JP5321441B2 - Driving assistance device - Google Patents

Driving assistance device Download PDF

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JP5321441B2
JP5321441B2 JP2009286105A JP2009286105A JP5321441B2 JP 5321441 B2 JP5321441 B2 JP 5321441B2 JP 2009286105 A JP2009286105 A JP 2009286105A JP 2009286105 A JP2009286105 A JP 2009286105A JP 5321441 B2 JP5321441 B2 JP 5321441B2
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distance
preceding vehicle
intersection
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JP2011126406A (en
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裕二 鈴木
克宣 清水
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Mitsubishi Motors Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support device wherein functionality to be able to automatically extend an inter-vehicle distance according to behavior of vehicles traveling in front of one's own vehicle is improved. <P>SOLUTION: In this driving support device, when the own vehicle approaches an intersection, an intersection position decision part 11 detects a velocity and an acceleration of a preceding vehicle by a radar device 1. The intersection position decision part 11 reads a correlation coefficient corresponding to the inter-vehicle distance between the preceding vehicle and a further-preceding vehicle. The intersection position decision part 11 calculates a distance to the own vehicle from the intersection, reads the extended inter-vehicle distance when the own vehicle approaches the intersection in reference to extended inter-vehicle distance property data based on the velocity of the preceding vehicle, the distance to the own vehicle from the intersection, and the acceleration of the preceding vehicle, and corrects it by the correction coefficient. As a result, the corrected extended inter-vehicle distance is extended according to the behavior of the preceding vehicle and the further-preceding vehicle such as the acceleration of the preceding vehicle, the inter-vehicle distance between the preceding vehicle and the further-preceding vehicle, and the distance from the intersection. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

本発明は、車両の車間距離制御に適用して好適な、車両が交差点に接近したときの安全性を向上させる運転支援装置に関する。   The present invention relates to a driving support device that is suitable for application to inter-vehicle distance control of vehicles and that improves safety when a vehicle approaches an intersection.

従来、前方の車両を検出すると、自車両と前方の車両との車間距離を確保するように運転者に報知する機能、あるいは自車両の走行速度を自動的に減速する機能を備えた車両用の運転支援装置が提案されている。
このような車両用の運転支援装置として、次のようなものが提案されている（特許文献１参照）。
すなわち、この運転支援装置は、物体検知手段と、先行車両判定手段と、車間距離検出手段と、目標車間距離設定手段と、車間距離制御手段と、加減速意志検出手段とを備えている。
物体検知手段は、自車進行方向に存在する物体を検知する。
先行車両判定手段は、前記物体検知手段により検知された物体は自車両の制御に係る先行車両であるか否かを判定する。
車間距離検出手段は、前記物体検知手段の出力に基づき自車両と前記先行車両との間の実車間距離を検出する。
目標車間距離設定手段は、目標車間距離を設定する。
車間距離制御手段は、前記実車間距離、前記目標車間距離に基づき自車両と前記先行車両との間の車間距離を制御する。
加減速意志検出手段は、運転者の加速意志および減速意志の少なくとも何れかを検出する。
そして、前記車間距離制御手段は、前記加減速意志検出手段により検出された加速意志または減速意志に基づき、前記実車間距離を前記目標車間距離に収束させる際の収束特性を変更する。 Conventionally, when a vehicle in front is detected, the vehicle has a function of notifying a driver so as to secure a distance between the vehicle and the vehicle in front or a function of automatically reducing the traveling speed of the vehicle. Driving assistance devices have been proposed.
As such a driving support device for a vehicle, the following has been proposed (see Patent Document 1).
That is, the driving support apparatus includes object detection means, preceding vehicle determination means, inter-vehicle distance detection means, target inter-vehicle distance setting means, inter-vehicle distance control means, and acceleration / deceleration intention detection means.
The object detection means detects an object existing in the traveling direction of the host vehicle.
The preceding vehicle determining means determines whether or not the object detected by the object detecting means is a preceding vehicle related to the control of the own vehicle.
The inter-vehicle distance detection means detects the actual inter-vehicle distance between the host vehicle and the preceding vehicle based on the output of the object detection means.
The target inter-vehicle distance setting means sets the target inter-vehicle distance.
The inter-vehicle distance control means controls the inter-vehicle distance between the host vehicle and the preceding vehicle based on the actual inter-vehicle distance and the target inter-vehicle distance.
The acceleration / deceleration will detection means detects at least one of the driver's acceleration intention and deceleration intention.
The inter-vehicle distance control means changes a convergence characteristic when converging the actual inter-vehicle distance to the target inter-vehicle distance based on the acceleration intention or the will of deceleration detected by the acceleration / deceleration intention detection means.

特開２００７−１２６００３号公報JP 2007-126033 A

したがって、従来の運転支援装置では、交差点に近づくと、先行車両の進路方向や車両速度を運転者自身が判断し、交差点の手前で車両を停止させたり減速させるなどの、安全に交差点を通過するための運転者自身による交差点特有の判断が必要となる課題があった。   Therefore, in the conventional driving support device, when approaching the intersection, the driver himself judges the course direction and the vehicle speed of the preceding vehicle, and passes the intersection safely, such as stopping or decelerating the vehicle before the intersection. For this reason, there is a problem that requires judgment specific to the intersection by the driver himself.

本発明は、このような事情に鑑みてなされたものであり、車両の車間距離制御において、交差点に近づくと交差点の手前で自車両の前方を走行する車両の挙動に応じて車間距離を自動的に延長できる機能性を向上させた運転支援装置を提供することを目的とする。   The present invention has been made in view of such circumstances, and in inter-vehicle distance control of a vehicle, when the vehicle approaches an intersection, the inter-vehicle distance is automatically set according to the behavior of the vehicle traveling in front of the host vehicle before the intersection. An object of the present invention is to provide a driving support device with improved functionality that can be extended to

上記目的を達成するために、本発明の運転支援装置は、自車両と、前記自車両の前方を走行する先行車両との間の車間距離を確保しつつ前記自車両を前記先行車両に追従して走行するように制御する運転支援装置であって、前記自車両の現在位置と前記自車両が走行する経路上の交差点の位置を検出する位置情報検出手段と、前記位置情報検出手段により検出した前記自車両の現在位置から前記交差点までの距離を検出する交差点距離検出手段と、前記先行車両および該先行車両の前方を走行する先先行車両の挙動を検出する挙動検出手段と、前記交差点距離検出手段により検出した前記交差点までの距離が予め定められた所定の距離範囲に入ると、前記挙動検出手段により検出した前記挙動に応じて、前記自車両と前記先行車両との間の車間距離を延長する車間距離延長手段と、を備え、前記挙動検出手段は、前記先行車両の速度、前記先行車両の加速度および前記先行車両と前記先先行車両との間の車間距離を検出し、前記車間距離延長手段は、あらかじめ設定された前記自車両と前記先行車両との間の設定車間距離に対して、前記先行車両の速度、前記先行車両の加速度、前記先行車両と前記先先行車両との間の車間距離、および前記位置情報検出手段により検出した前記自車両の現在位置から前記交差点までの距離に基づいて決定された延長車間距離を加算することによって前記自車両と前記先行車両との間の車間距離を延長するとともに、前記自車両の現在位置から前記交差点までの距離が短いほど前記延長車間距離を長くする、ことを特徴とする。 In order to achieve the above object, the driving support apparatus of the present invention follows the host vehicle to the preceding vehicle while ensuring an inter-vehicle distance between the host vehicle and a preceding vehicle traveling in front of the host vehicle. A driving support device that controls the vehicle to travel, wherein the current position of the host vehicle and a position of an intersection on the route on which the host vehicle travels are detected, and detected by the position information detecting unit Intersection distance detection means for detecting a distance from the current position of the host vehicle to the intersection, behavior detection means for detecting the behavior of the preceding vehicle and a preceding vehicle traveling ahead of the preceding vehicle, and the intersection distance detection When the distance to the intersection detected by the means falls within a predetermined distance range determined in advance, the vehicle between the host vehicle and the preceding vehicle according to the behavior detected by the behavior detection means An inter-vehicle distance extending means for extending a distance, wherein the behavior detecting means detects a speed of the preceding vehicle, an acceleration of the preceding vehicle, and an inter-vehicle distance between the preceding vehicle and the preceding preceding vehicle, The inter-vehicle distance extension means is configured to calculate a speed of the preceding vehicle, an acceleration of the preceding vehicle, an acceleration of the preceding vehicle, and the preceding preceding vehicle with respect to a preset inter-vehicle distance between the host vehicle and the preceding vehicle. By adding the inter-vehicle distance and the extended inter-vehicle distance determined based on the distance from the current position of the host vehicle detected by the position information detecting means to the intersection, the vehicle and the preceding vehicle are added. And extending the extended inter-vehicle distance as the distance from the current position of the host vehicle to the intersection is shorter.

本発明によれば、交差点に近づくと、自車両と先行車両との間の車間距離が、先行車両および先行車両の挙動に応じて自動的に延長されるため、交差点に接近したときの車両の車間距離制御における機能性を向上させた運転支援装置を提供できる効果がある。   According to the present invention, as the vehicle approaches the intersection, the inter-vehicle distance between the host vehicle and the preceding vehicle is automatically extended according to the behavior of the preceding vehicle and the preceding vehicle. There is an effect that it is possible to provide a driving support device with improved functionality in inter-vehicle distance control.

本発明の実施の形態である運転支援装置の構成を示すブロック図である。It is a block diagram which shows the structure of the driving assistance apparatus which is embodiment of this invention. 本発明の実施の形態の運転支援装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the driving assistance device of embodiment of this invention. 本発明の実施の形態の運転支援装置において先行車両の挙動を示す加速度に応じた延長車間距離特性データの一例を示す説明図である。It is explanatory drawing which shows an example of the extended inter-vehicle distance characteristic data according to the acceleration which shows the behavior of a preceding vehicle in the driving assistance device of embodiment of this invention. 本発明の実施の形態の運転支援装置における先行車両と先先行車両との間の車間距離に応じた補正係数θを規定する補正特性の一例を示す説明図である。It is explanatory drawing which shows an example of the correction characteristic which prescribes | regulates the correction coefficient (theta) according to the inter-vehicle distance between the preceding vehicle and a preceding preceding vehicle in the driving assistance device of embodiment of this invention. 本発明の実施の形態の運転支援装置において設定車間距離に付与される延長車間距離を示す説明図である。It is explanatory drawing which shows the extended inter-vehicle distance provided to the setting inter-vehicle distance in the driving assistance device of the embodiment of the present invention. 本発明の実施の形態の運転支援装置において設定車間距離に付与される延長車間距離を示す説明図である。It is explanatory drawing which shows the extended inter-vehicle distance provided to the setting inter-vehicle distance in the driving assistance device of the embodiment of the present invention. 本発明の実施の形態の運転支援装置において設定車間距離に付与される延長車間距離を示す説明図である。It is explanatory drawing which shows the extended inter-vehicle distance provided to the setting inter-vehicle distance in the driving assistance device of the embodiment of the present invention. 本発明の実施の形態の運転支援装置において設定車間距離に付与される延長車間距離を示す説明図である。It is explanatory drawing which shows the extended inter-vehicle distance provided to the setting inter-vehicle distance in the driving assistance device of the embodiment of the present invention. 本発明の実施の形態の運転支援装置において設定車間距離に付与される延長車間距離を示す説明図である。It is explanatory drawing which shows the extended inter-vehicle distance provided to the setting inter-vehicle distance in the driving assistance device of the embodiment of the present invention. 本発明の実施の形態の運転支援装置において設定車間距離に付与される延長車間距離を示す説明図である。It is explanatory drawing which shows the extended inter-vehicle distance provided to the setting inter-vehicle distance in the driving assistance device of the embodiment of the present invention.

以下、本発明の実施の形態について説明する。図１は、本発明の実施の形態である運転支援装置の構成を示すブロック図である。
この運転支援装置は、エンジンのみで走行する従来の化石燃料を使用する自動車、エンジンと電気モータを動力源として走行するハイブリッドシステムによる自動車、あるいは電気モータのみで走行する電気自動車の何れにも適用可能である。
この実施の形態では、エンジンのみで走行する従来の化石燃料を使用する自動車に適用した運転支援装置について説明する。
また、この運転支援装置は車間距離制御機能（ＡＣＣ）を有しており、あらかじめ設定された車間距離を先行車両との間で維持するように自車両に対し加速制御、減速制御を自動的に行う。
この車間距離制御機能は、先行車両との間の車間距離を安全な距離に保ち、あるいは先行車両との間の車間距離が危険距離になると警報を発すると共にブレーキ制御を自動的に行う。
このためレーダ装置を備えており、所定周波数帯の高周波を前方へ放射したときの先行車両からの反射波により先行車両との相対速度情報、距離情報を取得し、これら相対速度情報、距離情報をもとに運転者に対する警報音、アナウンスなどの報知処理を行う。
さらに車速の変更やブレーキ制御などの車両動作制御を行う。 Embodiments of the present invention will be described below. FIG. 1 is a block diagram showing a configuration of a driving support apparatus according to an embodiment of the present invention.
This driving support device can be applied to any vehicle that uses conventional fossil fuels that run only on an engine, a vehicle that uses a hybrid system that runs using an engine and an electric motor as a power source, or an electric vehicle that runs only on an electric motor. It is.
In this embodiment, a driving support device applied to an automobile using a conventional fossil fuel that runs only by an engine will be described.
In addition, this driving support device has an inter-vehicle distance control function (ACC), and automatically performs acceleration control and deceleration control on the own vehicle so as to maintain a preset inter-vehicle distance with a preceding vehicle. Do.
This inter-vehicle distance control function keeps the inter-vehicle distance from the preceding vehicle at a safe distance, or issues an alarm and automatically performs brake control when the inter-vehicle distance from the preceding vehicle becomes a dangerous distance.
For this reason, a radar apparatus is provided, and the relative speed information and distance information with the preceding vehicle is acquired by the reflected wave from the preceding vehicle when a high frequency of a predetermined frequency band is radiated forward, and the relative speed information and the distance information are obtained. Based on the above, notification processing such as warning sound and announcement to the driver is performed.
Furthermore, vehicle operation control such as vehicle speed change and brake control is performed.

図１に示すように、この運転支援装置は、レーダ装置（挙動検出手段）１、各種操作スイッチ２、ナビゲーション装置（位置情報検出手段）３、道路側情報取得手段４、カメラ５、交差点状況判断部（交差点距離検出手段、挙動検出手段、車間距離延長手段）１１、車間距離制御機能を構成する基本目標演算部１２、速度制御部２１、エンジンＥＣＵ２２およびブレーキＥＣＵ２４を備えている。
基本目標演算部１２は、車間距離演算手段１２１、目標車速演算手段１２２および目標加速度演算手段１２３を備えている。 As shown in FIG. 1, this driving support device includes a radar device (behavior detection means) 1, various operation switches 2, a navigation device (position information detection means) 3, a road side information acquisition means 4, a camera 5, an intersection situation determination. (Intersection distance detection means, behavior detection means, inter-vehicle distance extension means) 11, a basic target calculation unit 12, a speed control unit 21, an engine ECU 22, and a brake ECU 24 that constitute an inter-vehicle distance control function.
The basic target calculation unit 12 includes an inter-vehicle distance calculation means 121, a target vehicle speed calculation means 122, and a target acceleration calculation means 123.

レーダ装置１は、例えばミリ波などの所定周波数帯の電波を前方へ放射して反射波を受信し、先行車両と自車両との相対速度、車間距離を測定し、先行車両との相対速度情報、車間距離情報を取得する装置である。
このレーダ装置１は、さらに先行車両の先を走行している先先行車両と自車両との相対速度、車間距離を測定することが可能な構成となっている。この結果、先行車両と先先行車両との間の車間距離を判定することができる。 The radar device 1 radiates a radio wave of a predetermined frequency band such as a millimeter wave forward and receives a reflected wave, measures the relative speed and the inter-vehicle distance between the preceding vehicle and the host vehicle, and information on the relative speed with respect to the preceding vehicle. This is a device for acquiring inter-vehicle distance information.
The radar apparatus 1 is further configured to measure the relative speed and the inter-vehicle distance between the preceding vehicle traveling ahead of the preceding vehicle and the host vehicle. As a result, the inter-vehicle distance between the preceding vehicle and the preceding vehicle can be determined.

各種操作スイッチ２は、電源スイッチ、リセットスイッチ、モード切り替えスイッチ、車間距離制御機能における設定車間距離、つまり前記車間距離制御機能においてあらかじめ設定される車間距離基準値を入力するための操作スイッチなどを含む。   The various operation switches 2 include a power switch, a reset switch, a mode switch, an operation switch for inputting a set inter-vehicle distance in the inter-vehicle distance control function, that is, an inter-vehicle distance reference value set in advance in the inter-vehicle distance control function. .

ナビゲーション装置３は、自車両の現在位置を地図上に出力し表示部へ表示し、さらに交差点を含む道路地図情報をデータベースから読み出して出力し、あるいは音声にて報知する機能を備えている。   The navigation device 3 has a function of outputting the current position of the host vehicle on a map and displaying it on a display unit, and further reading out and outputting road map information including an intersection from a database, or notifying by voice.

道路側情報取得手段４は、例えば道路の交差点に設置した道路状況情報収集装置と双方向通信を行う通信機能、さらにはインターネットなどのネットワークと接続可能なネットワーク接続機能を備えている。
そして、道路側情報取得手段４は、前記通信機能、前記ネットワーク接続機能により、交差点を含む道路地図情報、交差点内および交差点近傍の道路状況を示す渋滞情報、渋滞を避けた広域での道路案内情報、合流車両、急カーブ先の停止車両などの危険情報を含む高精度の道路交通情報を取得することができる。なお、前記道路地図情報には、交差点の位置、形状を含む情報が含まれている。
さらに、前記ネットワーク接続機能により接続したインターネットを経由した各種情報などをリアルタイムで取得する。 The road side information acquisition means 4 has a communication function for performing bidirectional communication with, for example, a road condition information collecting device installed at an intersection of roads, and further a network connection function for connecting to a network such as the Internet.
Then, the road side information acquisition means 4 uses the communication function and the network connection function to obtain road map information including intersections, traffic congestion information indicating road conditions in and near the intersection, and road guidance information in a wide area avoiding traffic congestion. It is possible to acquire high-accuracy road traffic information including danger information such as merging vehicles and vehicles that stop sharply. The road map information includes information including the position and shape of the intersection.
Further, various information via the Internet connected by the network connection function is acquired in real time.

カメラ５は、自車両の先行車両を含む進行方向を撮像しており、交差点に接近すると前方の交差点を撮像する。
また、自車両の進行方向の路面も撮像しており、交差点に接近すると前方の交差点だけでなく交差点への進入側の路面も撮像する。
このため、自車両が交差点に接近すると交差点へ進入する路面上の停止ラインを撮像することが可能である。
したがって、カメラ５により撮像した路面画像を画像処理し、路面上の停止ラインを識別することで、自車両が交差点に接近して交差点内に進入する直前の状態を判定することが可能になる。 The camera 5 images the traveling direction including the preceding vehicle of the host vehicle, and images a front intersection when approaching the intersection.
The road surface in the traveling direction of the host vehicle is also imaged, and when approaching the intersection, not only the front intersection but also the road surface on the entry side to the intersection is imaged.
For this reason, when the own vehicle approaches the intersection, it is possible to image a stop line on the road surface that enters the intersection.
Therefore, it is possible to determine a state immediately before the host vehicle approaches the intersection and enters the intersection by performing image processing on the road surface image captured by the camera 5 and identifying a stop line on the road surface.

交差点状況判断部１１は、ナビゲーション装置３から出力された自車両の現在位置情報と交差点を含む道路地図情報、カメラ５により撮像された交差点画像をもとに、自車両が交差点へ向かって走行しており、かつ、自車両が交差点から予め定められた所定距離（たとえば１００ｍの距離範囲）に接近しているか否かを判定する。
さらに、交差点状況判断部１１は、自車両が交差点から前記所定距離の範囲に接近すると交差点側の道路状況情報収集装置と双方向通信を行い、交差点内を含む交差点近傍の道路状況などの交差点情報を道路側情報取得手段４により取得し交差点状況を判定する。
また交差点状況判断部１１には、自車両が交差点から前記所定距離の範囲に接近したときに車間距離制御機能における設定車間距離を自動的に変更するための延長車間距離特性データが設定されている。
この延長車間距離特性データは、先行車両速度Ｖ（ｍ／ｓｅｃ）と、交差点からの距離Ｌ（ｍ）とをパラメータとして、先行車両の挙動を示す増速、減速の度合い（以下加速度という）に応じた値として規定されている。
この値は先行車両と先先行車両との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正される。この結果、前記補正された延長車間距離は先行車両、先先行車両の挙動に応じたものとなる。 The intersection state determination unit 11 travels toward the intersection based on the current position information of the own vehicle output from the navigation device 3, road map information including the intersection, and the intersection image captured by the camera 5. In addition, it is determined whether or not the own vehicle is approaching a predetermined distance (for example, a distance range of 100 m) from the intersection.
Further, the intersection situation determination unit 11 performs two-way communication with the road situation information collection device on the intersection side when the own vehicle approaches the range of the predetermined distance from the intersection, and intersection information such as road conditions in the vicinity of the intersection including the inside of the intersection. Is obtained by the road side information acquisition means 4 and the intersection situation is determined.
The intersection situation determination unit 11 is set with extended inter-vehicle distance characteristic data for automatically changing the set inter-vehicle distance in the inter-vehicle distance control function when the host vehicle approaches the predetermined distance range from the intersection. .
This extended intervehicular distance characteristic data uses the preceding vehicle speed V (m / sec) and the distance L (m) from the intersection as parameters to indicate the degree of acceleration and deceleration (hereinafter referred to as acceleration) indicating the behavior of the preceding vehicle. It is specified as a value according to
This value is corrected by a correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding vehicle and the preceding preceding vehicle. As a result, the corrected extended inter-vehicle distance corresponds to the behavior of the preceding vehicle and the preceding vehicle.

図３は、先行車両の挙動を示す加速度ａ（ｍ／ｓｅｃ２）に応じた延長車間距離特性データの一例を示す説明図である。
すなわち、図３では、先行車両速度Ｖ（ｍ／ｓｅｃ）が２０Ｋｍ／ｈ未満の場合を“小”、２０Ｋｍ／ｈから４０Ｋｍ／ｈ未満の場合を“中”、４０Ｋｍ／ｈ以上を“大”というように分類している。
さらに図３では、交差点からの距離Ｌ（ｍ）は１００ｍから７０ｍまで、７０ｍ未満から３０ｍまで、３０ｍ未満から０ｍまでをそれぞれ区間分けした場合を例にとって説明するものである。
図４は、先行車両と先先行車両との間の車間距離ＬＬ（ｍ）に応じた補正係数θを規定する補正特性の一例を示す説明図である。 FIG. 3 is an explanatory diagram showing an example of the extended inter-vehicle distance characteristic data corresponding to the acceleration a (m / sec 2 ) indicating the behavior of the preceding vehicle.
That is, in FIG. 3, when the preceding vehicle speed V (m / sec) is less than 20 Km / h, “small”, when 20 Km / h to less than 40 Km / h is “medium”, and when 40 Km / h or more is “large”. They are classified as follows.
Further, in FIG. 3, the distance L (m) from the intersection will be described as an example in which the distance is divided from 100 m to 70 m, from less than 70 m to 30 m, and from less than 30 m to 0 m.
FIG. 4 is an explanatory diagram showing an example of a correction characteristic that defines the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding vehicle and the preceding preceding vehicle.

図５、図６、図７、図８、図９および図１０は、車間距離制御機能における設定車間距離に先行車両の挙動に応じて付与されるこの実施の形態の運転支援装置の延長車間距離を示す説明図である。
これらの図において、符号２０４は自車両、符号２０３は先行車両、符号２０２は先行車両２０３のさらに先の先先行車両、符号３０３は交差点を示している。
また、交差点状況判断部１１は、レーダ装置１による先行車両の検出結果、カメラ５による先行車両の画像などから先行車両２０３のウインカの点滅を識別する画像処理機能を備えている。
先行車両２０３のウインカの識別は、ウインカの点滅周期から識別する。
この結果、交差点に接近した先行車両２０３が点滅させるウインカにより先行車両２０３の進路判定情報を取得することが可能になる。 5, 6, 7, 8, 9, and 10 show the extended inter-vehicle distance of the driving support device of this embodiment that is given to the set inter-vehicle distance in the inter-vehicle distance control function according to the behavior of the preceding vehicle. It is explanatory drawing which shows.
In these drawings, reference numeral 204 indicates the host vehicle, reference numeral 203 indicates a preceding vehicle, reference numeral 202 indicates a preceding vehicle ahead of the preceding vehicle 203, and reference numeral 303 indicates an intersection.
Further, the intersection situation determination unit 11 has an image processing function for identifying blinking of the blinker of the preceding vehicle 203 from the detection result of the preceding vehicle by the radar device 1, the image of the preceding vehicle by the camera 5, and the like.
The turn signal of the preceding vehicle 203 is identified from the blinker blinking cycle.
As a result, it is possible to acquire the course determination information of the preceding vehicle 203 by the blinker that blinks the preceding vehicle 203 approaching the intersection.

交差点状況判断部１１は、自車両２０４が交差点へ向かって走行中であり、かつ交差点から所定距離（１００ｍ）接近した状況になると、ナビゲーション装置３により得られる自車両の現在地と交差点の位置情報とをもとに、自車両と交差点との距離Ｌ（ｍ）を所定の周期で検出する。
そして、先行車両２０３の先行車両速度Ｖ（ｍ／ｓｅｃ）の検出結果と、前記検出した自車両と交差点との距離Ｌ（ｍ）とをもとに図３に一例を示す延長車間距離特性データを選択し、さらにレーダ装置１により検出した先行車両２０３の加速度±ａ（ｍ／ｓｅｃ２）から前記延長車間距離特性データを参照し対応する延長車間距離を読み出す。
この延長車間距離は、このときの図４に示す先行車両と先先行車両との間の車間距離ＬＬ（ｍ）に応じた補正係数θによって補正される。
前記補正係数θで補正された延長車間距離は設定車間距離に加算され、自車両が交差点に接近したときの車間距離制御機能は、前記延長車間距離と設定車間距離との加算結果を自車両と先行車両との間の目標車間距離として制御を行う。
したがって、補正係数θによって補正された延長車間距離は、先行車両、先先行車両の挙動に応じたものとなる。 When the vehicle situation is approaching the intersection and the vehicle situation is close to a predetermined distance (100 m) from the intersection, the intersection situation determination unit 11 determines the current location of the vehicle and the position information of the intersection obtained by the navigation device 3. Based on the above, the distance L (m) between the host vehicle and the intersection is detected at a predetermined cycle.
Then, based on the detection result of the preceding vehicle speed V (m / sec) of the preceding vehicle 203 and the detected distance L (m) between the own vehicle and the intersection, the extended inter-vehicle distance characteristic data shown as an example in FIG. And the corresponding extended inter-vehicle distance is read from the acceleration ± a (m / sec 2 ) of the preceding vehicle 203 detected by the radar apparatus 1 with reference to the extended inter-vehicle distance characteristic data.
This extended inter-vehicle distance is corrected by a correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding vehicle and the preceding preceding vehicle shown in FIG.
The extended inter-vehicle distance corrected by the correction coefficient θ is added to the set inter-vehicle distance, and the inter-vehicle distance control function when the host vehicle approaches the intersection is obtained by adding the addition result of the extended inter-vehicle distance and the set inter-vehicle distance to the own vehicle. Control is performed as the target inter-vehicle distance from the preceding vehicle.
Therefore, the extended inter-vehicle distance corrected by the correction coefficient θ is in accordance with the behavior of the preceding vehicle and the preceding vehicle.

すなわち、交差点状況判断部１１は、自車両２０４が交差点へ向かって走行中であり、かつ交差点から前記所定距離（１００ｍ）に接近した状況になると、先行車両の速度と、先行車両の加速度と、交差点からの自車両の距離Ｌと、先行車両と先先行車両との間の車間距離ＬＬとに応じた延長車間距離を、図３に示す延長車間距離特性データを参照して決定する。
つまり、先先行車両を含む先行車両の挙動に応じた延長車間距離を、先行車両と自車両との間の車間距離として決定する。 That is, the intersection situation determination unit 11 determines that when the host vehicle 204 is traveling toward the intersection and approaches the predetermined distance (100 m) from the intersection, the speed of the preceding vehicle, the acceleration of the preceding vehicle, The extended inter-vehicle distance according to the distance L of the host vehicle from the intersection and the inter-vehicle distance LL between the preceding vehicle and the preceding preceding vehicle is determined with reference to the extended inter-vehicle distance characteristic data shown in FIG.
That is, the extended inter-vehicle distance corresponding to the behavior of the preceding vehicle including the preceding vehicle is determined as the inter-vehicle distance between the preceding vehicle and the host vehicle.

このようにして交差点状況判断部１１により決定された延長車間距離情報は基本目標演算部１２へ出力される。
基本目標演算部１２は、交差点から前記所定距離（１００ｍ）に接近していない状況では、車間距離制御機能により設定車間距離を先行車両との間で維持するように自車両の走行速度を制御している。
そして、基本目標演算部１２は、自車両が交差点から前記所定距離（１００ｍ）に接近し、交差点状況判断部１１から前記延長車間距離情報が出力されると、前記車間距離制御機能により制御されている先行車両２０３との間の設定車間距離に前記延長車間距離を加算する。
そして、前記設定車間距離に前記延長車間距離が加算された車間距離が自車両と先行車両２０３との間に維持されるように自車両の目標車速、目標加速度を制御する。
基本目標演算部１２は、自車両と先行車両との間の現在の車間距離、自車両の目標車速、目標加速度を含む各種演算を行う。基本目標演算部１２はコンピュータにより構成されている。 The extended inter-vehicle distance information determined by the intersection situation determination unit 11 in this way is output to the basic target calculation unit 12.
The basic target calculation unit 12 controls the traveling speed of the host vehicle so as to maintain the set inter-vehicle distance with the preceding vehicle by the inter-vehicle distance control function when the vehicle is not approaching the predetermined distance (100 m) from the intersection. ing.
The basic target calculation unit 12 is controlled by the inter-vehicle distance control function when the own vehicle approaches the predetermined distance (100 m) from an intersection and the extended inter-vehicle distance information is output from the intersection state determination unit 11. The extended inter-vehicle distance is added to the set inter-vehicle distance with the preceding vehicle 203.
Then, the target vehicle speed and target acceleration of the host vehicle are controlled so that the inter-vehicle distance obtained by adding the extended inter-vehicle distance to the set inter-vehicle distance is maintained between the host vehicle and the preceding vehicle 203.
The basic target calculation unit 12 performs various calculations including the current inter-vehicle distance between the host vehicle and the preceding vehicle, the target vehicle speed of the host vehicle, and the target acceleration. The basic target calculation unit 12 is configured by a computer.

自車両２０４が交差点から前記所定距離（１００ｍ）に接近しておらず通常の道路を走行している状況下で、基本目標演算部１２の車間距離演算手段１２１が算出する先行車両２０３と自車両２０４との間の車間距離は、前記車間距離制御機能により設定されている設定車間距離である。
また、自車両２０４が交差点へ向かって走行中であり、交差点から前記所定距離（１００ｍ）に接近した状況になると、車間距離演算手段１２１は、前記設定車間距離に交差点位置判断部１１から出力される前記延長車間距離を加算し、これを先行車両２０３と自車両２０４との間の目標車間距離として算出する。 The preceding vehicle 203 and the own vehicle calculated by the inter-vehicle distance calculation means 121 of the basic target calculation unit 12 in a situation where the own vehicle 204 is not approaching the predetermined distance (100 m) from the intersection and is traveling on a normal road. The inter-vehicle distance from the vehicle 204 is a set inter-vehicle distance set by the inter-vehicle distance control function.
When the host vehicle 204 is traveling toward the intersection and approaches the predetermined distance (100 m) from the intersection, the inter-vehicle distance calculation means 121 is output from the intersection position determination unit 11 to the set inter-vehicle distance. The extended inter-vehicle distance is added, and this is calculated as the target inter-vehicle distance between the preceding vehicle 203 and the host vehicle 204.

目標車速演算手段１２２は、車間距離演算手段１２１において演算された前記目標車間距離を自車両２０４と先行車両２０３との間に確保して先行車両２０３を追尾するための自車両２０４の目標車速を演算する。
この自車両２０４の目標車速の演算は、レーダ装置１により測定された現在の先行車両２０３と自車両２０４との間の相対速度情報、車間距離情報および自車両２０４の現在の車速情報などをもとに算出される。
基本目標演算部１２は、目標車速演算手段１２２により算出された目標車速を速度制御部２１へ設定する。
目標加速度演算手段１２３は、前記車間距離を自車両２０４と先行車両２０３との間に確保して先行車両２０３を追尾するための目標加速度を演算する。 The target vehicle speed calculation unit 122 secures the target vehicle distance calculated by the inter-vehicle distance calculation unit 121 between the host vehicle 204 and the preceding vehicle 203 and sets the target vehicle speed of the host vehicle 204 for tracking the preceding vehicle 203. Calculate.
The calculation of the target vehicle speed of the own vehicle 204 includes the relative speed information between the current preceding vehicle 203 and the own vehicle 204 measured by the radar device 1, the inter-vehicle distance information, the current vehicle speed information of the own vehicle 204, and the like. And calculated.
The basic target calculation unit 12 sets the target vehicle speed calculated by the target vehicle speed calculation unit 122 in the speed control unit 21.
The target acceleration calculation means 123 calculates a target acceleration for tracking the preceding vehicle 203 while ensuring the inter-vehicle distance between the host vehicle 204 and the preceding vehicle 203.

基本目標演算部１２は、目標加速度演算手段１２３により算出された前記目標加速度を速度制御部２１へ設定する。
速度制御部２１は、エンジンＥＣＵ２２およびブレーキＥＣＵ２４と通信を行い、前記目標速度、目標加速度をもとにエンジンＥＣＵ２２がエンジン２３の制御を行い、ブレーキＥＣＵ２４がブレーキ２５の制御を行う。 The basic target calculation unit 12 sets the target acceleration calculated by the target acceleration calculation unit 123 in the speed control unit 21.
The speed control unit 21 communicates with the engine ECU 22 and the brake ECU 24, the engine ECU 22 controls the engine 23 based on the target speed and the target acceleration, and the brake ECU 24 controls the brake 25.

次に動作について説明する。
図２は、この運転支援装置の動作を示すフローチャートである。以下、このフローチャートに従って動作について説明する。
この運転支援装置を備えた車両は、交差点から所定距離（１００ｍ）の範囲に接近していない状況では、先行車両との車間距離が車間距離制御機能により設定されている設定車間距離を維持するように先行車両を自動追尾し走行している。 Next, the operation will be described.
FIG. 2 is a flowchart showing the operation of this driving support apparatus. The operation will be described below according to this flowchart.
In a situation where the vehicle equipped with this driving support device is not approaching the predetermined distance (100 m) from the intersection, the inter-vehicle distance from the preceding vehicle is maintained at the set inter-vehicle distance set by the inter-vehicle distance control function. The vehicle is running after automatically tracking the preceding vehicle.

ナビゲーション装置３は、自車両の現在位置を検出し、ディスプレイに表示された地図データ上に前記検出した自車両の現在位置を表示出力している。そして、地図データ上で自車両の進行方向に交差点が存在するか否かを判定している。さらに、自車両の進行方向に交差点が存在すると判定すると、自車両の進行方向に存在する交差点についての位置情報をデータベースから読み出す（ステップＳ１）。   The navigation device 3 detects the current position of the host vehicle, and displays and outputs the detected current position of the host vehicle on the map data displayed on the display. And it is determined whether the intersection exists in the advancing direction of the own vehicle on map data. Further, if it is determined that there is an intersection in the traveling direction of the host vehicle, position information about the intersection existing in the traveling direction of the host vehicle is read from the database (step S1).

次に、ナビゲーション装置３は前記データベースから読み出した自車両の進行方向に存在する交差点についての位置情報と自車両の現在位置情報とをもとに、自車両が走行している経路に沿った前記交差点から自車両までの距離を判定する。自車両が前記交差点へ向かって走行しており、かつ自車両の現在位置が前記交差点の手前、予め定められた所定距離（１００ｍ）に達すると、“交差点手前１００ｍ接近”の状態を判定する（ステップＳ２）。
なお、これらステップＳ１、ステップＳ２の機能はナビゲーション装置３において目的地を設定したときに通常行われる経路案内での交差点の接近案内機能を利用することが可能である。 Next, the navigation device 3 uses the position information about the intersection existing in the traveling direction of the host vehicle read from the database and the current position information of the host vehicle along the route along which the host vehicle is traveling. The distance from the intersection to the host vehicle is determined. When the host vehicle is traveling toward the intersection and the current position of the host vehicle reaches a predetermined distance (100 m) before the intersection, the state of “approaching 100 m before the intersection” is determined ( Step S2).
In addition, the function of these steps S1 and S2 can utilize the approach guidance function of the intersection in the route guidance normally performed when the destination is set in the navigation apparatus 3.

続いて、交差点位置判断部１１は、自車両の前方を走行する先行車両の速度Ｖ（Ｋｍ／ｈ）と、加速度±ａ（ｍ／ｓｅｃ２）とをレーダ装置１により検出し、それら先行車両情報検出結果を取得する（ステップＳ３）。これら先行車両の速度情報、加速度情報はメモリの所定の記憶エリアへ格納される。 Subsequently, the intersection position determination unit 11 detects the speed V (Km / h) and acceleration ± a (m / sec 2 ) of the preceding vehicle traveling in front of the host vehicle by using the radar device 1, and these preceding vehicles. An information detection result is acquired (step S3). These speed information and acceleration information of the preceding vehicle are stored in a predetermined storage area of the memory.

次に、交差点位置判断部１１は、自車両と先行車両との車間距離をレーダ装置１により検出し、さらに自車両と、先行車両のさらに前方を走行する先先行車両との車間距離をレーダ装置１により検出し、それら先行車両情報検出結果、先先行車両情報検出結果を取得する。
これら先行車両情報検出結果、先先行車両情報検出結果はメモリの所定の記憶エリアへ格納される。交差点位置判断部１１は、先行車両情報検出結果、先先行車両情報検出結果をもとに、自車両と先行車両との車間距離と、自車両と先先行車両との車間距離との差を演算し、先行車両と先先行車両との間の車間距離ＬＬ（ｍ）を判定する（ステップＳ４）。 Next, the intersection position determination unit 11 detects the inter-vehicle distance between the host vehicle and the preceding vehicle using the radar device 1, and further determines the inter-vehicle distance between the host vehicle and the preceding preceding vehicle that travels further ahead of the preceding vehicle. 1 and the preceding preceding vehicle information detection result and the preceding preceding vehicle information detection result are acquired.
These preceding vehicle information detection results and the preceding preceding vehicle information detection results are stored in a predetermined storage area of the memory. The intersection position determination unit 11 calculates the difference between the distance between the host vehicle and the preceding vehicle and the distance between the host vehicle and the preceding preceding vehicle based on the preceding vehicle information detection result and the preceding preceding vehicle information detection result. Then, the inter-vehicle distance LL (m) between the preceding vehicle and the preceding preceding vehicle is determined (step S4).

交差点位置判断部１１は、さらに前記車間距離ＬＬ（ｍ）をもとに図４に示す補正特性を参照し、前記補正特性で規定されている前記車間距離ＬＬ（ｍ）に応じた補正係数θを読み出す。この補正係数θは、メモリの所定の記憶エリアへ格納される。   The intersection position determination unit 11 further refers to the correction characteristic shown in FIG. 4 based on the inter-vehicle distance LL (m), and the correction coefficient θ corresponding to the inter-vehicle distance LL (m) defined by the correction characteristic. Is read. This correction coefficient θ is stored in a predetermined storage area of the memory.

続いて、ナビゲーション装置３が前記データベースから読み出した自車両の進路方向に存在する交差点についての位置情報と自車両の現在位置情報とをもとに、自車両が走行している経路に沿った前記交差点から自車両までの距離Ｌ（ｍ）を算出する（ステップＳ５）。この交差点から自車両までの距離情報はメモリの所定の記憶エリアへ格納される。   Subsequently, based on the position information about the intersection existing in the course direction of the own vehicle read from the database by the navigation device 3 and the current position information of the own vehicle, the route along the route on which the own vehicle is traveling is described. A distance L (m) from the intersection to the host vehicle is calculated (step S5). The distance information from the intersection to the host vehicle is stored in a predetermined storage area of the memory.

そして、交差点位置判断部１１は、先行車両２０３の走行速度、前記交差点からの自車両までの距離Ｌ（ｍ）に応じた図３に示す延長車間距離特性データを選択し、前記ステップＳ３で検出した先行車両の加速度±ａ（ｍ／ｓｅｃ２）をもとに前記延長車間距離特性データを参照し、交差点に距離Ｌ（ｍ）接近したときの延長車間距離を決定する（ステップＳ６）。 Then, the intersection position determination unit 11 selects the extended inter-vehicle distance characteristic data shown in FIG. 3 according to the traveling speed of the preceding vehicle 203 and the distance L (m) from the intersection to the host vehicle, and is detected in step S3. Based on the acceleration ± a (m / sec 2 ) of the preceding vehicle, the extended inter-vehicle distance characteristic data is referenced to determine the extended inter-vehicle distance when approaching the intersection by a distance L (m) (step S6).

さらに交差点位置判断部１１は、前記延長車間距離に先行車両と先先行車両との間の車間距離ＬＬ（ｍ）に応じた補正係数θを乗算し、前記延長車間距離を先行車両と先先行車両との間の車間距離ＬＬ（ｍ）に応じて補正する。
したがって、補正係数θによって補正された延長車間距離は、先行車両、先先行車両の挙動に応じたものとなる。
この補正係数θによって補正された延長車間距離は交差点位置判断部１１から基本目標演算部１２へ出力される。
基本目標演算部１２は、交差点状況判断部１１から前記延長車間距離情報が出力されると、前記車間距離制御機能により設定されている設定車間距離に前記延長車間距離を加算する。 Further, the intersection position determination unit 11 multiplies the extended inter-vehicle distance by a correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding vehicle and the preceding preceding vehicle, and calculates the extended inter-vehicle distance as the preceding vehicle and the preceding preceding vehicle. It correct | amends according to the distance LL (m) between the vehicles.
Therefore, the extended inter-vehicle distance corrected by the correction coefficient θ is in accordance with the behavior of the preceding vehicle and the preceding vehicle.
The extended inter-vehicle distance corrected by the correction coefficient θ is output from the intersection position determination unit 11 to the basic target calculation unit 12.
When the extended inter-vehicle distance information is output from the intersection situation determination unit 11, the basic target calculation unit 12 adds the extended inter-vehicle distance to the set inter-vehicle distance set by the inter-vehicle distance control function.

そして、前記設定車間距離に前記延長車間距離が加算された車間距離が自車両と先行車両２０３との間に維持されるように自車両の目標車速、目標加速度を制御する（ステップＳ７）。   Then, the target vehicle speed and target acceleration of the host vehicle are controlled so that the inter-vehicle distance obtained by adding the extended inter-vehicle distance to the set inter-vehicle distance is maintained between the host vehicle and the preceding vehicle 203 (step S7).

ここで、図３に示す延長車間距離特性データの一例について、図４から図１０までの説明図を参照して具体的に説明する。
図５は、交差点から自車両までの距離が１００ｍから７０ｍの範囲内のとき、先行車両の速度と加速度に応じた延長車間距離と、前記延長車間距離が加算される設定車間距離の一例を示している。図５に示した例では車間距離ＬＬは１０ｍ、交差点の渋滞度、混雑度は小さい状態である。 Here, an example of the extended inter-vehicle distance characteristic data shown in FIG. 3 will be specifically described with reference to the explanatory diagrams of FIGS.
FIG. 5 shows an example of the extended inter-vehicle distance according to the speed and acceleration of the preceding vehicle and the set inter-vehicle distance to which the extended inter-vehicle distance is added when the distance from the intersection to the host vehicle is in the range of 100 m to 70 m. ing. In the example shown in FIG. 5, the inter-vehicle distance LL is 10 m, and the degree of congestion and the degree of congestion at the intersection are small.

先行車両の速度Ｖは、２０Ｋｍ／ｈ未満が小、２０Ｋｍ／ｈから４０Ｋｍ／ｈ未満が中、４０Ｋｍ／ｈ以上が大というように分類されている。
自車両が交差点より１００ｍから７０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈで定速走行しているとき、図３に示す延長車間距離特性データから読み出される延長車間距離はｒ０５であり、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ０５・θが設定車間距離に加算される。
また、自車両が交差点より１００ｍから７０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈから速度を上昇させ、加速度が＋ａ１（ｍ／ｓｅｃ２）であったとする。 The speed V of the preceding vehicle is classified as small when less than 20 Km / h, medium between 20 Km / h and less than 40 Km / h, and large when 40 Km / h or more.
When the host vehicle is traveling within a range of 100 m to 70 m from the intersection, and the preceding vehicle is traveling at a constant speed of 30 km / h, the extended inter-vehicle distance read from the extended inter-vehicle distance characteristic data shown in FIG. r05, and the extended inter-vehicle distance r05 · θ corrected by the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is added to the set inter-vehicle distance.
In addition, it is assumed that the host vehicle is traveling within a range of 100 m to 70 m from the intersection, and at this time, the preceding vehicle has increased in speed from 30 Km / h and the acceleration is + a1 (m / sec 2 ).

先行車両が加速度＋ａ１（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を上昇させると、先行車両２０３の挙動、つまり先行車両の加速度＋ａ１（ｍ／ｓｅｃ２ ）に応じた延長車間距離ｒ０２が図３に示す延長車間距離特性データから読み出される。
そして、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ０２・θが、前記延長車間距離ｒ０５・θに代えて設定車間距離に加算される。
延長車間距離ｒ０２・θは延長車間距離ｒ０５・θよりも小さい。つまり、先行車両２０３が増速したということは先行車両前方の交差点を含む道路状況は混雑していない、あるいは渋滞していないということであるから、延長車間距離をｒ０５・θからｒ０２・θ（ｒ０２・θ＜ｒ０５・θ）へ変更することで、車間距離制御機能は先行車両に対する自車両の追従性を上げ、自車両と先行車両との間の車間距離を短縮する方向で自車両の走行を制御する。 When the preceding vehicle increases its speed from 30 Km / h at acceleration + a1 (m / sec 2 ), the behavior of the preceding vehicle 203, that is, the extended inter-vehicle distance r02 corresponding to the acceleration of the preceding vehicle + a1 (m / sec 2 ) is shown in FIG. Is read from the extended inter-vehicle distance characteristic data shown in FIG.
Then, the extended inter-vehicle distance r02 · θ corrected by the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is replaced with the extended inter-vehicle distance r05 · θ. Is added to the set inter-vehicle distance.
The extended inter-vehicle distance r02 · θ is smaller than the extended inter-vehicle distance r05 · θ. That is, when the speed of the preceding vehicle 203 is increased, the road condition including the intersection ahead of the preceding vehicle is not congested or congested, so the extended inter-vehicle distance is changed from r05 · θ to r02 · θ ( By changing to r02 · θ <r05 · θ), the inter-vehicle distance control function increases the followability of the host vehicle with respect to the preceding vehicle, and the host vehicle travels in a direction to reduce the inter-vehicle distance between the host vehicle and the preceding vehicle. To control.

なお、図５に示す例の場合、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが２ｍなどという短い距離の場合には、図４から補正係数θは１に近い値となるため、延長車間距離ｒ０２・θは略ｒ０２となり、延長車間距離ｒ０２に対する補正係数θの影響は小さく、自車両と先行車両との間の車間距離は長くなる方向に制御される。
つまり、車間距離ＬＬが短い距離の場合には、先先行車両の挙動よりも先行車両の挙動が延長車間距離に大きく影響し、先行車両が加速度＋ａ１（ｍ／ｓｅｃ２ ）で３０Ｋｍ／ｈから速度を上昇させたとしても、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが短い分を考慮して自車両と先行車両との間の車間距離は長くなる方向に制御される。あるいは、自車両と先行車両との間の車間距離は、前方状況変化に対応するため延長車間距離を長くする方向に制御される。
すなわち、交差点に対し１００ｍから７０ｍの範囲に接近した状況で、先行車両が増速した場合、自車両と先行車両との間の車間距離、延長車間距離は先行車両と先先行車両の挙動に応じて制御される。 In the case of the example shown in FIG. 5, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a short distance such as 2 m, the correction coefficient θ is a value close to 1 from FIG. The extended inter-vehicle distance r02 · θ is substantially r02, and the influence of the correction coefficient θ on the extended inter-vehicle distance r02 is small, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to increase.
That is, when the inter-vehicle distance LL is a short distance, the behavior of the preceding vehicle has a greater influence on the extended inter-vehicle distance than the behavior of the preceding preceding vehicle, and the preceding vehicle speeds from 30 Km / h with acceleration + a1 (m / sec 2 ). Is increased, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer in consideration of the short inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203. Alternatively, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled in a direction to increase the extended inter-vehicle distance in order to cope with a change in the front situation.
That is, when the preceding vehicle speeds up in the situation where the vehicle approaches the intersection from 100m to 70m, the inter-vehicle distance between the host vehicle and the preceding vehicle and the extended inter-vehicle distance depend on the behavior of the preceding vehicle and the preceding vehicle. Controlled.

図６は、交差点から自車両までの距離が７０ｍ未満から３０ｍの範囲内のとき、先行車両の速度と加速度とに応じた延長車間距離と、前記延長車間距離が加算される設定車間距離の一例を示している。図６に示した例では車間距離ＬＬは５ｍ、交差点の渋滞度、混雑度は小さい状態である。   FIG. 6 shows an example of the set inter-vehicle distance in which the extended inter-vehicle distance according to the speed and acceleration of the preceding vehicle and the extended inter-vehicle distance are added when the distance from the intersection to the host vehicle is in the range of less than 70 m to 30 m. Is shown. In the example shown in FIG. 6, the inter-vehicle distance LL is 5 m, and the degree of congestion and congestion at the intersection are small.

自車両が交差点より７０ｍ未満から３０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈで定速走行しているとき、図３に示す延長車間距離特性データから読み出される延長車間距離はｒ１５であり、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ１５・θが設定車間距離に加算される。
自車両が交差点より７０ｍ未満から３０ｍの範囲内を走行し、このとき先行車両が３０Ｋｍ／ｈから速度を上昇させ、加速度が＋ａ１（ｍ／ｓｅｃ２）であったとする。 When the own vehicle is traveling within the range of less than 70 m to 30 m from the intersection, and the preceding vehicle is traveling at a constant speed of 30 Km / h, the extended inter-vehicle distance read from the extended inter-vehicle distance characteristic data shown in FIG. Is r15, and the extended inter-vehicle distance r15 · θ corrected by the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is added to the set inter-vehicle distance. .
Assume that the host vehicle travels within a range of less than 70 m to 30 m from the intersection, and at this time, the preceding vehicle increases the speed from 30 Km / h and the acceleration is + a1 (m / sec 2 ).

先行車両が加速度＋ａ１（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を上昇させると、先行車両２０３の挙動、つまり先行車両の加速度＋ａ１（ｍ／ｓｅｃ２）に応じた延長車間距離ｒ１２が図３に示す延長車間距離特性データから読み出される。
そして、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ１２・θが延長車間距離ｒ１５・θに代えて設定車間距離に加算される。
延長車間距離ｒ１２・θは延長車間距離ｒ１５・θよりも小さい。つまり、先行車両２０３が増速したということは先行車両前方の交差点を含む道路状況は混雑していない、あるいは渋滞していないということであるから、延長車間距離をｒ１５・θからｒ１２・θ（ｒ１２・θ＜ｒ１５・θ）へ変更することで、車間距離制御機能は先行車両に対する自車両の追従性を上げ、自車両と先行車両との間の車間距離を短縮する方向で自車両の走行を制御する。 When the preceding vehicle increases its speed from 30 Km / h at an acceleration + a1 (m / sec 2 ), the behavior of the preceding vehicle 203, that is, the extended inter-vehicle distance r12 corresponding to the acceleration + a1 (m / sec 2 ) of the preceding vehicle is shown in FIG. Is read from the extended inter-vehicle distance characteristic data shown in FIG.
The extended inter-vehicle distance r12 · θ corrected by the correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is set instead of the extended inter-vehicle distance r15 · θ. It is added to the inter-vehicle distance.
The extended inter-vehicle distance r12 · θ is smaller than the extended inter-vehicle distance r15 · θ. In other words, since the speed of the preceding vehicle 203 is increased, the road condition including the intersection ahead of the preceding vehicle is not congested or congested, so the extended inter-vehicle distance is changed from r15 · θ to r12 · θ ( By changing to r12 · θ <r15 · θ), the inter-vehicle distance control function increases the followability of the own vehicle with respect to the preceding vehicle, and the own vehicle travels in a direction to reduce the inter-vehicle distance between the own vehicle and the preceding vehicle. To control.

なお、図６に示す例の場合、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが２ｍなどという短い距離の場合、図４から補正係数θは１に近い値となるため、延長車間距離ｒ１２・θは略ｒ１２となり、延長車間距離ｒ１２に対する補正係数θの影響は小さく、自車両と先行車両との間の車間距離は長くなる方向に制御される。
つまり、車間距離ＬＬが短い距離の場合には先先行車両の挙動よりも先行車両の挙動が延長車間距離に大きく影響し、先行車両が加速度合＋ａ１（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を上昇させたとしても、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが短い分を考慮して自車両と先行車両との間の車間距離は長くなる方向に制御される。あるいは、自車両と先行車両との間の車間距離は、前方状況変化に対応するため延長車間距離を長くする方向に制御される。
すなわち、交差点に対し７０ｍ未満から３０ｍの範囲に接近した状況で、先行車両が増速した場合、自車両と先行車両との間の車間距離、延長車間距離は先行車両と先先行車両の挙動に応じて制御される。 In the case of the example shown in FIG. 6, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a short distance such as 2 m, the correction coefficient θ is a value close to 1 from FIG. The inter-vehicle distance r12 · θ is substantially r12, and the influence of the correction coefficient θ on the extended inter-vehicle distance r12 is small, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer.
In other words, when the inter-vehicle distance LL is a short distance, the behavior of the preceding vehicle has a greater influence on the extended inter-vehicle distance than the behavior of the preceding preceding vehicle, and the preceding vehicle speeds from 30 Km / h at acceleration + a1 (m / sec 2 ). Is increased, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer in consideration of the short inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203. Alternatively, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled in a direction to increase the extended inter-vehicle distance in order to cope with a change in the front situation.
That is, when the preceding vehicle speeds up in the situation where the distance from the intersection is less than 70 m to 30 m with respect to the intersection, the inter-vehicle distance between the host vehicle and the preceding vehicle and the extended inter-vehicle distance depend on the behavior of the preceding vehicle and the preceding vehicle. Is controlled accordingly.

図７は、交差点から自車両までの距離が３０ｍ未満から０ｍの範囲内のとき、先行車両の速度と加速度とに応じた延長車間距離と、前記延長車間距離が加算される設定車間距離の一例を示している。図７に示した例では車間距離ＬＬは１．５ｍ、交差点の渋滞度、混雑度は小さい状態である。   FIG. 7 shows an example of the set inter-vehicle distance in which the extended inter-vehicle distance according to the speed and acceleration of the preceding vehicle and the extended inter-vehicle distance are added when the distance from the intersection to the host vehicle is in the range of less than 30 m to 0 m. Is shown. In the example shown in FIG. 7, the inter-vehicle distance LL is 1.5 m, and the degree of congestion and congestion at the intersection are small.

自車両が交差点より３０ｍ未満から０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈで定速走行しているとき、図３に示す延長車間距離特性データから読み出される延長車間距離はｒ２５であり、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ２５・θが設定車間距離に加算される。
自車両が交差点より３０ｍ未満から０ｍの範囲内を走行し、このとき先行車両が３０Ｋｍ／ｈから速度を上昇させ、加速度が＋ａ１（ｍ／ｓｅｃ２）であったとする。 When the own vehicle is traveling within the range of less than 30 m to 0 m from the intersection, and the preceding vehicle is traveling at a constant speed of 30 km / h, the extended inter-vehicle distance read from the extended inter-vehicle distance characteristic data shown in FIG. Is r25, and the extended inter-vehicle distance r25 · θ corrected by the correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is added to the set inter-vehicle distance. .
It is assumed that the host vehicle travels within a range of less than 30 m to 0 m from the intersection, and at this time, the preceding vehicle increases the speed from 30 Km / h and the acceleration is + a1 (m / sec 2 ).

先行車両が加速度＋ａ１（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を上昇させると、先行車両２０３の挙動、つまり先行車両の加速度＋ａ１（ｍ／ｓｅｃ２）に応じた延長車間距離ｒ２２が図３に示す延長車間距離特性データから読み出される。
そして、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ２２・θが延長車間距離ｒ２５・θに代えて設定車間距離に加算される。
延長車間距離ｒ２２・θは延長車間距離ｒ２５・θよりも小さい。つまり、交差点直前で先行車両２０３が増速したということは先行車両前方の交差点を含む道路状況は混雑していない、あるいは渋滞していないということであるから、延長車間距離をｒ２５・θからｒ２２・θ（ｒ２２・θ＜ｒ２５・θ）へ変更することで、車間距離制御機能は先行車両に対する自車両の追従性を上げ、自車両と先行車両との間の車間距離を短縮する方向で自車両の走行を制御する。 When the preceding vehicle increases its speed from 30 Km / h at acceleration + a1 (m / sec 2 ), the behavior of the preceding vehicle 203, that is, the extended inter-vehicle distance r22 corresponding to the acceleration of the preceding vehicle + a1 (m / sec 2 ) is shown in FIG. Is read from the extended inter-vehicle distance characteristic data shown in FIG.
Then, the extended inter-vehicle distance r22 · θ corrected by the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is set instead of the extended inter-vehicle distance r25 · θ. It is added to the inter-vehicle distance.
The extended inter-vehicle distance r22 · θ is smaller than the extended inter-vehicle distance r25 · θ. That is, the speed of the preceding vehicle 203 immediately before the intersection means that the road condition including the intersection ahead of the preceding vehicle is not congested or is not congested, so the extended inter-vehicle distance is set from r25 · θ to r22.・ By changing to θ (r22 · θ <r25 · θ), the inter-vehicle distance control function increases the followability of the own vehicle with respect to the preceding vehicle, and reduces the inter-vehicle distance between the own vehicle and the preceding vehicle. Control the running of the vehicle.

なお、図７に示す例の場合、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが１．５ｍなどという短い距離の場合、図４から補正係数θは１に近い値となるため、延長車間距離ｒ２２・θは略ｒ２２となり、延長車間距離ｒ２２に対する補正係数θの影響は小さく、自車両と先行車両との間の車間距離は長くなる方向に制御される。あるいは、自車両と先行車両との間の車間距離は、前方状況変化に対応するため延長車間距離を長くする方向に制御される。
つまり、車間距離ＬＬが短い距離の場合には先先行車両の挙動よりも先行車両の挙動が延長車間距離に大きく影響し、先行車両が加速度＋ａ１（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を上昇させたとしても、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが短い分を考慮して自車両と先行車両との間の車間距離は長くなる方向に制御される。
すなわち、交差点に対し３０ｍ未満から０ｍの範囲に接近した状況で、先行車両が増速した場合、自車両と先行車両との間の車間距離、延長車間距離は先行車両と先先行車両の挙動に応じて制御される。 In the case of the example shown in FIG. 7, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a short distance such as 1.5 m, the correction coefficient θ is a value close to 1 from FIG. The extended inter-vehicle distance r22 · θ is substantially r22, and the influence of the correction coefficient θ on the extended inter-vehicle distance r22 is small, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer. Alternatively, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled in a direction to increase the extended inter-vehicle distance in order to cope with a change in the front situation.
That is, when the inter-vehicle distance LL is a short distance, the behavior of the preceding vehicle has a greater influence on the extended inter-vehicle distance than the behavior of the preceding preceding vehicle, and the preceding vehicle increases in speed from 30 Km / h with acceleration + a1 (m / sec 2 ). Even if the vehicle is raised, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer in consideration of the short inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203.
In other words, when the preceding vehicle speeds up in the situation where it approaches the range from less than 30 m to 0 m with respect to the intersection, the inter-vehicle distance between the host vehicle and the preceding vehicle and the extended inter-vehicle distance are dependent on the behavior of the preceding vehicle and the preceding vehicle. Is controlled accordingly.

図８は、交差点から自車両までの距離が１００ｍから７０ｍの範囲内のとき、先行車両の速度と加速度とに応じた延長車間距離と、前記延長車間距離が加算される設定車間距離の一例を示している。図８に示した例では車間距離ＬＬは１０ｍ、交差点の渋滞度、混雑度は大きい状態である。   FIG. 8 shows an example of the set inter-vehicle distance in which the extended inter-vehicle distance according to the speed and acceleration of the preceding vehicle and the extended inter-vehicle distance are added when the distance from the intersection to the host vehicle is in the range of 100 m to 70 m. Show. In the example shown in FIG. 8, the inter-vehicle distance LL is 10 m, and the degree of congestion and the degree of congestion at the intersection are large.

自車両が交差点より１００ｍから７０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈで定速走行しているとき、図３に示す延長車間距離特性データから読み出される延長車間距離はｒ０５であり、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ０５・θが設定車間距離に加算される。
また、自車両が交差点より１００ｍから７０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈから速度を低下させ、加速度が−ａ２（ｍ／ｓｅｃ２）であったとする。 When the host vehicle is traveling within a range of 100 m to 70 m from the intersection, and the preceding vehicle is traveling at a constant speed of 30 km / h, the extended inter-vehicle distance read from the extended inter-vehicle distance characteristic data shown in FIG. r05, and the extended inter-vehicle distance r05 · θ corrected by the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is added to the set inter-vehicle distance.
In addition, it is assumed that the host vehicle is traveling within a range of 100 m to 70 m from the intersection, and that the preceding vehicle has decreased in speed from 30 Km / h and the acceleration is -a2 (m / sec 2 ).

先行車両が加速度−ａ２（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を減速させると、先行車両２０３の挙動、つまり先行車両の加速度−ａ２（ｍ／ｓｅｃ２）に応じた延長車間距離ｒ０８が図３に示す延長車間距離特性データから読み出される。
そして、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ０８・θが、前記延長車間距離ｒ０５・θに代えて設定車間距離に加算される。
延長車間距離ｒ０８・θは延長車間距離ｒ０５・θよりも大きい。つまり、先行車両２０３が減速したということは先行車両前方の交差点を含む道路状況は混雑している、あるいは渋滞しているということであるから、延長車間距離をｒ０５・θからｒ０８・θ（ｒ０８・θ＞ｒ０５・θ）へ変更することで、車間距離制御機能は先行車両と自車両との車間距離を延長する方向で自車両の走行を制御する。 When the preceding vehicle decelerates the speed from 30 Km / h at an acceleration −a2 (m / sec 2 ), the behavior of the preceding vehicle 203, that is, the extended inter-vehicle distance r08 corresponding to the acceleration −a2 (m / sec 2 ) of the preceding vehicle is obtained. It is read from the extended inter-vehicle distance characteristic data shown in FIG.
Then, the extended inter-vehicle distance r08 · θ corrected by the correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is replaced with the extended inter-vehicle distance r05 · θ. Is added to the set inter-vehicle distance.
The extended inter-vehicle distance r08 · θ is larger than the extended inter-vehicle distance r05 · θ. That is, the fact that the preceding vehicle 203 decelerated means that the road condition including the intersection ahead of the preceding vehicle is congested or congested, so the extended inter-vehicle distance is changed from r05 · θ to r08 · θ (r08). By changing to θ> r05 · θ), the inter-vehicle distance control function controls traveling of the host vehicle in a direction that extends the inter-vehicle distance between the preceding vehicle and the host vehicle.

なお、図８に示す例の場合、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが２０ｍなどという長い距離の場合には、図４から補正係数θは０に近い値となるため、延長車間距離ｒ０８・θに対する補正係数θの影響は大きく、自車両と先行車両との間の車間距離は本来の設定車間距離に近い状態に制御される。
つまり、車間距離ＬＬが長い距離の場合、先行車両が減速すると、先行車両が減速したことを考慮して先行車両と自車両との車間距離を延長するが、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが長い距離である分、前記先行車両と自車両との車間距離の延長を補正係数θで補正し、延長車間を短くし、本来の設定車間距離に近い状態で先行車両に追従する。 In the case of the example shown in FIG. 8, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a long distance such as 20 m, the correction coefficient θ is a value close to 0 from FIG. The influence of the correction coefficient θ on the extended inter-vehicle distance r08 · θ is large, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be close to the original set inter-vehicle distance.
That is, when the inter-vehicle distance LL is a long distance, when the preceding vehicle decelerates, the inter-vehicle distance between the preceding vehicle and the host vehicle is extended in consideration of the deceleration of the preceding vehicle. Since the inter-vehicle distance LL is a long distance, the extension of the inter-vehicle distance between the preceding vehicle and the host vehicle is corrected by the correction coefficient θ, the extension inter-vehicle distance is shortened, and the preceding vehicle is in a state close to the originally set inter-vehicle distance. Follow.

したがって、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが２ｍなどという短い距離である場合には、図４から補正係数θは１に近い値となるため、延長車間距離ｒ０８・θは略ｒ０８となり、延長車間距離ｒ０８に対する補正係数θの影響は小さく、自車両と先行車両との間の車間距離は、前記車間距離ＬＬが長い距離である場合に比べて長くなる方向に制御される。
つまり、車間距離ＬＬが短い距離の場合には先先行車両の挙動よりも先行車両の挙動が延長車間距離に大きく影響し、先行車両が加速度−ａ１（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を減速させると、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが短い分を考慮して前記補正係数により自車両と先行車両との間の車間距離は長くなる方向に制御される。
すなわち、交差点に対し１００ｍから７０ｍの範囲に接近した状況で、先行車両が減速した場合、自車両と先行車両との間の車間距離、延長車間距離は先行車両と先先行車両の挙動に応じて制御される。 Therefore, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a short distance such as 2 m, the correction coefficient θ is a value close to 1 from FIG. 4, so the extended inter-vehicle distance r08 · θ Is substantially r08, and the influence of the correction coefficient θ on the extended inter-vehicle distance r08 is small, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer than that when the inter-vehicle distance LL is a long distance. The
That is, when the inter-vehicle distance LL is a short distance, the behavior of the preceding vehicle has a greater influence on the extended inter-vehicle distance than the behavior of the preceding preceding vehicle, and the preceding vehicle speeds from 30 Km / h with acceleration −a1 (m / sec 2 ). When the vehicle speed is decelerated, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer by the correction coefficient in consideration of the short inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203. .
That is, when the preceding vehicle decelerates when approaching the range of 100 m to 70 m with respect to the intersection, the inter-vehicle distance between the host vehicle and the preceding vehicle, the extended inter-vehicle distance depends on the behavior of the preceding vehicle and the preceding preceding vehicle. Be controlled.

図９は、交差点から自車両までの距離が７０ｍ未満から３０ｍの範囲内のとき、先行車両の速度と、先行車両の加速度に応じた延長車間距離と、前記延長車間距離が加算される設定車間距離の一例を示している。図９に示した例では車間距離ＬＬは１０ｍ、交差点の渋滞度、混雑度は大きい状態である。   FIG. 9 shows a set inter-vehicle distance in which the speed of the preceding vehicle, the extended inter-vehicle distance according to the acceleration of the preceding vehicle, and the extended inter-vehicle distance are added when the distance from the intersection to the host vehicle is within a range of less than 70 m to 30 m. An example of distance is shown. In the example shown in FIG. 9, the inter-vehicle distance LL is 10 m, and the degree of congestion and the degree of congestion at the intersection are large.

自車両が交差点より７０ｍ未満から３０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈで定速走行しているとき、図３に示す延長車間距離特性データから読み出される延長車間距離はｒ１５であり、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ１５・θが設定車間距離に加算される。
また、自車両が交差点より７０ｍ未満から３０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈから速度を低下させ、加速度が−ａ２（ｍ／ｓｅｃ２）であったとする。 When the own vehicle is traveling within the range of less than 70 m to 30 m from the intersection, and the preceding vehicle is traveling at a constant speed of 30 Km / h, the extended inter-vehicle distance read from the extended inter-vehicle distance characteristic data shown in FIG. Is r15, and the extended inter-vehicle distance r15 · θ corrected by the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is added to the set inter-vehicle distance. .
In addition, it is assumed that the host vehicle is traveling within a range of less than 70 m to 30 m from the intersection, and that the preceding vehicle has decreased in speed from 30 Km / h and the acceleration is -a2 (m / sec 2 ).

先行車両が加速度−ａ２（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を減速させると、先行車両２０３の挙動、つまり先行車両の加速度−ａ２（ｍ／ｓｅｃ２）に応じた延長車間距離ｒ１８が図３に示す延長車間距離特性データから読み出される。
そして、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ１８・θが、前記延長車間距離ｒ１５・θに代えて設定車間距離に加算される。
延長車間距離ｒ１８・θは延長車間距離ｒ１５・θよりも大きい。つまり、先行車両２０３が減速したということは先行車両前方の交差点を含む道路状況は混雑している、あるいは渋滞しているということであるから、延長車間距離をｒ１５・θからｒ１８・θ（ｒ１８・θ＞ｒ１５・θ）へ変更することで、車間距離制御機能は先行車両と自車両との車間距離を十分に確保し延長する方向で自車両の走行を制御する。 When the preceding vehicle decelerates the speed from 30 Km / h at the acceleration −a2 (m / sec 2 ), the behavior of the preceding vehicle 203, that is, the extended inter-vehicle distance r18 corresponding to the acceleration −a2 (m / sec 2 ) of the preceding vehicle is obtained. It is read from the extended inter-vehicle distance characteristic data shown in FIG.
The extended inter-vehicle distance r18 · θ corrected by the correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is replaced with the extended inter-vehicle distance r15 · θ. Is added to the set inter-vehicle distance.
The extended inter-vehicle distance r18 · θ is larger than the extended inter-vehicle distance r15 · θ. In other words, the fact that the preceding vehicle 203 decelerated means that the road condition including the intersection ahead of the preceding vehicle is congested or congested, so the extended inter-vehicle distance is changed from r15 · θ to r18 · θ (r18 By changing to θ> r15 · θ), the inter-vehicle distance control function controls traveling of the host vehicle in a direction in which a sufficient inter-vehicle distance between the preceding vehicle and the host vehicle is secured and extended.

なお、図９に示す例の場合、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが２０ｍなどという長い距離の場合には、図４から補正係数θは０に近い値となるため、延長車間距離ｒ１８・θに対する補正係数θの影響は大きく、自車両と先行車両との間の車間距離は本来の設定車間距離に近い状態に制御される。
つまり、車間距離ＬＬが長い距離の場合には、先行車両が減速すると、先行車両が減速したことを考慮して先行車両と自車両との車間距離を延長するが、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが長い距離である分、前記先行車両と自車両との車間距離の延長を補正係数θで補正し、延長車間を短くし、本来の設定車間距離に近い状態で先行車両に追従する。 In the case of the example shown in FIG. 9, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a long distance such as 20 m, the correction coefficient θ is a value close to 0 from FIG. The influence of the correction coefficient θ on the extended inter-vehicle distance r18 · θ is large, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be close to the original set inter-vehicle distance.
That is, when the inter-vehicle distance LL is a long distance, when the preceding vehicle decelerates, the inter-vehicle distance between the preceding vehicle and the host vehicle is extended in consideration of the deceleration of the preceding vehicle. Since the inter-vehicle distance LL to the 203 is a long distance, the extension of the inter-vehicle distance between the preceding vehicle and the host vehicle is corrected by the correction coefficient θ, the extension inter-vehicle distance is shortened, and in a state close to the original set inter-vehicle distance. Follow the preceding vehicle.

したがって、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが２ｍなどという短い距離である場合には、図４から補正係数θは１に近い値となるため、延長車間距離ｒ１８・θは略ｒ１８となり、延長車間距離ｒ１８に対する補正係数θの影響は小さく、自車両と先行車両との間の車間距離は、前記車間距離ＬＬが長い距離である場合に比べて長くなる方向に制御される。
つまり、車間距離ＬＬが短い距離の場合には先先行車両の挙動よりも先行車両の挙動が延長車間距離に大きく影響し、先行車両が加速度−ａ２（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を減速させると、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが短い分を考慮して前記補正係数により自車両と先行車両との間の車間距離は長くなる方向に制御される。
すなわち、交差点に対し７０ｍ未満から３０ｍの範囲に接近した状況で、先行車両が減速した場合、自車両と先行車両との間の車間距離、延長車間距離は先行車両と先先行車両の挙動に応じて制御される。 Therefore, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a short distance such as 2 m, the correction coefficient θ is a value close to 1 from FIG. Is substantially r18, and the influence of the correction coefficient θ on the extended inter-vehicle distance r18 is small, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled in a direction that is longer than when the inter-vehicle distance LL is a long distance. The
That is, when the inter-vehicle distance LL is a short distance, the behavior of the preceding vehicle has a greater influence on the extended inter-vehicle distance than the behavior of the preceding preceding vehicle, and the preceding vehicle speeds from 30 Km / h at acceleration −a2 (m / sec 2 ). When the vehicle speed is decelerated, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer by the correction coefficient in consideration of the short inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203. .
That is, when the preceding vehicle decelerates in a situation where the intersection approaches the range of less than 70 m to 30 m with respect to the intersection, the inter-vehicle distance between the host vehicle and the preceding vehicle and the extended inter-vehicle distance depend on the behavior of the preceding vehicle and the preceding vehicle. Controlled.

図１０は、交差点から自車両までの距離が３０ｍ未満から０ｍの範囲内のとき、先行車両の速度と、先行車両の加速度に応じた延長車間距離と、前記延長車間距離が加算される設定車間距離の一例を示している。図１０に示した例では車間距離ＬＬは１．５ｍ、交差点の渋滞度、混雑度は大きい状態である。   FIG. 10 shows a set inter-vehicle distance in which the speed of the preceding vehicle, the extended inter-vehicle distance corresponding to the acceleration of the preceding vehicle, and the extended inter-vehicle distance are added when the distance from the intersection to the host vehicle is within a range of less than 30 m to 0 m. An example of distance is shown. In the example shown in FIG. 10, the inter-vehicle distance LL is 1.5 m, and the degree of congestion and the degree of congestion at the intersection are large.

自車両が交差点より３０ｍ未満から０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈで定速走行しているとき、図３に示す延長車間距離特性データから読み出される延長車間距離はｒ２５であり、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ２５・θが設定車間距離に加算される。
また、自車両が交差点より３０ｍ未満から０ｍの範囲内を走行しており、このとき先行車両が３０Ｋｍ／ｈから速度を低下させ、加速度が−ａ２（ｍ／ｓｅｃ２）であったとする。 When the own vehicle is traveling within the range of less than 30 m to 0 m from the intersection, and the preceding vehicle is traveling at a constant speed of 30 km / h, the extended inter-vehicle distance read from the extended inter-vehicle distance characteristic data shown in FIG. Is r25, and the extended inter-vehicle distance r25 · θ corrected by the correction coefficient θ corresponding to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is added to the set inter-vehicle distance. .
In addition, it is assumed that the host vehicle is traveling within a range of less than 30 m to 0 m from the intersection, and that the preceding vehicle has decreased in speed from 30 Km / h and the acceleration is -a2 (m / sec 2 ).

先行車両が加速度−ａ２（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を減速させると、先行車両２０３の挙動、つまり先行車両の加速度−ａ２（ｍ／ｓｅｃ２）に応じた延長車間距離ｒ２８が図３に示す延長車間距離特性データから読み出される。
そして、このときの先先行車両２０２と先行車両２０３との間の車間距離ＬＬ（ｍ）に応じた補正係数θで補正された延長車間距離ｒ２８・θが、前記延長車間距離ｒ２５・θに代えて設定車間距離に加算される。
延長車間距離ｒ２８・θは延長車間距離ｒ２５・θよりも大きい。つまり、先行車両２０３が減速したということは先行車両前方の交差点を含む道路状況は混雑している、あるいは渋滞しているということであるから、延長車間距離をｒ２５・θからｒ２８・θ（ｒ２８・θ＞ｒ２５・θ）へ変更することで、車間距離制御機能は先行車両と自車両との車間距離を十分に確保し延長する方向で自車両の走行を制御する。 When the preceding vehicle decelerates the speed from 30 Km / h at the acceleration −a2 (m / sec 2 ), the behavior of the preceding vehicle 203, that is, the extended inter-vehicle distance r28 corresponding to the acceleration −a2 (m / sec 2 ) of the preceding vehicle is obtained. It is read from the extended inter-vehicle distance characteristic data shown in FIG.
Then, the extended inter-vehicle distance r28 · θ corrected by the correction coefficient θ according to the inter-vehicle distance LL (m) between the preceding preceding vehicle 202 and the preceding vehicle 203 at this time is replaced with the extended inter-vehicle distance r25 · θ. Is added to the set inter-vehicle distance.
The extended inter-vehicle distance r28 · θ is larger than the extended inter-vehicle distance r25 · θ. In other words, the fact that the preceding vehicle 203 has decelerated means that the road condition including the intersection ahead of the preceding vehicle is congested or congested. Therefore, the extended inter-vehicle distance is changed from r25 · θ to r28 · θ (r28 By changing to θ> r25 · θ), the inter-vehicle distance control function controls traveling of the host vehicle in a direction in which the inter-vehicle distance between the preceding vehicle and the host vehicle is sufficiently secured and extended.

なお、図１０に示す例の場合、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが２０ｍなどという長い距離の場合には、図４から補正係数θは０に近い値となるため、延長車間距離ｒ２８・θに対する補正係数θの影響は大きく、自車両と先行車両との間の車間距離は本来の設定車間距離に近い状態に制御される。
つまり、車間距離ＬＬが長い距離の場合には、先行車両が減速すると、先行車両が減速したことを考慮して先行車両と自車両との車間距離を延長するが、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが長い距離である分、前記先行車両と自車両との車間距離の延長を補正係数θで補正し、延長車間を短くし、本来の設定車間距離に近い状態で先行車両に追従する。 In the case of the example shown in FIG. 10, when the inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203 is a long distance such as 20 m, the correction coefficient θ is a value close to 0 from FIG. The influence of the correction coefficient θ on the extended inter-vehicle distance r28 · θ is large, and the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be close to the original set inter-vehicle distance.
That is, when the inter-vehicle distance LL is a long distance, when the preceding vehicle decelerates, the inter-vehicle distance between the preceding vehicle and the host vehicle is extended in consideration of the deceleration of the preceding vehicle. Since the inter-vehicle distance LL to the 203 is a long distance, the extension of the inter-vehicle distance between the preceding vehicle and the host vehicle is corrected by the correction coefficient θ, the extension inter-vehicle distance is shortened, and in a state close to the original set inter-vehicle distance. Follow the preceding vehicle.

したがって、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが１．５ｍなどという短い距離である場合には、図４から補正係数θは１に近い値となるため、延長車間距離ｒ２８・θは略ｒ２８となり、延長車間距離ｒ２８に対する補正係数θの影響は小さく、自車両と先行車両との間の車間距離は、前記車間距離ＬＬが長い距離である場合に比べて長くなる方向に制御される。
つまり、車間距離ＬＬが短い距離の場合には先先行車両の挙動よりも先行車両の挙動が延長車間距離に大きく影響し、先行車両が加速度−ａ２（ｍ／ｓｅｃ２）で３０Ｋｍ／ｈから速度を減速させると、先先行車両２０２と先行車両２０３との間の車間距離ＬＬが短い分を考慮して前記補正係数により自車両と先行車両との間の車間距離は長くなる方向に制御される。
すなわち、交差点に対し３０ｍ未満から０ｍの範囲に接近した状況で、先行車両が減速した場合、自車両と先行車両との間の車間距離、延長車間距離は先行車両と先先行車両の挙動に応じて制御される。 Therefore, when the inter-vehicle distance LL between the preceding vehicle 202 and the preceding vehicle 203 is a short distance such as 1.5 m, the correction coefficient θ is a value close to 1 from FIG. Θ is substantially r28, and the influence of the correction coefficient θ on the extended inter-vehicle distance r28 is small, and the inter-vehicle distance between the host vehicle and the preceding vehicle is longer than that when the inter-vehicle distance LL is long. Be controlled.
That is, when the inter-vehicle distance LL is a short distance, the behavior of the preceding vehicle has a greater influence on the extended inter-vehicle distance than the behavior of the preceding preceding vehicle, and the preceding vehicle speeds from 30 Km / h at acceleration −a2 (m / sec 2 ). When the vehicle speed is decelerated, the inter-vehicle distance between the host vehicle and the preceding vehicle is controlled to be longer by the correction coefficient in consideration of the short inter-vehicle distance LL between the preceding preceding vehicle 202 and the preceding vehicle 203. .
That is, when the preceding vehicle decelerates when approaching the intersection from less than 30 m to 0 m, the inter-vehicle distance between the host vehicle and the preceding vehicle and the extended inter-vehicle distance depend on the behavior of the preceding vehicle and the preceding vehicle. Controlled.

以上説明したように、この実施の形態によれば、交差点に進入する際に前記交差点の手前で、前方状況変化に対応できるようにするため、自車両と先行車両との間の車間距離を前記先行車両と先先行車両の挙動に応じて自動的に延長制御できる運転支援装置を提供できる効果がある。   As described above, according to this embodiment, when entering the intersection, the inter-vehicle distance between the host vehicle and the preceding vehicle is set to be able to cope with a change in the front situation before the intersection. There is an effect that it is possible to provide a driving support device that can automatically perform extension control according to the behavior of the preceding vehicle and the preceding vehicle.

１……レーダ装置（挙動検出手段）、３……ナビゲーション装置（位置情報検出手段）、１１……交差点状況判断部（交差点距離検出手段、挙動検出手段、車間距離延長手段）、１２……基本目標演算部（車間距離制御機能）、１２１……車間距離演算手段（車間距離制御機能）、１２２……目標車速演算手段（車間距離制御機能）、１２３……目標加速度演算手段（車間距離制御機能）、２０２……先先行車両、２０３……先行車両、２０２……自車両。   DESCRIPTION OF SYMBOLS 1 ... Radar apparatus (behavior detection means), 3 ... Navigation apparatus (position information detection means), 11 ... Intersection situation judgment part (intersection distance detection means, behavior detection means, inter-vehicle distance extension means), 12 ... Basic Target calculation unit (inter-vehicle distance control function), 121 ... inter-vehicle distance calculation means (inter-vehicle distance control function), 122 ... target vehicle speed calculation means (inter-vehicle distance control function), 123 ... target acceleration calculation means (inter-vehicle distance control function) ), 202... Preceding vehicle, 203... Preceding vehicle, 202.

Claims (3)

自車両と、前記自車両の前方を走行する先行車両との間の車間距離を確保しつつ前記自車両を前記先行車両に追従して走行するように制御する運転支援装置であって、
前記自車両の現在位置と前記自車両が走行する経路上の交差点の位置を検出する位置情報検出手段と、
前記位置情報検出手段により検出した前記自車両の現在位置から前記交差点までの距離を検出する交差点距離検出手段と、
前記先行車両および該先行車両の前方を走行する先先行車両の挙動を検出する挙動検出手段と、
前記交差点距離検出手段により検出した前記交差点までの距離が予め定められた所定の距離範囲に入ると、前記挙動検出手段により検出した前記挙動に応じて、前記自車両と前記先行車両との間の車間距離を延長する車間距離延長手段と、を備え、
前記挙動検出手段は、前記先行車両の速度、前記先行車両の加速度および前記先行車両と前記先先行車両との間の車間距離を検出し、
前記車間距離延長手段は、あらかじめ設定された前記自車両と前記先行車両との間の設定車間距離に対して、前記先行車両の速度、前記先行車両の加速度、前記先行車両と前記先先行車両との間の車間距離、および前記位置情報検出手段により検出した前記自車両の現在位置から前記交差点までの距離に基づいて決定された延長車間距離を加算することによって前記自車両と前記先行車両との間の車間距離を延長するとともに、前記自車両の現在位置から前記交差点までの距離が短いほど前記延長車間距離を長くする、
ことを特徴とする運転支援装置。 A driving support device that controls the host vehicle to travel following the preceding vehicle while securing an inter-vehicle distance between the host vehicle and a preceding vehicle traveling in front of the host vehicle;
Position information detection means for detecting a current position of the host vehicle and a position of an intersection on a route on which the host vehicle travels;
An intersection distance detection means for detecting a distance from the current position of the host vehicle detected by the position information detection means to the intersection;
Behavior detecting means for detecting behaviors of the preceding vehicle and a preceding vehicle traveling ahead of the preceding vehicle;
When the distance to the intersection detected by the intersection distance detection means falls within a predetermined distance range determined in advance, between the host vehicle and the preceding vehicle according to the behavior detected by the behavior detection means An inter-vehicle distance extending means for extending the inter-vehicle distance,
The behavior detecting means detects a speed of the preceding vehicle, an acceleration of the preceding vehicle, and an inter-vehicle distance between the preceding vehicle and the preceding preceding vehicle,
The inter-vehicle distance extending means is configured such that the speed of the preceding vehicle, the acceleration of the preceding vehicle, the preceding vehicle and the preceding preceding vehicle with respect to a preset inter-vehicle distance between the host vehicle and the preceding vehicle. Between the own vehicle and the preceding vehicle by adding the inter-vehicle distance between the vehicle and the extended inter-vehicle distance determined based on the distance from the current position of the own vehicle detected by the position information detection means to the intersection. Extending the inter-vehicle distance, and increasing the extended inter-vehicle distance as the distance from the current position of the host vehicle to the intersection is shorter,
A driving support device characterized by that. 前記車間距離延長手段は、前記先行車両が加速している場合には前記先行車両が減速している場合と比較して前記延長車間距離を短くする、
ことを特徴とする請求項１に記載の運転支援装置。 The inter-vehicle distance extending means shortens the extended inter-vehicle distance when the preceding vehicle is accelerating compared to a case where the preceding vehicle is decelerating,
The driving support device according to claim 1, wherein 前記車間距離延長手段は、前記先行車両が加速している場合には前記先行車両の速度が低速であるほど前記延長車間距離を長くし、前記先行車両が減速している場合には前記先行車両の速度が高速であるほど前記延長車間距離を長くする、
ことを特徴とする請求項１または２に記載の運転支援装置。 The inter-vehicle distance extending means increases the extended inter-vehicle distance as the speed of the preceding vehicle is lower when the preceding vehicle is accelerating, and the preceding vehicle when the preceding vehicle is decelerating. The higher the speed of the, the longer the distance between the extended vehicles,
The driving support apparatus according to claim 1 or 2, wherein
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