JP5029556B2 - Inter-vehicle distance control device - Google Patents

Description

  The present invention relates to an inter-vehicle distance control device that performs inter-vehicle distance control for controlling an inter-vehicle distance from a preceding vehicle based on a state ahead of the host vehicle such as the presence or absence of a preceding vehicle.

  Conventionally, in the inter-vehicle distance control device as described above, when there is no preceding vehicle, constant vehicle speed control is performed to maintain the vehicle speed of the host vehicle at the set vehicle speed, and when the preceding vehicle exists, the preceding vehicle is Inter-vehicle distance control is performed to control the inter-vehicle time calculated by dividing the inter-vehicle distance between the host vehicle and the preceding vehicle by the vehicle speed so as to follow the set inter-vehicle time.

  In such an inter-vehicle distance control device, when it is determined whether the driver is looking aside when it is determined whether the driver is looking aside and performing inter-vehicle distance control. It has been proposed to warn the driver and stop acceleration by inter-vehicle distance control. However, when such a control is executed, if the driver keeps looking aside and then keeps looking aside, there is a possibility that the own vehicle may approach the preceding vehicle excessively, so there is a preceding vehicle ahead of the own vehicle. Sometimes, it is preferable not to stop the acceleration by the inter-vehicle distance control even when the driver looks aside.

As an inter-vehicle distance control device in consideration of this, there is a device as described in Patent Document 1, for example. In such an inter-vehicle distance control device described in Patent Document 1, inter-vehicle distance control is permitted even while the driver is looking aside. By executing the control for decelerating the vehicle, it is possible to prevent the host vehicle from excessively approaching the preceding vehicle and enhance the safe driving of the vehicle.
JP 2008-18836 A

  However, even in such an inter-vehicle distance control device, when driving on an expressway or an automobile-only road with two or more lanes on one side and selecting inter-vehicle distance control, an overtaking lane from the driving lane for the purpose of overtaking etc. When a lane change is made toward the vehicle, and there is no preceding vehicle in the overtaking lane, if the inter-vehicle distance control is continued as it is, the host vehicle is accelerated.

  However, the driver who is changing the lane is automatically accelerated at the timing when the driver looks at the mirror on the right side of the vehicle and the right rear side of the vehicle, that is, when the driver does not intend to accelerate. This causes a problem that the driver may feel uncomfortable and may impair a comfortable driving feeling.

  An object of this invention is to provide the inter-vehicle distance control apparatus which can implement | achieve a more comfortable driving | operation feeling in view of the said problem.

In order to solve the above problem, an inter-vehicle distance control device according to the present invention
Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
An inter-vehicle distance detecting means for detecting the preceding vehicle and detecting the inter-vehicle distance between the host vehicle and the preceding vehicle;
Vehicle control means for performing inter-vehicle distance control for controlling the inter-vehicle time calculated by dividing the inter-vehicle distance by the vehicle speed to a set inter-vehicle time;
Lane change detection means for detecting the start and end of lane change;
A face direction detecting means for detecting the face direction of the driver,
When the end of the lane change is detected by the lane change detection means, the preceding vehicle is not detected by the inter-vehicle distance detection means, and the face direction detected by the face direction detection means is other than the front, The vehicle control means prohibits acceleration by the inter-vehicle distance control.

  According to this, the end of the lane change is detected by the lane change detection unit, and the preceding vehicle is not detected by the inter-vehicle distance detection unit, and the face direction detected by the face direction detection unit is other than the front. In this case, the vehicle control means can prohibit acceleration by the inter-vehicle distance control.

  That is, when the lane change is completed and the face direction is other than the front, the driver is confirming the side of the vehicle with a mirror or visually in the lane change. In a situation where the vehicle is not detected, acceleration by the inter-vehicle distance control can be prohibited to prevent automatic acceleration that is not intended by the driver. Thereby, it is possible to realize a more comfortable driving feeling that does not give the driver a sense of incongruity.

Here, in the inter-vehicle distance control device,
It is preferable that the vehicle control means prohibits the inter-vehicle distance control for a predetermined time.

  According to this, the end of the lane change is detected by the lane change detection unit, and the preceding vehicle is not detected by the inter-vehicle distance detection unit, and the face direction detected by the face direction detection unit is other than the front. In this case, after the vehicle control means prohibits acceleration by the inter-vehicle distance control, after the prohibition is continued for a predetermined time, the prohibition is canceled and the inter-vehicle distance control can be started again.

  Thus, after the driver confirms the side of the host vehicle with a mirror and visual inspection in the lane change, after the predetermined time delay, the inter-vehicle distance control can be started again with a certain margin. It can be avoided as much as possible that acceleration that is not intended by the driver is performed and the driver feels uncomfortable.

  By the way, when a curve is detected in front of the own vehicle, that is, when the curve exists, the own vehicle further moves forward, the position of the own vehicle approaches the start point of the curve, and the own vehicle reaches the start point. When the start of the lane change is detected by the lane change detection means at this point, the host vehicle is directed toward the outside in the radial direction of the curve, and the normal preceding vehicle is normally detected by the inter-vehicle distance detection means. If it is left undetected, the acceleration that the driver does not intend is automatically performed, which gives the driver a sense of incongruity, and there is a concern about a decrease in driving feeling. This is particularly noticeable when the curve is a left curve.

Therefore, in the inter-vehicle distance control device,
Curve detection means for detecting a curve ahead of the host vehicle;
While equipped with position detecting means for detecting the position of the host vehicle,
The vehicle is detected when the start of the lane change is detected by the lane change detecting means when the curve is detected by the curve detecting means and the position of the own vehicle reaches the curve. It is preferable that the control means stops acceleration by the inter-vehicle distance control.

  According to this, when the curve is detected in front of the host vehicle and the start of the lane change is detected, the acceleration by the inter-vehicle distance control is stopped by the vehicle control means. Such unintended acceleration can be prevented from being automatically performed. This also makes it possible to realize a more comfortable driving feeling that does not give the driver a sense of incongruity.

Here, in the inter-vehicle distance control device,
It is preferable that the vehicle control means stops the inter-vehicle distance control for a predetermined time.

  According to this, when the start of the lane change is detected by the lane change detection means when the curve is detected in front of the host vehicle and the position of the host vehicle reaches the curve, the vehicle After the control means stops acceleration by the inter-vehicle distance control, after the stop is continued for a predetermined time, the stop can be released and the inter-vehicle distance control can be started again.

  As a result, when the driver changes the lane in the curve, the vehicle distance control can be started again with a certain margin after delaying the predetermined time. It is possible to prevent the driver from feeling uncomfortable as much as possible from being automatically accelerated.

  ADVANTAGE OF THE INVENTION According to this invention, the inter-vehicle distance control apparatus which can implement | achieve a more comfortable driving | operation feeling can be provided.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 is a block diagram showing an embodiment of an inter-vehicle distance control device according to the present invention. The inter-vehicle distance control device 1 includes an ACCUCU 2 (Adaptive Cruise Control Electronic Control Unit), a distance measuring sensor 3, a clearance sonar 4, a front recognition camera 4, a vehicle interior recognition camera 5, an engine ECU 6 (Engine), a brake The ECU 7 includes a transmission ECU 8 (Transmission), a car navigation ECU 9, an EPS ECU 10 (Electronic Power Steering), and a body ECU 11. The ACC ECU 2, the engine ECU 6, the brake ECU 7, and the transmission ECU 8 are connected to each other by a communication standard such as CAN (Controller Area Network).

  The ACC ECU 2 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM, and the vehicle speed at which the following processing is performed. The detection means 2a, the inter-vehicle distance detection means 2b, the vehicle control means 2c, the lane change detection means 2d, and the face direction detection means 2e are configured.

  The distance measuring sensor 3 is, for example, a laser radar or a millimeter wave radar provided on the front grill or the front bumper of the own vehicle, and whether there is a preceding vehicle located in front of the own vehicle and whether the preceding vehicle and the own vehicle are The inter-vehicle distance L is measured, and the measurement result is output to the ACC ECU 2.

  The front recognition camera 4 is, for example, a CCD camera or a CMOS camera, and is disposed, for example, at the upper center of the windshield in the host vehicle room so that the optical axis coincides with the front. The white line on both sides of the lane, specifically the roadside white line and the division white line as shown in FIG. 2, and the white line on both sides of the overtaking lane adjacent to the lane, the range including both the division white line and the central white line The captured image data is output to the ACC ECU 2.

  The vehicle interior recognition camera 5 is, for example, disposed at the center upper part of the windshield in the vehicle interior so that the optical axis coincides with the face of the driver seated in the driver's seat, and outputs the captured image data to the ACC ECU 2 It is.

  The engine ECU 6 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing in accordance with a program stored in the ROM. From the vehicle control means 2c of the ACC ECU 2 Based on this command, the throttle opening degree of an engine (not shown) is controlled, and the rotational speed of the engine is mainly controlled to control the acceleration / deceleration of the vehicle.

  The brake ECU 7 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM. From the vehicle control means 2c of the ACCUCU 2 The vehicle is braked by controlling the brake device provided on each wheel of the vehicle based on the command of the vehicle, the vehicle speed is detected from a wheel speed sensor (not shown), and the detection result is output to the ACC ECU 2 via the CAN. It is.

  The transmission ECU 8 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing in accordance with a program stored in the ROM. Based on a command from 2c, shift control of a transmission gear ratio (not shown) is performed here.

  The car navigation ECU 9 is composed of, for example, a CPU, a ROM, a RAM, and a data bus that interconnects them. According to a program stored in the ROM, the car navigation ECU 9 receives a plurality of satellites launched into the sky received by a GPS antenna (not shown). On the basis of the radio wave, for example, the longitude and latitude of the position of the own vehicle are measured by the principle of triangulation to detect the position of the own vehicle.

  At the same time, the car navigation ECU 9 detects the yaw rate of the vehicle based on the output of the yaw rate sensor (not shown), and further detects the steering angle detected by the EPS ECU 10 (to be described later) based on the output of the steering sensor provided in the EPS (not shown). Is detected via CAN. Furthermore, the car navigation ECU 9 transmits the detection result of the position, yaw rate, and steering angle of the host vehicle to the ACC ECU 2 via the CAN.

  The EPS ECU 10 is composed of, for example, a CPU, a ROM, a RAM, and a data bus for interconnecting them, and a torque sensor using a torsion bar provided on a steering shaft (not shown) inside the EPS according to a program stored in the ROM. Thus, the operation force of the steering wheel of the driver is detected, and an electric motor (not shown) of the EPS is driven to generate a steering force in accordance with this operation force to steer the wheel, thereby assisting the driver's operation force. Is to do.

  Further, the body ECU 11 is composed of, for example, a CPU, a ROM, a RAM, a data bus and an input / output interface for interconnecting them, and the CPU performs each process described below according to a program stored in the ROM to When the turn signal switch (not shown) of the host vehicle is swung clockwise, a right output is generated to turn on the turn signal lamp located on the right side of the front and rear ends of the vehicle, and the driver swings the turn signal switch counterclockwise. If it does, the left output which lights the blinker lamp located in the left side of a vehicle front end and a rear end will be generated.

  At the same time, the body ECU 11 detects whether the right output or the left output is performed, and transmits the detection result to the ACCUCU 2 via the CAN. That is, the body ECU 11 constitutes a direction indicator, that is, a winker.

  In addition, the vehicle speed detecting means 2a of the ACC ECU 2 detects the vehicle speed V of the host vehicle from the brake ECU 7 via CAN, and the inter-vehicle distance detecting means 2b of the ACC ECU 2 is based on the measurement result of the distance measuring sensor 3, as shown in FIG. As shown in FIG. 2, the inter-vehicle distance L between the host vehicle and the preceding vehicle is detected.

  Further, the vehicle control means 2c of the ACC ECU 2 controls the engine ECU 6, the brake ECU 7 and the transmission ECU 8 so that the vehicle speed V of the host vehicle becomes a set vehicle speed VS selected by a selection switch (not shown), and the inter-vehicle distance. The engine ECU 6, the brake ECU 7 and the transmission ECU 8 are each set so that the inter-vehicle time T calculated by dividing L by the vehicle speed V of the host vehicle becomes the set inter-vehicle time TS selected by the selection switch (not shown) by the driver. A command is output to control the acceleration / deceleration and speed of the vehicle.

  Further, the lane change detection means 2d of the ACC ECU 2 is located in the image captured by the forward recognition camera 4, and the road surface ahead of the host vehicle is white on both sides of the lane where the host vehicle is located and the overtaking adjacent to the lane. Both the white lines on both sides of the lane are detected by double planting processing, etc., the behavior of each white line located in the image, the right output or the left output transmitted from the body ECU 11, and the car navigation ECU 9 transmitted Based on the yaw rate and the steering angle, the start and end of lane change are detected.

  The face orientation detection means 2e of the ACC ECU 2 performs predetermined image processing such as edge detection and pattern matching on the image data acquired from the vehicle interior recognition camera 5, and detects the face orientation of the driver. Since these processing methods are well-known, detailed description is omitted.

  Further, when the end of the lane change is detected by the lane change detection unit 2d, the preceding vehicle is not detected by the inter-vehicle distance detection unit 2b, and the face direction detected by the face direction detection unit 2e is other than the front, The vehicle control means 2c of the ACC ECU 2 prohibits acceleration by inter-vehicle distance control. Note that the prohibited period may be a predetermined time or arbitrary.

  Hereinafter, the control content of the inter-vehicle distance control device 1 according to the first embodiment will be described with reference to flowcharts. FIG. 2 is a flowchart showing the control contents of the inter-vehicle distance control device 1 according to the present invention.

  In S1 shown in FIG. 2, the vehicle speed detection means 2a of the ACC ECU 2 detects the vehicle speed V of the host vehicle from the brake ECU 7 via CAN. In S2, the inter-vehicle distance detection means 2b of the ACC ECU 2 determines the measurement result of the distance measurement sensor 3. Based on this, the presence or absence of a preceding vehicle and the inter-vehicle distance L between the host vehicle and the preceding vehicle are detected.

  Accordingly, in S3, the vehicle control means 2c of the ACC ECU 2 sets the inter-vehicle time T calculated by dividing the inter-vehicle distance L by the vehicle speed V of the host vehicle to a set inter-vehicle time TS selected by the selection switch (not shown). As described above, the engine ECU 6, the brake ECU 7, and the transmission ECU 8 are each controlled by outputting commands.

  In S3, the engine ECU 6 controls the throttle opening degree of the engine (not shown) based on a command from the vehicle control means 2c of the ACC ECU 2, and mainly controls the engine speed to control the acceleration / deceleration of the vehicle. The brake ECU 7 controls the brake device provided on each wheel of the vehicle based on a command from the vehicle control means 2c of the ACC ECU 2 to brake the vehicle, and the transmission ECU 8 receives from the vehicle control means 2c of the ACC ECU 2 Based on the command, shift control of the transmission gear ratio is performed, and these control the vehicle speed and acceleration / deceleration of the host vehicle. That is, when there is no preceding vehicle ahead of the host vehicle, the host vehicle is accelerated.

  Furthermore, in S4, the lane change detection means 2d of the ACC ECU 2 is positioned in the image captured by the front recognition camera 4, and the road surface in front of the own vehicle is set to the white line on both sides of the lane where the own vehicle is located, and the lane. Both white lines on both sides of the adjacent overtaking lane are detected by a double planting process, etc., the steering angle and yaw rate are detected from the car navigation ECU 9 via CAN, and the right or left output of the winker is detected from the body ECU 11 To do. Based on these detection results, the lane change detection means 2d detects the start and end of the lane change of the host vehicle.

  More specifically, when the host vehicle starts to change lanes from the driving lane to the overtaking lane, the driver first visually checks the right side with a mirror and then operates the blinker clockwise, The output of the body ECU 11 becomes a right output, and then the steering angle detected by the steering sensor becomes a clockwise positive angle when the driver steers the steering wheel inside the host vehicle to the right. Thereafter, since the vehicle is directed to the right with respect to the travel lane, the yaw rate is directed to the right, and the white lines on both sides of the travel lane in the image move from right to left.

  After the start of lane change, when the vehicle moves to the overtaking lane and the driver returns the steering wheel to the straight direction or steers left, the winker stops and the right output of the body ECU 11 is turned off, and the steering angle is neutral. The yaw rate is zero, and the white line on both sides of the overtaking lane moves from right to left in the image and then is located on both sides in the center of the lane. By recognizing these series of patterns in advance, the lane change detection means 2d detects the start and end of the lane change from the parameters described above.

  Subsequently, in S5, the face orientation detection means 2e of the ACC ECU 2 analyzes the image data acquired from the vehicle interior recognition camera 5 based on the above-described predetermined image processing such as edge detection and pattern matching, and the driver Detecting the face orientation.

  In S6, the inter-vehicle distance control means 2c of the ACC ECU 2 detects that the lane change detection means 2b detects the end of the lane change, and the inter-vehicle distance detection means 2b detects that there is no preceding vehicle, and detects the face direction detection means 2e. It is determined whether or not a condition that the face orientation is other than the forward direction is satisfied. If yes, the process proceeds to S7, and if not, the process proceeds to END.

  In S7, the inter-vehicle distance control means 2c of the ACC ECU 2 prohibits acceleration by the inter-vehicle distance control as shown in S1 to S3 until a predetermined time elapses, and when the predetermined time elapses, the process proceeds to S8, and the prohibition in S7 is prohibited. To release. The processing from START to END is continuously executed at predetermined intervals in the inter-vehicle distance control device 1 mainly composed of the ACC ECU 2, and after S8, inter-vehicle distance control as shown in S1 to S3 is resumed.

  According to the inter-vehicle distance control device 1 of the present embodiment realized by the control contents described above, the following operational effects can be obtained. That is, the end of the lane change of the host vehicle is detected by the lane change detection means 2d realized by the ACC ECU 2, and the preceding vehicle is not detected by the inter-vehicle distance detection means 2b, but the face direction detected by the face direction detection means 2e. Is other than the front, the vehicle control means 2c can inhibit acceleration by the inter-vehicle distance control shown in S1 to S3 of FIG.

  In other words, when the lane change is completed in the own vehicle and the face direction is other than the front, it can be considered that the driver is confirming the side of the own vehicle by mirror or visual inspection in the lane change. In a situation where a vehicle is not detected, acceleration by the inter-vehicle distance control of FIGS. 2S1 to S3 can be prohibited, and acceleration that is not intended by the driver can be prevented from being executed in the inter-vehicle distance control device 1. Thereby, it is possible to realize a more comfortable driving feeling that does not give the driver a sense of incongruity.

  Further, when the end of the lane change is detected by the lane change detection unit 2d, the preceding vehicle is not detected by the inter-vehicle distance detection unit 2b, and the face direction detected by the face direction detection unit 2e is other than the front, After the vehicle control unit 2c prohibits acceleration by the inter-vehicle distance control, the prohibition is canceled after the prohibition is continued for a predetermined time, for example, about 1 sec, and the normal inter-vehicle distance control can be started again. As a result, it is possible to more smoothly shift to normal inter-vehicle distance control while preventing the driver from feeling uncomfortable.

  In the above-described first embodiment, the inter-vehicle distance control device that provides appropriate inter-vehicle distance control in the lane change when the curve is not in front of the host vehicle has been shown. Configuration and control contents.

  FIG. 3 is a block diagram showing an embodiment of the inter-vehicle distance control device according to the present invention. The inter-vehicle distance control device 2 includes an ACC ECU 2, a distance measuring sensor 3, a clearance sonar 4, a front recognition camera 4, an engine ECU 6, a brake ECU 7, a transmission ECU 8, a car navigation ECU 9, an EPS ECU 10, and a body ECU 11. Configured. The ACC ECU 2, the engine ECU 6, the brake ECU 7, and the transmission ECU 8 are mutually connected by CAN.

  The ACC ECU 2 includes, for example, a CPU, a ROM, a RAM, a data bus connecting them, and an input / output interface. The CPU performs predetermined processing according to a program stored in the ROM, and the vehicle speed at which the following processing is performed. The detection means 2a, the inter-vehicle distance detection means 2b, the vehicle control means 2c, the lane change detection means 2d, the curve detection means 2f, and the position detection means 2g are configured.

  In addition, the same code | symbol is attached | subjected about the component same as what was shown in FIG. 1, and the overlapping description is omitted. The curve detection means 2f of the ACC ECU 2 has a curve in front of the own vehicle based on the curvature of the white line on both sides of the lane where the host vehicle is located and the curvature of the white line on both sides of the overtaking lane detected by the lane change detection means 2d. Detect if it exists. Further, the position detection means 2g of the ACC ECU 2 acquires and detects the position of the host vehicle from the car navigation ECU 9 via the CAN.

  Further, when the start of the lane change is detected by the lane change detecting means 2d when the curve is detected by the curve detecting means 2f and the position of the own vehicle reaches the curve, the vehicle of the ACC ECU 2 The control means 2c stops acceleration by inter-vehicle distance control. In addition, the period to stop may be predetermined time or arbitrary.

  Hereinafter, the control content of the inter-vehicle distance control device 21 according to the second embodiment will be described with reference to a flowchart. FIG. 4 is a flowchart showing the control contents of the inter-vehicle distance control device 21 according to the present invention.

  In S11 shown in FIG. 4, the vehicle speed detection means 2a of the ACC ECU 2 detects the vehicle speed V of the host vehicle from the brake ECU 7 via CAN. Subsequently, in S12, the inter-vehicle distance detection means 2b of the ACC ECU 2 detects the inter-vehicle distance L between the host vehicle and the preceding vehicle together with the presence or absence of the preceding vehicle based on the measurement result of the distance measuring sensor 3.

  Subsequently, in S13, the vehicle control means 2c of the ACC ECU 2 sets the inter-vehicle time T calculated by dividing the inter-vehicle distance L by the vehicle speed V of the host vehicle to be the set inter-vehicle time TS selected by the selection switch (not shown). As described above, the engine ECU 6, the brake ECU 7, and the transmission ECU 8 are each controlled by outputting commands.

  In S13, the engine ECU 6 controls the throttle opening of an engine (not shown) based on a command from the vehicle control means 2c of the ACC ECU 2, and mainly controls the engine speed to control the acceleration / deceleration of the vehicle. . Similarly, in S13, the brake ECU 7 controls the brake device provided on each wheel of the vehicle based on a command from the vehicle control means 2c of the ACC ECU 2 to brake the vehicle. Further, in S13, the transmission ECU 8 performs shift control of the transmission gear ratio (not shown) based on a command from the vehicle control means 2c of the ACC ECU 2. By these things, the vehicle speed and acceleration / deceleration of the host vehicle are controlled.

  Subsequently, in S14, the lane change detection means 2d of the ACC ECU 2 detects a plurality of white lines on the road surface ahead of the host vehicle, which are located in the image acquired by the front recognition camera 4, by a two-planting process or the like, The steering angle and the yaw rate are detected from the car navigation ECU 9 via the CAN, and the right output or the left output of the winker is detected from the body ECU 11, and the start and end of the lane change of the own vehicle are determined based on these detection results. To detect.

  Subsequently, in S15, the curve detection means 2f of the ACC ECU 2 detects the curvature of the white line on both sides of the lane where the host vehicle is located and the curvature of the white line on both sides of the overtaking lane detected by the lane change detection means 2d in S14. It detects whether there is a curve ahead of the host vehicle. Furthermore, in S16, the position detection means 2g of the ACC ECU 2 detects the position of the host vehicle acquired from the car navigation ECU 9 via the CAN.

  Further, in S17, the inter-vehicle distance control means 2c of the ACC ECU 2 changes the lane by the lane change detection means 2d when the curve is detected in front of the own vehicle by the curve detection means 2f and the position of the own vehicle reaches the curve. It is determined whether or not a condition for detecting the start of is satisfied. If the result is affirmative, the process proceeds to S18, and if the result is negative, the process proceeds to END.

  In S18, the inter-vehicle distance control means 2c of the ACC ECU 2 stops the acceleration by the inter-vehicle distance control as shown in S11 to S13 until a predetermined time elapses. When the predetermined time elapses, the process proceeds to S19, and the stop in S18 is stopped. To release. The processing from START to END is continuously executed at predetermined intervals in the inter-vehicle distance control device 1 mainly composed of the ACC ECU 2, and after S19, inter-vehicle distance control as shown in S11 to S13 is executed again.

  According to the second embodiment described above, when the curve is detected in front of the host vehicle and the start of the lane change is detected, the vehicle control means 2c performs the inter-vehicle distance control shown in S11 to S13 in FIG. By stopping the acceleration, when the vehicle enters the curve ahead and changes lanes, the vehicle is directed radially outside the curve, so the preceding vehicle is not detected. In addition, unintended acceleration can be prevented from being automatically performed by the inter-vehicle distance control of the inter-vehicle distance control device 21. As a result, it is possible to avoid a feeling of discomfort to the driver and to realize a more comfortable driving feeling.

  In the second embodiment, after the vehicle control means 2c stops the acceleration by the inter-vehicle distance control, the stop is continued after a predetermined time, for example, about 1 sec, and then the inter-vehicle distance control is started again. When the driver changes lanes on a curve, the vehicle distance control can be started again with a certain margin after delaying for a predetermined time, and the driver can change the lane after entering the curve. It is possible to avoid as much as possible that the unintended acceleration is automatically performed and the driver feels uncomfortable.

  Furthermore, according to the second embodiment, since it is not necessary to detect the driver's face orientation, the vehicle interior recognition camera 5 is omitted, the face orientation detecting means 2e in the ACC ECU 2 is omitted, and the configuration and control contents are reduced. It can be simplified.

  Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various modifications and substitutions are made to the above-described embodiments without departing from the scope of the present invention. be able to.

  For example, in the first and second embodiments, the lane change detection unit 2d detects the start or end of the lane change based on the steering angle, the yaw rate, the behavior of the white line in the image, and the right or left output of the blinker. However, it is also possible to perform detection by adding the vehicle lateral acceleration to this, and it is also possible to detect the start or end of the lane change by using the above-described parameters alone.

  Further, in the second embodiment, when the curvature of the curve ahead of the host vehicle detected by the curve detection unit 2f is larger than a certain degree, that is, when the radius of the curve is small to some extent, the inter-vehicle distance control by the vehicle control unit 2c is performed. The acceleration can be stopped by continuing until the vehicle stops passing the curve.

  The present invention relates to an inter-vehicle distance control device, and can provide an inter-vehicle distance control device that can realize a more comfortable driving feeling. Therefore, the present invention is applied to various vehicles such as passenger cars, trucks, and buses. It is useful.

It is a block diagram which shows one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a block diagram which shows one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention. It is a flowchart which shows the control content of one Embodiment of the inter-vehicle distance control apparatus which concerns on this invention.

Explanation of symbols

1 Inter-vehicle distance controller 2 ACCUCU
2a Vehicle speed detection means 2b Inter-vehicle distance detection means 2c Vehicle control means 2d Lane change detection means 3 Distance sensor 4 Front recognition camera 5 Car interior recognition camera 6 Engine ECU
7 Brake ECU
8 Transmission ECU
9 Car navigation ECU
10 EPSECU
11 Body ECU
21 Inter-vehicle distance control device 2 ACCUCU
2a Vehicle speed detection means 2b Inter-vehicle distance detection means 2c Vehicle control means 2d Lane change detection means 2e Face direction detection means 2f Curve detection means 2g Position detection means 3 Distance sensor 4 Front recognition camera 6 Engine ECU
7 Brake ECU
8 Transmission ECU
9 Car navigation ECU
10 EPSECU
11 Body ECU

Claims (4)

  Vehicle speed detection means for detecting the vehicle speed of the host vehicle, vehicle distance detection means for detecting the preceding vehicle and detecting the inter-vehicle distance between the host vehicle and the preceding vehicle, and the inter-vehicle distance calculated by dividing the inter-vehicle distance by the vehicle speed The vehicle control means for controlling the inter-vehicle distance to control the time to the set inter-vehicle time, the lane change detection means for detecting the start and end of the lane change, and the face direction detection means for detecting the driver's face direction, When the end of the lane change is detected by the lane change detection means, the preceding vehicle is not detected by the inter-vehicle distance detection means, and the face direction detected by the face direction detection means is other than the front, The inter-vehicle distance control device, wherein the vehicle control means prohibits acceleration by the inter-vehicle distance control.   The inter-vehicle distance control apparatus according to claim 1, wherein the vehicle control unit prohibits the inter-vehicle distance control for a predetermined time.   A curve detection unit that detects a curve ahead of the host vehicle; and a position detection unit that detects a position of the host vehicle. The curve detection unit detects the curve ahead of the host vehicle and The vehicle control means stops acceleration by the inter-vehicle distance control when the start of the lane change is detected by the lane change detection means when the position of the vehicle arrives. The inter-vehicle distance control device described in 1.   4. The inter-vehicle distance control device according to claim 3, wherein the vehicle control means stops the inter-vehicle distance control for a predetermined time.

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