JP5040379B2 - Inter-vehicle distance control device - Google Patents

Description

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

Conventionally, an apparatus for controlling the inter-vehicle distance is suitably used as one of driving support systems. As such a device, an inter-vehicle distance device that controls an inter-vehicle distance from a preceding vehicle in accordance with the presence or absence of a merging vehicle is known (see, for example, Patent Document 1). When there is a merging vehicle at the merging point, this device controls the traveling of the host vehicle based on the behavior of the preceding vehicle, and widens the distance between the preceding vehicle and the merging vehicle between the preceding vehicle and the host vehicle. Is to smoothly join.
JP-A-7-334790

  However, in the conventional inter-vehicle distance control device, the required merging space differs depending on the merging vehicle. Therefore, the target inter-vehicle distance controlled by the inter-vehicle distance control device may not be sufficient merging space for the merging vehicle. For example, when the preceding vehicle and the host vehicle are traveling at a low speed, the target inter-vehicle distance is shortened, so if a large truck or the like tries to join between the preceding vehicle and the host vehicle, a brake operation or the like is required by the driver. It becomes.

  Therefore, the present invention has been made to solve such a technical problem, and an object thereof is to provide an inter-vehicle distance control device that reduces a driver's load.

That is, the inter-vehicle distance control device according to the present invention is an inter-vehicle distance control device that monitors the preceding vehicle and the periphery of the vehicle and controls the inter-vehicle distance between the host vehicle and the preceding vehicle so that the joining vehicle can join. Vehicle specifying means for specifying the total length of the vehicle; inter-vehicle distance determining means for determining a target inter-vehicle distance between the host vehicle and the preceding vehicle according to the total length of the merging vehicle; and the own vehicle based on the target inter-vehicle distance Vehicle distance control means for controlling the vehicle, and the inter-vehicle distance determination means sets a predetermined distance as the target inter-vehicle distance when the vehicle specifying means cannot specify the total length of the merging vehicle. Is done.

According to this invention, the total length of the vehicle that merges between the host vehicle and the preceding vehicle is specified, and the target inter-vehicle distance is set according to the total length of the vehicle that merges. This eliminates the driver's judgment and operation according to the vehicles to be joined. For example, even if the inter-vehicle distance between the preceding vehicle and the host vehicle is shorter than the total length of the vehicles to be joined, it is not necessary for the driver to provide a necessary joining space by operating the vehicle. The load can be reduced. In addition, when the driver tries to smooth the traffic flow by smoothly joining the merging vehicles, avoid a situation where the driver travels unnecessarily at an inter-vehicle distance and disturbs the smooth traffic flow. Can do.
Furthermore, even if it is a case where the full length of a joining vehicle cannot be specified, a driver | operator's load can be reduced.

Here, in the inter-vehicle distance control device, the inter-vehicle distance determining means, when the vehicle specifying means can specify the total length of the merging vehicle, adds the predetermined distance to the total length of the merging vehicle as the target inter-vehicle distance. It is preferable to set. By setting in this way, it is possible to secure a joining space corresponding to the joining vehicles between the preceding vehicle and the host vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, a vehicle can be smoothly joined, without giving a load to a driver | operator.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a configuration diagram of an inter-vehicle distance control device 1 according to an embodiment of the present invention. The inter-vehicle distance control device 1 according to the present embodiment is a device that controls the inter-vehicle distance so that vehicles can join, and is suitably used for, for example, ACC (Adaptive Cruise Control). ACC is one of the driving support systems, and is a system that automatically follows when there is a preceding vehicle. For example, the ACC has a function that is activated when the driver presses a start button or the like, and is released by pressing an end button or the like or a brake operation or the like.

  As shown in FIG. 1, the inter-vehicle distance control device 1 includes an ECU 10. The ECU 10 inputs necessary information from the information acquisition unit 20, performs calculations and determinations regarding the inter-vehicle distance, and outputs a control command to the actuator 30.

  The ECU 10 includes an information input unit 11, a merge detection processing unit 12, a full length identification processing unit (vehicle identification unit) 13, a target inter-vehicle distance determination processing unit (inter-vehicle distance determination unit) 14, and a travel control unit 15 (vehicle control unit). ing.

  The information input unit 11 is an input unit that inputs road information and vehicle information around the vehicle, and is connected to the information acquisition unit 20, for example. Information input from the information acquisition unit 20 is, for example, preceding vehicle information, merged vehicle information, and road information. The preceding vehicle information is information including the presence / absence of the preceding vehicle, the position of the preceding vehicle, and the relative speed. The merged vehicle information is information including the presence / absence of the merged vehicle, the position of the merged vehicle, the relative speed, and the total vehicle length. Further, the road information is information including merge points such as the shape of a road that is currently running and an interchange. The information input unit 11 appropriately inputs such information as necessary and outputs the information to the merging detection processing unit 12.

  The merging detection processing unit 12 is a processing unit that determines the presence or absence of a merging point or a merging vehicle. For example, the merging detection processing unit 12 performs determination using the preceding vehicle information, the merging vehicle information, and the road information input from the information input unit 11, and the determination result. Is output to the full length identification processing unit 13.

  The full length identification processing unit 13 is a processing unit that identifies the total length of the merging vehicle. For example, the full length identification processing unit 13 inputs and identifies information including the total length of the merging vehicle from the merging detection processing unit 12, and Compared with distance, it has a function to verify whether the inter-vehicle distance is sufficient. Further, the full length identification processing unit 13 has a function of outputting the identified merged vehicle information to the target inter-vehicle distance determination processing unit 14.

  The target inter-vehicle distance determination processing unit 14 is a processing unit that determines the target inter-vehicle distance, and has a function of determining the target inter-vehicle distance based on merging vehicle information input from the full length specifying processing unit 13, for example. In addition, a function of outputting the determined target inter-vehicle distance to the travel control unit 15 is provided.

  The travel control unit 15 is a control unit that generates a travel control command, and has a function of generating a command for controlling the inter-vehicle distance based on the target inter-vehicle distance input from the target inter-vehicle distance determination processing unit 14, for example. . The inter-vehicle distance control command is generated with reference to the preceding vehicle information, the merged vehicle information, and the road information obtained by the information input unit 11 so as to maintain the target inter-vehicle distance. The travel control unit 15 has a function of outputting the generated control command to the actuator 30.

  Next, the information acquisition unit 20 and the actuator 30 connected to the ECU 10 will be described.

  The information acquisition unit 20 is a sensor or device that acquires vehicle information and vehicle periphery information, and includes, for example, a front millimeter wave sensor 2, an image sensor 3, a side sensor 4, and a navigation device 5.

  The forward millimeter wave sensor 2 is a sensor that mainly acquires information on an object existing ahead of the host vehicle. For example, the forward millimeter wave sensor 2 transmits a radio wave forward and receives a reflected wave from the object. And a function of measuring the distance and relative speed between the preceding vehicle and the host vehicle. The image sensor 3 is a sensor that acquires image information around the host vehicle. For example, a CCD camera, a monocular camera, or a stereo camera is used. The side sensor 3 is a sensor that mainly acquires information on an object existing on the side of the host vehicle. For example, the side sensor 3 transmits a radio wave to the side of the host vehicle and receives a reflected wave from the object. It has a function of measuring the presence / absence of a vehicle, the distance between the joining vehicle and the host vehicle, and the relative speed. The navigation device 5 is a device for acquiring road shape, position information and traveling information of the host vehicle and surrounding vehicles, and for example, a GPS (Global Positioning System) is used. GPS is a measurement system using a satellite and is preferably used for grasping the current position of the host vehicle.

  The actuator 30 connected to the ECU 10 is a component that controls traveling of the vehicle, and includes, for example, a brake actuator 31 and an engine throttle valve 32. The brake actuator 31 has a function of controlling the vehicle speed by controlling the brake. The engine throttle valve 32 has a function of controlling the vehicle speed by controlling the engine output.

  Next, the operation of the inter-vehicle distance control device 1 according to this embodiment will be described. FIG. 2 is a flowchart showing the operation of the inter-vehicle distance control device 1 according to this embodiment. The control process of FIG. 2 is executed by the ECU 10, and is repeatedly executed at a predetermined timing, for example, from when the driver presses the start button or the like until the driver presses the end button or the brake operation.

  First, the inter-vehicle distance control device 1 starts an information input process (S10). The process of S10 is performed by the information input unit 11, and is a process of inputting information necessary for inter-vehicle distance control and merging vehicle detection. For example, the navigation device may include information on the position and relative speed of the preceding vehicle from the front millimeter wave sensor 21, the vehicle peripheral image from the image sensor 22, and the position, relative speed, and total length of the joining vehicle from the side sensor 23. 24, information on roads traveling, position information of surrounding traveling vehicles, and the like are input. When the process of S10 is completed, the process proceeds to a joining point confirmation process (S12).

  The process of S12 is a process that is executed by the merging detection processing unit 12 and determines whether or not there is a merging point on the road on which the host vehicle is traveling. For example, the determination is made based on the road information obtained in the process of S10. In the process of S12, when it is determined that there is a merge point, the process proceeds to a merged vehicle confirmation process (S14).

  The process of S14 is a process of determining whether or not a merging vehicle exists at the merging point obtained by the merging detection processing unit 12 and obtained by the process of S12. For example, the determination is made based on the surrounding traveling vehicle position information, the vehicle periphery image, and the like obtained in the process of S10. In the process of S14, when it is determined that there is a merged vehicle, the process proceeds to a merged vehicle full length specifying process (S16).

  The process of S16 is executed by the full length identification processing unit 13, and it is determined whether or not the merged vehicle determined to exist in the process of S14 can be merged even with the normal inter-vehicle distance control, that is, the inter-vehicle distance control according to the vehicle speed. It is processing to do. This determination may be performed, for example, by comparing the total length of the merged vehicle obtained in S10 with a predetermined threshold value X. As the threshold value X, for example, 6 [m], which is the approximate maximum length of a passenger car, may be adopted. In the process of S16, when it is determined that the total length of the merged vehicle is equal to or greater than X, the process proceeds to the target inter-vehicle distance determination processing unit (S18). Even when the total length of the merged vehicle is not an accurate value or is unknown due to the weather or road conditions, the process proceeds to S18.

  The process of S18 is executed by the target inter-vehicle distance determination processing unit 14 and is a process of determining the target inter-vehicle distance according to the total length of the joining vehicle. For example, a value obtained by adding α to the total length of the merged vehicle is set as the target inter-vehicle distance. Here, α is exemplified by 2 [m], for example. In the process of S16, when the total length of the merged vehicle is unknown, the total length of the merged vehicle is regarded as the maximum vehicle length of 12 [m] according to the regulations, and 12 + α [m] is set as the target inter-vehicle distance. When the process of S18 ends, the process proceeds to the inter-vehicle distance control (S20).

  The process of S20 is a process of running control based on the target inter-vehicle distance determined by the running control unit 15 and determined in the process of S18. When the process of S20 ends, the control process of FIG. 2 ends.

  On the other hand, in the process of S12, when it determines with there being no merge point, it transfers to normal inter-vehicle distance control (S22).

  The process of S22 is a normal inter-vehicle distance control, for example, a process of setting the inter-vehicle distance according to the vehicle speed of the preceding vehicle. When the process of S22 ends, the control process of FIG. 2 ends.

  Moreover, when it determines with there being no merge vehicle in the process of S14, it transfers to normal inter-vehicle distance control (S22). Furthermore, in the process of S16, when it determines with the full length of a joining vehicle not being more than X, it transfers to normal inter-vehicle distance control (S22).

  By performing the control process of FIG. 2, even when a truck or the like longer than a general passenger car joins, a space where the truck or the like joins can be made without depending on the operation of the driver.

  Next, the effect of the inter-vehicle distance control device 1 according to this embodiment will be described. 3 and 4 are explanatory views showing a case where a merging vehicle joins between the preceding vehicle and the host vehicle. FIG. 3 shows a case where the inter-vehicle distance control device 1 according to the present embodiment is used, and FIG. This is a case where the inter-vehicle distance control device is used.

  As shown in FIG. 4a, in the conventional inter-vehicle distance control device, when the own vehicle A is following the preceding vehicle B by the ACC control indicated by the arrow ACC, the vehicle speed of the preceding vehicle or the vehicle speed of the own vehicle is set. The inter-vehicle distance is controlled based on this. In such a case, as shown in FIG. 4b, when the truck C having a full length longer than the current inter-vehicle distance merges in front of the host vehicle, the ACC control indicated by the arrow ACC performs a predetermined inter-vehicle distance. When the driver determines that the necessary confluence space for truck C is not secured in order to maintain it, the driver releases the ACC control by stepping on the brake, etc. As shown, tracks C were merged. That is, although the inter-vehicle distance is automatically controlled, the driver's judgment is required according to the joining vehicle.

  On the other hand, in the inter-vehicle distance control apparatus 1 according to the present embodiment, as shown in a of FIG. 3, when the host vehicle A is following the preceding vehicle B by the ACC control indicated by the arrow ACC, The inter-vehicle distance is controlled based on the vehicle speed and the vehicle speed of the host vehicle. However, the presence of the truck C is detected at the joining point, and the total length R of the truck C is calculated, and a joining space (R + α) necessary for the truck C is secured as an inter-vehicle distance as shown in FIG. As shown in c, the track C can be merged.

  As described above, according to the inter-vehicle distance control device 1 according to the present embodiment, the total length R of the vehicle C that merges between the host vehicle A and the preceding vehicle B is specified, and the vehicle C that merges the target inter-vehicle distance. Set based on the total length R. This eliminates the driver's judgment and operation according to the vehicle C to be joined. For example, even when the inter-vehicle distance between the preceding vehicle A and the host vehicle B is shorter than the total length R of the vehicle C to be merged, it is not necessary for the driver to provide the necessary merge space by operating the vehicle A. Therefore, the driver's load can be reduced. In addition, when the driver wants to smoothly join the vehicles C that join together to smooth the traffic flow, the driver avoids an unnecessarily long distance between vehicles and prevents the smooth traffic flow from returning. can do.

  Further, according to the inter-vehicle distance control device 1 according to the present embodiment, the target inter-vehicle distance determination processing unit 14 sets the target vehicle inter-vehicle distance (R + α) that is obtained by adding a predetermined distance α to the total length R of the merged vehicle. Thus, a merge space corresponding to the vehicle C to be merged can be secured between the host vehicle A and the preceding vehicle B.

  Furthermore, according to the inter-vehicle distance control device 1 according to the present embodiment, the target inter-vehicle distance determination processing unit 14 sets a predetermined constant value to the target inter-vehicle distance when the full length specifying processing unit 13 cannot specify the total length R of the merging vehicle C. By setting the distance, the driver's load can be reduced even when the total length R of the merged vehicle C cannot be specified.

  In addition, embodiment mentioned above shows an example of the inter-vehicle distance control apparatus which concerns on this invention. The inter-vehicle distance control device according to the present invention is not limited to the inter-vehicle distance control device according to these embodiments, and the inter-vehicle distance control device according to the embodiments is modified without changing the gist described in each claim. Or may be applied to other things.

  For example, in the inter-vehicle distance control device 1 according to the embodiment, the information acquisition unit 20 may be a combination of the front millimeter wave sensor 21, the image sensor 22, the side sensor 23, and the navigation device 24. Good. Moreover, this invention is not restricted to these sensors, It is sufficient if a joining vehicle is specified and the full length of the joining vehicle can be measured. That is, when the navigation device can provide the specific information of the merged vehicle and the total length information of the merged vehicle, the effects of the present invention can be obtained even if the forward millimeter wave sensor 21, the image sensor 22, the side sensor 23, and the like are not provided. Can do.

It is a lineblock diagram of the inter-vehicle distance control device concerning this embodiment. It is a flowchart which shows operation | movement of the inter-vehicle distance control apparatus of FIG. It is a schematic diagram which shows the joining using the inter-vehicle distance control apparatus of FIG. It is a schematic diagram which shows the confluence | merging using the conventional inter-vehicle distance control apparatus.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Inter-vehicle distance control apparatus, 10 ... ECU, 11 ... Information input part, 12 ... Confluence detection process part, 13 ... Full length specific process part (vehicle specification means), 14 ... Target inter-vehicle distance determination process part (inter-vehicle distance determination means) , 15 ... Travel control unit (vehicle control means), 20 ... Information acquisition unit, 21 ... Front millimeter wave sensor, 22 ... Image sensor, 23 ... Side sensor, 24 ... Navigation device, 30 ... Actuator, 31 ... Brake actuator, 32 ... Engine throttle valve.

Claims (2)

An inter-vehicle distance control device that monitors the preceding vehicle and the vicinity of the vehicle and controls the inter-vehicle distance between the host vehicle and the preceding vehicle so that the joining vehicle can join,
Vehicle specifying means for specifying the total length of the merged vehicle;
An inter-vehicle distance determining means for determining a target inter-vehicle distance between the host vehicle and the preceding vehicle according to a total length of the joining vehicle;
Vehicle control means for controlling the host vehicle based on the target inter-vehicle distance;
With
The inter-vehicle distance determining means sets a predetermined distance as the target inter-vehicle distance when the vehicle specifying means cannot specify the total length of the joining vehicle .
An inter-vehicle distance control device characterized by the above. The inter-vehicle distance determining means sets, as the target inter-vehicle distance, a value obtained by adding a predetermined distance to the total length of the merged vehicle when the vehicle identifying means can identify the total length of the merged vehicle.
The inter-vehicle distance control device according to claim 1.

Images