be prevented from feeling uncomfortable with the control content of the inter-vehicle control.

  In the above-described embodiment, the pedal reaction force control unit 26 increases the reaction force load from the stepped region side boundary value Fa to the transient region side boundary value Fn at the accelerator pedal stepping amount Aa corresponding to the execution state of the travel control. (<Fa). However, the present invention is not limited to this. For example, as shown in FIG. 6, the accelerator pedal depression amount Aa according to the execution state of the travel control that shifts from the transient area to the additional area as shown in FIG. In step S1, the reaction force load may be stepped on from the transitional region side boundary value Fn and increased further to the region side boundary value Fa (> Fn).

  In the above-described embodiment, the control target setting unit 24 sets a control target from an object existing in a predetermined detection target region of the radar device 11 detected by the object position detection unit 21. For example, the control target area may be set according to the driver's driving intention detected by the driving intention detection unit 23, and the control target may be set from an object existing in the control target area. For example, when the driver's acceleration intention is detected, the control target setting unit 24 determines that the gaze area required by the driver is relatively wide and sets a relatively wide control target area.

  In the above-described embodiment, the travel control unit 25 includes information on the relative travel state between the host vehicle and the control target (for example, an inter-vehicle distance and a relative speed) and a predetermined control target value (for example, a target The target vehicle speed of the host vehicle and further the target acceleration are set based on the inter-vehicle distance, etc., but the present invention is not limited to this. Further, according to the driving intention of the driver detected by the driving intention detection unit 23 A target vehicle speed and a target acceleration may be set. For example, when the driving control unit 25 detects that the driver's acceleration intention is relatively weak, the driving control unit 25 changes the set target acceleration to a smaller value, or the execution start timing of the acceleration operation of the host vehicle. Delay.

It is a block diagram of the inter-vehicle distance control apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of the inter-vehicle distance and relative speed of the own vehicle and preceding vehicle which concern on one Embodiment of this invention. It is a figure which shows an example of the inter-vehicle distance and relative speed of the own vehicle and preceding vehicle which concern on one Embodiment of this invention. It is a graph which shows an example of the change of the reaction force load with respect to the pedal stroke of the accelerator pedal according to the depression amount of the accelerator pedal which concerns on one Embodiment of this invention. It is a flowchart which shows operation | movement of the inter-vehicle distance control apparatus which concerns on one Embodiment of this embodiment. It is a graph which shows an example of the change of the reaction force load with respect to the pedal stroke of the accelerator pedal according to the depression amount of the accelerator pedal which concerns on the modification of this embodiment.

Explanation of symbols

10 Inter-vehicle distance control device 11 Radar device (object detection means)
15 Accelerator pedal operation sensor (Accelerator pedal depression detection means)
21 Object position detection unit (object detection means)
23 Driving intention detection unit (acceleration / deceleration will detection means)
24 Control object setting unit (preceding vehicle determination means, inter-vehicle distance detection means)
25 Travel control unit (target inter-vehicle distance setting means, inter-vehicle distance control means)
26 Pedal reaction force control unit (pedal reaction force control means)

Claims (7)

Object detection means for detecting an object present in the traveling direction of the vehicle;
Preceding vehicle determination means for determining whether or not the object detected by the object detection means is a preceding vehicle related to the control of the own vehicle;
An inter-vehicle distance detection means for detecting an actual inter-vehicle distance between the host vehicle and the preceding vehicle based on an output of the object detection means;
Target inter-vehicle distance setting means for setting a target inter-vehicle distance between the host vehicle and the preceding vehicle ;
Based on said actual headway distance and the target inter-vehicle distance, the A following distance control device and a vehicle distance control means for controlling the inter-vehicle distance between the preceding vehicle and the subject vehicle,
Acceleration / deceleration will detection means for detecting at least one of the driver's acceleration intention and deceleration intention,
The inter-vehicle distance control means allows an overshoot that causes the own vehicle to approach the preceding vehicle beyond the target inter-vehicle distance when the own vehicle follows the preceding vehicle, and the acceleration / deceleration intention detecting means When the acceleration intention is detected, compared to the case where the acceleration intention is not detected, an overshoot amount at which the actual inter-vehicle distance is equal to or less than the target inter-vehicle distance when the host vehicle approaches the preceding vehicle. When the convergence intention when the actual inter-vehicle distance is converged to the target inter-vehicle distance is changed so as to increase, and the deceleration intention is detected by the acceleration / deceleration intention detection means, the deceleration intention is not detected The inter-vehicle distance control device is characterized in that the convergence characteristic is changed so that the overshoot amount is reduced . The inter-vehicle distance control means sets a target acceleration for controlling the inter-vehicle distance based on the actual inter-vehicle distance and relative speed between the host vehicle and the preceding vehicle, and the acceleration / deceleration intention detection means The inter-vehicle distance control device according to claim 1, wherein when the acceleration intention or the deceleration intention is detected, the convergence characteristic is changed by changing the target acceleration. The inter-vehicle distance control device according to claim 2, wherein the inter-vehicle distance control means changes the target acceleration according to whether the host vehicle is approaching or moving away from the preceding vehicle. An accelerator pedal depression amount detecting means for detecting an accelerator pedal depression amount by a driver;
Pedal reaction force control means for controlling the accelerator pedal reaction force based on the output from the accelerator pedal depression amount detection means and the inter-vehicle distance control means;
The acceleration / deceleration intention detection means detects that the driver has the acceleration intention when the depression amount of the accelerator pedal by the driver is larger than the depression amount of the accelerator pedal according to the output from the inter-vehicle distance control means. The inter-vehicle distance control device according to any one of claims 1 to 3, wherein: An accelerator pedal depression amount detecting means for detecting an accelerator pedal depression amount by a driver;
Pedal reaction force control means for controlling the accelerator pedal reaction force based on the output from the accelerator pedal depression amount detection means and the inter-vehicle distance control means;
The acceleration / deceleration intention detection means detects that the driver has the deceleration intention when the accelerator pedal depression amount by the driver is smaller than the accelerator pedal depression amount according to the output from the inter-vehicle distance control means. The inter-vehicle distance control device according to any one of claims 1 to 4, characterized in that: The pedal reaction force control means increases the accelerator pedal reaction force when an accelerator pedal depression amount by a driver is larger than an accelerator pedal depression amount according to an output from the inter-vehicle distance control means. The inter-vehicle distance control device according to claim 4 or 5 . The pedal reaction force control means reduces the accelerator pedal reaction force when an accelerator pedal depression amount by a driver is smaller than an accelerator pedal depression amount according to an output from the inter-vehicle distance control means. The inter-vehicle distance control device according to any one of claims 4 to 6.

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