JP5273276B2 - Vehicle travel control device and vehicle travel control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable setting of set vehicle speed depending on road situations. <P>SOLUTION: A device for controlling a vehicle so that speed of one's own vehicle matches the set vehicle speed acquires a speed limit of a road on which the own vehicle is traveling, and changes the set vehicle speed to second speed limit if the acquired set speed has changed from the first speed limit to the second speed limit. Within a predetermined time after the set speed has been changed as the driver has operated an operation means, processing to change the set vehicle speed to the second speed limit is restrained even if the speed limit acquired by a speed limit acquisition means changes from the first speed limit to the second speed limit. The driver is notified of that the speed limit is changed from the first speed limit to the second speed limit. <P>COPYRIGHT: (C)2013,JPO&amp;INPIT

Description

  The present invention relates to an apparatus and a method for controlling a vehicle speed so as to coincide with a set vehicle speed.

  2. Description of the Related Art Conventionally, in a device that automatically travels following a preceding vehicle, a technique is known that limits the maximum vehicle speed during follow-up travel to a road speed limit or a speed limit set by a driver (see Patent Document 1).

JP 07-85400 A

  However, if the conventional technology is applied to a system that matches the vehicle speed to the set vehicle speed, the maximum vehicle speed is only limited. For example, even if the road speed limit changes from 80 km / h to 100 km / h during driving, There is a problem that the vehicle does not change and cannot travel according to road conditions.

The vehicle travel control apparatus according to the present invention includes a vehicle speed detection unit that detects the speed of the host vehicle, and an operation unit that can set a vehicle speed (hereinafter, a set vehicle speed) when the vehicle travels at a constant speed by an operation of a driver. Control means for controlling the vehicle so that the vehicle speed detected by the vehicle speed detection means coincides with the set vehicle speed, speed limit acquisition means for acquiring the speed limit of the road on which the host vehicle is traveling, and the limit Setting vehicle speed changing means for changing the set vehicle speed to the second speed limit when the speed limit acquired by the speed acquisition means changes from the first speed limit to the second speed limit, and the setting vehicle speed changing means. the process but inhibits a process for changing the speed setting to the second speed limit, and a instructing means can instruct whether the driver is authorized, the vehicle speed setting change means , On condition that permits the driver by (i) the instruction means, obtained by (ii) the driver within a predetermined time after changing the speed setting by operating said operating means, the speed limit acquisition means even if the speed limit was has changed from the first speed limit to the second speed limit, inhibits the process of changing the speed setting to the second speed limit, it is characterized.
A vehicle travel control method according to the present invention is a vehicle travel control method for controlling a vehicle so that the speed of the host vehicle coincides with a set vehicle speed, the vehicle speed detecting step for detecting the speed of the host vehicle, and the operation of the driver. , An operation step in which the vehicle speed (hereinafter referred to as a set vehicle speed) when the vehicle travels at a constant speed, and a control for controlling the vehicle so that the vehicle speed detected by the vehicle speed detection step matches the set vehicle speed. A step, a speed limit acquisition step for acquiring a speed limit of the road on which the host vehicle is traveling, and a speed limit acquired by the speed limit acquisition step changes from a first speed limit to a second speed limit. for suppressing process and the set vehicle speed change step of changing the speed setting to the second speed limit, the process for changing the speed setting to the second speed limit in the speed setting changing step And a instruction checking step for checking whether permission from the driver is obtained, in the set vehicle speed change step, on condition that the permission from the driver is identified in (i) the instruction checking step, (ii ) the operation within a predetermined time after being changed the setting vehicle speed in step, even if the speed limit acquired by the speed limit acquisition process is changed to the second speed limit from the first speed limit, the suppressing process of changing the speed setting to the second speed limit, characterized in that.

  According to the vehicle travel control device and the vehicle travel control method of the present invention, the set vehicle speed according to the road condition can be set, so that the travel control according to the road condition can be realized.

The block diagram which shows the structure of the vehicle travel control apparatus in 1st Embodiment. The flowchart which shows the processing content performed by the vehicle travel control apparatus in 1st Embodiment. A diagram showing that the set vehicle speed also changes from 100 km / h to 80 km / h as the road speed limit changes from 100 km / h to 80 km / h. The figure which shows the change of the setting vehicle speed when a driver changes a setting vehicle speed to 78 km / h before the speed limit of a road changes from 100 km / h to 80 km / h. The figure which shows the change of the setting vehicle speed when the speed limit of the road in driving | running | working changes within predetermined time after operation of an operation switch is performed in the vehicle travel control apparatus in 2nd Embodiment. The block diagram which shows the structure of the traveling control apparatus for vehicles in 3rd Embodiment. In addition to the configuration of the vehicular travel control apparatus in the first embodiment shown in FIG. 1, a configuration diagram in the case of further comprising an in-vehicle camera In addition to the configuration of the vehicle travel control device in the first embodiment shown in FIG. 1, a configuration diagram in the case of further comprising a communication device for performing road-to-vehicle communication

-First embodiment-
FIG. 1 is a block diagram showing the configuration of the vehicle travel control apparatus according to the first embodiment. The vehicle travel control device in the first embodiment includes a controller 1, an operation switch 2, a navigation device 3, a vehicle speed sensor 4, an engine controller 5, a brake controller 6, and a notification device 7. This vehicle travel control device has a constant speed travel control function that causes the vehicle to travel at a set vehicle speed even when the driver removes his or her foot from the accelerator pedal.

  The operation switch 2 is a switch for increasing or decreasing a set vehicle speed when the vehicle performs constant speed traveling control, and is operated by a driver. The navigation device 3 includes a GPS unit (not shown), a map database (not shown), and the like. Based on the vehicle position detected by the GPS unit and the map data stored in the map database, the navigation device 3 Identify the road you are driving. The map data stored in the map database includes road speed limit information as well as road type information (highway, general road, etc.). The navigation device 3 detects the speed limit of the road that has been determined that the host vehicle is traveling.

  The vehicle speed sensor 4 detects the speed of the host vehicle. The engine controller 5 controls the acceleration / deceleration of the vehicle by adjusting the opening / closing of a throttle valve (not shown) and controlling the engine torque based on an instruction from the controller 1 described later. The brake controller 6 controls the deceleration of the vehicle by controlling the brake fluid pressure of the hydraulic brake provided on each wheel based on an instruction from the controller 1 described later.

  The notification device 7 is, for example, a speaker, and outputs a sound notifying the driver that the speed limit of the road on which the vehicle is traveling has changed based on an instruction from the controller 1 described later.

  The controller 1 includes a CPU 1a, a memory 1b, and a timer 1c, and calculates an engine torque command value and a brake fluid pressure command value for making the speed of the host vehicle detected by the vehicle speed sensor 4 coincide with the set vehicle speed. Output to the engine controller 5 and the brake controller 6, respectively. As described later, the set vehicle speed is set based on an operation signal input from the operation switch 2 and information on the speed limit of the traveling road input from the navigation device 3.

  In principle, the controller 1 sets the set vehicle speed based on the vehicle speed set by the driver operating the operation switch 2, but the speed limit of the road on which the host vehicle is traveling is changed from the first speed limit to the second speed limit. When the speed is changed to the speed limit, the second speed limit is set to the set vehicle speed. For example, when the constant speed traveling control is performed at the set vehicle speed of 95 km / h, if the speed limit of the traveling road changes from 100 km / h to 80 km / h, the set vehicle speed is changed to 80 km / h. Similarly, when the constant speed traveling control is performed at the set vehicle speed of 75 km / h, if the speed limit of the traveling road changes from 80 km / h to 100 km / h, the set vehicle speed is changed to 100 km / h. Thus, the set vehicle speed can be automatically changed according to the condition of the road on which the vehicle is traveling.

  However, in the vehicle travel control apparatus according to the first embodiment, when the driver operates the operation switch 2 to change (increase or decrease) the set vehicle speed, the operation switch 2 is operated. Even if the speed limit of the road changes during a predetermined time (for example, 10 seconds), control to make the set vehicle speed coincide with the speed limit after the change is prohibited. For example, when a constant speed traveling control is performed at a set vehicle speed of 95 km / h, the speed limit of the road on which the vehicle is traveling is changed from 100 km / h within 10 seconds after the driver changes the set vehicle speed to 78 km / h. Even if the speed is changed to 80 km / h, the set vehicle speed remains 78 km / h and is not changed to 80 km / h. Thereby, it is possible to prevent the set vehicle speed from being automatically changed to another value immediately after the driver intentionally changes the set vehicle speed.

  FIG. 2 is a flowchart showing the contents of processing performed by the vehicle travel control apparatus according to the first embodiment. When the driver operates a switch (not shown) for starting constant speed running control, the CPU 1a of the controller 1 starts the process of step S10.

In step S10, operation information indicating the operation status of the operation switch 1 of the driver is acquired from the operation switch 1, and the process proceeds to step S20. In step S20, the set vehicle speed is changed based on the operation information of the operation switch 1 acquired in step S10.
(I) When the set vehicle speed increases When the operation switch 1 is operated in the increasing direction of the set vehicle speed, the set vehicle speed Vset is calculated from the following equation (1). However, Vset_old is a set vehicle speed at the time of the previous process, and ΔVup is a predetermined set speed increase amount.
Vset = Vset_old + ΔVup (1)
(Ii) When the set vehicle speed is decreased When the operation switch 1 is operated in the decreasing direction of the set vehicle speed, the set vehicle speed Vset is calculated from the following equation (2). However, Vset_old is a set vehicle speed at the time of the previous process, and ΔVdown is a predetermined set speed decrease amount.
Vset = Vset_old−ΔVdown (2)

  However, when the operation information that the driver does not operate the operation switch 1 is acquired in step S10, the set vehicle speed is not changed in step S20. Further, when the operation information indicating that the driver has operated the operation switch 1 is acquired, the timer 1c starts timing.

  In step S30 following step S20, information on the speed limit Vlimit of the road on which the host vehicle is traveling is acquired from the navigation device 3, and the process proceeds to step S40. In step S40, it is determined whether or not the set vehicle speed can be changed according to the change in the speed limit Vlimit of the road on which the host vehicle is traveling. As described above, until the predetermined time elapses after the driver operates the operation switch 1 (changing operation of the set vehicle speed), that is, until the predetermined time elapses after the timer 1c starts counting, It is determined that the set vehicle speed cannot be changed in accordance with the change in the limit speed Vlimit. If it is determined that the set vehicle speed can be changed, the process proceeds to step S50. If it is determined that the change cannot be made, the process proceeds to step S70.

  In step S50, based on the information on the speed limit Vlimit acquired from the navigation device 3, it is determined whether or not the speed limit of the road on which the host vehicle is traveling has changed. If it is determined that the speed limit Vlimit of the traveling road has changed, the process proceeds to step S60, and if it is determined that the speed limit has not changed, the process proceeds to step S90.

  In step S60, the set vehicle speed is made to coincide with the speed limit Vlimit after the change. For example, when the speed limit Vlimit of the road on which the host vehicle is traveling is changed from 100 km / h to 80 km / h, the set vehicle speed is set to 80 km / h. FIG. 3 is a diagram showing that the set vehicle speed also changes from 100 km / h to 80 km / h as the speed limit Vlimit of the road on which the host vehicle is traveling has changed from 100 km / h to 80 km / h. .

  On the other hand, in step S70, until the time measured by the timer 1c elapses a predetermined time, even if the speed limit Vlimit of the running road changes, a process of changing the set vehicle speed to the changed speed limit is performed. Absent.

  FIG. 4 shows a case where the driver operates the operation switch 1 and changes the set vehicle speed to 78 km / h before the speed limit Vlimit of the road on which the vehicle is traveling changes from 100 km / h to 80 km / h. It is a figure which shows the change of set vehicle speed. As described above, since the change of the set vehicle speed according to the change in the speed limit Vlimit is prohibited until the predetermined time has elapsed after the driver operates the operation switch 1, the speed limit is set from 100 km / h to 80 km. Even if it changes to / h, the set vehicle speed is not changed from 78 km / h to 80 km / h. Thus, for example, when the driver sees a sign that the speed limit of the front road is 80 km / h and changes the set vehicle speed to 78 km / h, which is slightly lower than 80 km / h, the road with the speed limit of 80 km / h It is possible to prevent the set vehicle speed from being changed to 80 km / h immediately after entering the vehicle.

  In the example shown in FIG. 4, the case where the driver operates the operation switch 1 to change the set vehicle speed to 90 km / h will also be considered. For example, in the information on the speed limit acquired from the navigation device 3, even if the speed limit is 80 km / h, the actual road speed limit may be changed from 80 km / h to 90 km / h. That is, in the old data stored in the navigation device 3, the vehicle speed (90 km / h) changed by the driver exceeds the speed limit but does not exceed the actual speed limit, so there is no particular problem. Even when the actual speed limit is 80 km / h, the driver can change the set vehicle speed to 80 km / h or less by checking the speed limit indicator.

  When the process of step S60 or step S70 is performed, the process proceeds to step S80. In step S80, when the speed limit of the road on which the host vehicle is traveling changes, the notification device 7 notifies the driver that the speed limit has changed. For example, a sound such as “the speed limit has been changed from 100 km / h to 80 km / h” is output from the notification device 7 that is a speaker. When the process of step S80 is performed, the process proceeds to step S90.

  In step S90, a command value is calculated such that the vehicle speed detected by the vehicle speed sensor 4 matches the set vehicle speed. For example, when the host vehicle speed is lower than the set vehicle speed, an engine torque command value for accelerating the vehicle is calculated and output to the engine controller 5. When the host vehicle speed is higher than the set vehicle speed, an engine torque command value and a brake fluid pressure command value for decelerating the vehicle are calculated, and the engine torque command value is output to the engine controller 5. The brake fluid pressure command value is output to the brake controller 6. As a result, the speed of the host vehicle is maintained at the set vehicle speed.

  According to the vehicle travel control device in the first embodiment, in the device that controls the vehicle so that the speed of the host vehicle matches the set vehicle speed, the speed limit of the road on which the host vehicle is traveling is acquired, When the acquired speed limit changes from the first speed limit to the second speed limit, the set vehicle speed is changed to the second speed limit. Thereby, since the set vehicle speed according to the road condition can be set, the constant speed traveling control according to the road condition can be realized. For example, when the road speed limit changes from 100 km / h to 80 km / h, and the host vehicle is running at a constant speed of 100 km / h, the set vehicle speed is automatically increased from 100 km / h to 80 km / h. Therefore, it is not necessary for the driver to change the set vehicle speed to 80 km / h.

  Similarly, when the road speed limit changes from 80 km / h to 100 km / h, the set vehicle speed automatically changes to 100 km / h, so the driver does not need to perform an operation to change the set vehicle speed to 100 km / h. . On the other hand, in a conventional device that only limits the maximum vehicle speed, even if the road speed limit changes from 80 km / h to 100 km / h, the set vehicle speed does not change at 80 km / h, so the driver can set the set vehicle speed to 100 km / h. The operation to change to Further, when it is desired to set the set vehicle speed to 95 km / h on a road having a speed limit of 100 km / h, the vehicle travel control apparatus according to the first embodiment automatically changes the set vehicle speed to 100 km / h. It is sufficient to perform an operation for reducing the speed by 5 km / h. On the other hand, in a conventional apparatus that only limits the maximum vehicle speed, it is necessary to perform an operation to increase the set vehicle speed by 15 km / h from 80 km / h to 95 km / h.

  Moreover, according to the vehicle travel control apparatus in the first embodiment, the change of the set vehicle speed based on the change in the limit speed is performed within a predetermined time after the driver changes the set vehicle speed by operating the operation switch 1. Banned. Thus, for example, when the driver changes the set vehicle speed from 100 km / h to 78 km / h immediately before the speed limit of the road on which the host vehicle is traveling is changed from 100 km / h to 80 km / h, the limit is set. It is possible to prevent the set vehicle speed from being changed from 78 km / h to 80 km / h immediately after entering the road having a speed of 80 km / h. That is, the driver's intention can be prioritized when changing the set vehicle speed.

  Furthermore, according to the vehicle travel control apparatus in the first embodiment, when the speed limit of the road on which the host vehicle is traveling changes, the driver is notified that the speed limit has changed. It can be easily grasped that the speed limit has changed.

-Second Embodiment-
In the vehicle travel control apparatus according to the first embodiment, the change of the set vehicle speed based on the change in the speed limit is prohibited within a predetermined time after the driver changes the set vehicle speed by operating the operation switch 1. I made it. In the vehicular travel control apparatus according to the second embodiment, when the speed limit of the road being traveled changes within a predetermined time after the driver operates the operation switch 1, the speed limit is changed after the set vehicle speed is changed. The amount of change per predetermined time when changing to speed is reduced.

  FIG. 5 shows the change in the set vehicle speed when the speed limit of the traveling road changes within a predetermined time after the driver operates the operation switch 1 in the vehicle travel control apparatus according to the second embodiment. FIG. If the amount of change per predetermined time when changing the set vehicle speed to the changed speed limit is not reduced, the speed limit changes from the first speed limit to the second speed limit as shown in FIG. The set vehicle speed is immediately changed to the second speed limit. However, in the second embodiment, by reducing the amount of change per predetermined time when changing the set vehicle speed to the second speed limit, the time until the set vehicle speed matches the second speed limit is reduced. Lengthen. As a result, when the driver changes the set vehicle speed immediately before the speed limit changes from the first speed limit to the second speed limit, the setting is made immediately after the vehicle enters the road of the second speed limit. It is possible to prevent the vehicle speed from being changed to the second speed limit.

-Third embodiment-
FIG. 6 is a block diagram showing the configuration of the vehicle travel control apparatus according to the third embodiment. The vehicle travel control apparatus according to the third embodiment further includes a permission switch 8 in addition to the configuration of the vehicle travel control apparatus according to the first embodiment shown in FIG.

  The permission switch 8 determines whether or not the driver permits the process of prohibiting the change of the set vehicle speed based on the change in the speed limit within a predetermined time after the driver changes the set vehicle speed by operating the operation switch 1. It is a switch for instructing. That is, by operating the permission switch 8, the driver permits or prohibits the process of prohibiting the change of the set vehicle speed based on the change in the speed limit within a predetermined time after the operation switch 1 is operated. Is selected in advance.

  Only when the instruction from the permission switch 8 is permitted, the controller 1 performs a process for prohibiting the change of the set vehicle speed based on the change in the speed limit within a predetermined time after the operation switch 1 is operated. On the contrary, when the instruction from the permission switch 8 is not permitted, the road speed limit is changed from the first speed limit to the second speed limit within a predetermined time after the operation switch 1 is operated. When it changes, a process of changing the set vehicle speed to the second speed limit is performed.

  According to the vehicle travel control apparatus in the third embodiment, only when there is permission from the driver, the set vehicle speed is changed based on the change in the speed limit within a predetermined time after the operation switch 1 is operated. Since the process for prohibiting the process is performed, the process giving priority to the driver's intention can be performed.

  The present invention is not limited to the embodiments described above. For example, in the first to third embodiments described above, the navigation device 3 detects the speed limit of the road on which the host vehicle is traveling, but may be detected by another method. FIG. 7 is a configuration diagram in the case where an in-vehicle camera 10 is further provided in addition to the configuration of the vehicle travel control device in the first embodiment shown in FIG. 1. The in-vehicle camera 10 images the front of the vehicle. The controller 1 performs image processing on the video imaged by the in-vehicle camera 10 to detect a sign on which the speed limit is written, and recognizes the speed limit drawn on the detected sign.

  FIG. 8 is a configuration diagram in the case where a communication device 15 for performing road-to-vehicle communication is further provided in addition to the configuration of the vehicle travel control device in the first embodiment shown in FIG. The communication device 15 is a communication device for using an information communication system such as VICS, and acquires information on a road speed limit by communicating with a roadside device installed on the roadside.

  In the first embodiment described above, the change of the set vehicle speed based on the change of the speed limit is prohibited within a predetermined time after the driver changes the set vehicle speed by operating the operation switch 1. However, after the driver changes the set vehicle speed by operating the operation switch 1, the change of the set vehicle speed based on the change in the limit speed may be prohibited while the vehicle travels a predetermined distance. For detection of the travel distance, a sensor generally provided in the vehicle may be used. For example, the predetermined distance may be a fixed value such as 200 m, or may be a distance when the vehicle travels for a predetermined time (for example, 10 seconds) at the vehicle speed at that time. Similarly, the vehicle travel control apparatus according to the second and third embodiments can be controlled based on a predetermined distance instead of a predetermined time.

  In the vehicle travel control apparatus according to the third embodiment, the change of the set vehicle speed based on the change in the speed limit is prohibited within a predetermined time after the operation switch 1 is operated only when the driver gives permission. The process to do. Similarly, in the second embodiment, if the speed limit of the running road changes within a predetermined time after the driver operates the operation switch 1 only when the driver gives permission, the set vehicle speed is changed. You may perform the process which makes small the variation | change_quantity per predetermined time at the time of changing to the speed limit after a change.

  As an example of the notification device 7 that notifies the driver that the speed limit of the road on which the vehicle is traveling has changed, a speaker that notifies the user by voice is given. However, the notification device 7 is not limited to the speaker. For example, the display may indicate that the speed limit has changed, or may be an indicator for notifying that the speed limit has changed by turning on.

  The correspondence between the constituent elements of the claims and the constituent elements of the first to third embodiments is as follows. That is, the vehicle speed sensor 4 is vehicle speed detection means, the engine controller 5 and brake controller 6 are control means, the operation switch 2 is operation means, the navigation device 3 is speed limit acquisition means, the controller 1 is set vehicle speed change means, The notification device 7 constitutes a notification unit. In addition, the above description is an example to the last, and when interpreting invention, it is not limited to the correspondence of the component of said embodiment and the component of this invention at all.

DESCRIPTION OF SYMBOLS 1 ... Controller 2 ... Operation switch 3 ... Navigation apparatus 4 ... Vehicle speed sensor 5 ... Engine controller 6 ... Brake controller 7 ... Notification apparatus 8 ... Permit switch 10 ... In-vehicle camera

Claims (3)

Vehicle speed detecting means for detecting the speed of the host vehicle;
Operation means capable of setting a vehicle speed (hereinafter, set vehicle speed) when the vehicle travels at a constant speed by an operation of the driver;
Control means for controlling the vehicle so that the vehicle speed detected by the vehicle speed detection means matches the set vehicle speed;
Speed limit acquisition means for acquiring the speed limit of the road on which the host vehicle is traveling,
A setting vehicle speed changing means for changing the set vehicle speed to the second speed limit when the speed limit acquired by the speed limit acquiring means changes from the first speed limit to the second speed limit ;
An instruction means capable of instructing whether or not the driver permits the process of suppressing the process of changing the set vehicle speed to the second speed limit by the set vehicle speed changing means ;
The set vehicle speed changing means is
(I) On condition that the driver has permitted by the instruction means,
(Ii) Within a predetermined time after the driver changes the set vehicle speed by operating the operating means, the speed limit acquired by the speed limit acquiring means is changed from the first speed limit to the second speed limit. Even when it changes to, the process of changing the set vehicle speed to the second speed limit is suppressed ,
A vehicular travel control device. The vehicle travel control apparatus according to claim 1 ,
The vehicular travel control apparatus further comprising a notification unit that notifies the driver that the speed limit acquired by the speed limit acquisition unit has changed from the first speed limit to the second speed limit. A vehicle travel control method for controlling a vehicle so that the speed of the host vehicle matches a set vehicle speed,
A vehicle speed detection process for detecting the speed of the host vehicle;
An operation process that can set a vehicle speed (hereinafter, set vehicle speed) when the vehicle travels at a constant speed by an operation of the driver;
A control step of controlling the vehicle so that the vehicle speed detected by the vehicle speed detection step matches the set vehicle speed;
A speed limit acquisition step for acquiring a speed limit of the road on which the host vehicle is traveling;
A set vehicle speed changing step of changing the set vehicle speed to the second limit speed when the speed limit acquired by the speed limit acquiring step changes from the first speed limit to the second speed limit ;
An instruction confirming step for confirming whether or not permission has been obtained from the driver for the process of suppressing the process of changing the set vehicle speed to the second speed limit in the set vehicle speed changing step ;
In the set vehicle speed change step,
(I) On the condition that permission from the driver is confirmed in the instruction confirmation step,
(Ii) the operation within a predetermined time after being changed the setting vehicle speed in step, even if the speed limit acquired by the speed limit acquisition process is changed to the second speed limit from the first speed limit , Suppressing the process of changing the set vehicle speed to the second speed limit ,
A vehicle running control method characterized by the above.

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