JP5645103B2 - Leading vehicle detector - Google Patents

Description

  The present invention relates to a preceding vehicle detection device used in an optimal headway maintenance device such as a vehicle.

  In the in-vehicle radar device described in Japanese Patent Application Laid-Open No. 2007-253714, the road curvature during which the vehicle is traveling is estimated from the vehicle speed detected by the vehicle speed sensor and the yaw rate of the vehicle detected by the yaw rate sensor. The own lane determination width L is set according to the curvature and the own vehicle speed, and the target having the closest distance from the own vehicle on the own lane determination width L is recognized as the preceding vehicle. As for the own lane determination width, a wide own lane determination width L2 is applied to a target already recognized as a preceding vehicle, and a narrow own lane determination width L1 is applied to a target not approved as a preceding vehicle. The

JP 2007-253714 A

  In the on-vehicle radar device described in Japanese Patent Laid-Open No. 2007-253714, the road curvature is estimated from the own vehicle speed and the yaw rate of the own vehicle, and the own lane determination width L is set according to the estimated road curvature and the own vehicle speed. . The estimated road curvature is the predicted course of the host vehicle, and when the host vehicle is traveling straight ahead, the estimated predicted path is also linear. For this reason, for example, when the host vehicle is traveling straight in the right lane of one side two lanes with a curve in the right direction ahead, the predicted course of the host vehicle is adjacent to the traveling lane of the host vehicle in the forward curve. Pass on the left lane. Therefore, if another vehicle is traveling in the left lane of the front curve, this other vehicle may be erroneously recognized as a preceding vehicle on the traveling lane of the own vehicle.

  Such inconvenience is obtained by acquiring the travel line set on the road ahead of the host vehicle as an image by a camera or the like, and analyzing the acquired image to detect the actual traveling direction of the host vehicle's travel lane. It is also possible to avoid it. However, in order to detect the actual traveling direction of the traveling lane of the own vehicle, a camera, an image processing device, etc. must be mounted on the own vehicle, which increases the number of parts, increases the complexity of processing, and increases the cost. Invite.

  Therefore, the present invention detects a preceding vehicle that can reduce the possibility that a preceding vehicle traveling in an adjacent lane is erroneously recognized as a preceding vehicle without detecting the actual traveling direction of the traveling lane of the host vehicle. The purpose is to provide a device.

  In order to achieve the above object, a preceding vehicle detection device of the present invention is a preceding vehicle detection device mounted on a vehicle for detecting a preceding vehicle that can be set as a tracking target, and includes an object detection unit and a vehicle information detection unit. And a route estimation means, a forward vehicle determination means, a determination distance setting means, and a preceding vehicle detection means.

The object detection means detects an object existing ahead in the traveling direction of the vehicle, and detects a relative speed between the object and the vehicle and a position of the object with respect to the vehicle. The vehicle state detection means detects travel state information of the vehicle. The course estimation means estimates the expected course of the vehicle based on the traveling state information detected by the vehicle information detection means. The forward vehicle determination means determines whether the object is a forward vehicle traveling in the same direction as the vehicle based on the relative speed detected by the object detection means and the running state information detected by the vehicle information detection means. The determination distance setting means sets a determination distance from the expected course. The preceding vehicle detection means determines whether or not the distance between the position of the object detected by the object detection means and the predicted course is equal to or less than the determination distance when the forward vehicle determination means determines that the object is a forward vehicle, An object determined to be less than the determination distance is detected as a preceding vehicle that can be set as a tracking target. The determination distance setting means determines whether or not the object is moving away from the vehicle using the detection result of the object detection means when the vehicle determination means determines that the object is a forward vehicle. If it is determined that the object is away from the vehicle, the determination distance is set to be short according to the increase in the relative speed detected by the object detection unit so that the determination distance is shortened as the separation speed of the object from the vehicle increases.

  In the above configuration, the forward vehicle discriminating unit is configured such that the object detected by the object detecting unit is in the same direction as the vehicle (own vehicle) based on the relative speed detected by the object detecting unit and the running state information detected by the vehicle information detecting unit. It is determined whether or not the vehicle is a forward vehicle. That is, among the objects detected by the object detection means, an object other than an oncoming vehicle that travels in the opposite direction to the own vehicle, a stationary vehicle that is stationary, and a structure, and a front vehicle that travels in the same direction as the own vehicle, Determine.

The determination distance setting means determines the relative distance detected by the object detection means when the object moves away from the vehicle, that is, when the object moves away from the vehicle. Set to shorten as speed increases. For example, if the vehicle ahead goes away at high speed from the vehicle, the relative speed increases, determining distance is shorter.

  The preceding vehicle detection means determines whether or not the distance between the position of the object and the expected course is equal to or less than the determination distance with respect to the object determined to be the preceding vehicle, and determines that the distance is equal to or less than the determination distance. Is detected as a preceding vehicle that can be set as a tracking target.

Therefore, a vehicle ahead with a faster separation speed from the host vehicle (a higher relative speed) is less likely to be detected as a preceding vehicle. For example, when the host vehicle is traveling straight in the right lane of one side two lanes with a curve in the right direction ahead, the predicted course of the host vehicle is the left side vehicle adjacent to the traveling lane of the host vehicle in the forward curve. Pass on the line. At this time, when the forward vehicle traveling in the left lane of the forward curve accelerates away from the host vehicle, the forward vehicle traveling in the adjacent lane is hardly detected as a preceding vehicle. That is, it is possible to reduce the possibility of erroneously recognizing a preceding vehicle traveling in an adjacent lane as a preceding vehicle without detecting the actual traveling direction of the traveling lane of the host vehicle. In addition, even when the host vehicle is traveling in a straight line on a lane with a straight line ahead, it is difficult to detect the preceding vehicle moving away from the host vehicle as a preceding vehicle. Even if it is specified as, it is highly possible that it will be impossible to detect immediately, and since it is not suitable as a subject to be tracked, troubles due to the fact that it is not detected as a preceding vehicle are unlikely to occur.
Further, the determination distance setting means may set the determination distance from the expected course so as to increase as the distance from the object obtained from the position of the object with respect to the vehicle detected by the object detection means increases.

  When a plurality of preceding vehicles are detected and a tracking target is specified from among the preceding vehicles, generally the preceding vehicle closest to the host vehicle is specified as the tracking target.

  In the above configuration, a vehicle ahead of the vehicle is more likely to be detected as a preceding vehicle, and a vehicle ahead of the vehicle is less likely to be detected as a preceding vehicle. That is, the determination condition as a preceding vehicle is eased for a forward vehicle that is less likely to be identified as a tracking target, so that the preceding vehicle closest to the host vehicle is identified as the tracking target among widely detected preceding vehicles. Can do.

  According to the present invention, it is possible to reduce the possibility that a forward vehicle traveling in an adjacent lane is erroneously recognized as a preceding vehicle without detecting the actual traveling direction of the traveling lane of the host vehicle.

It is a block diagram which shows the principal part of the vehicle provided with the optimal inter-vehicle distance maintenance apparatus (ACC apparatus) using the preceding vehicle detection apparatus concerning this invention. It is a schematic diagram for demonstrating the detection by the object detection sensor of FIG. It is a flowchart which shows a preceding vehicle detection process. It is a schematic diagram for demonstrating tracking processing. It is a schematic diagram for demonstrating a target data creation process. It is a flowchart which shows the preceding vehicle determination process of FIG. It is a flowchart which shows the preceding vehicle continuation determination process of FIG. It is a schematic diagram of the state which the object detection sensor detected the vehicle which drive | works the adjacent lane which curves ahead.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a main part of a vehicle equipped with an optimal headway distance maintenance device (ACC device) using a preceding vehicle detection device according to the present invention, and FIG. 2 is a diagram for explaining object detection by the object detection sensor of FIG. Fig. 3 is a flowchart showing the preceding vehicle detection process, Fig. 4 is a schematic diagram for explaining the tracking process, Fig. 5 is a schematic diagram for explaining the target data creation process, and Fig. 6 is the preceding vehicle of Fig. 3. FIG. 7 is a flowchart showing the preceding vehicle continuation determination process of FIG. 3. FIG. 8 is a schematic diagram of a state in which the object detection sensor detects a vehicle traveling in an adjacent lane that curves forward. As shown in FIG. 1, the vehicle 1 according to this embodiment includes a vehicle speed sensor 2, a rotational angular velocity sensor 3, an object detection sensor 4, an ECU 5, a brake actuator 6, a throttle actuator 7, and a display 8. The vehicle speed sensor 2 and the rotational angular velocity sensor 3 constitute vehicle information detection means, and the object detection sensor 4 constitutes object detection means.

  The vehicle speed sensor 2 detects the vehicle speed V (m / s) as the traveling state information of the vehicle 1 and outputs the detected vehicle speed V to the ECU 5. The rotational angular velocity sensor 3 detects the yaw rate Yaw (rotational angular velocity: rad / s) generated in the vehicle 1 during turning as the traveling state information of the vehicle 1, and detects the left rotation as the positive direction, and outputs the detected yaw rate Yaw to the ECU 5. To do.

  As shown in FIG. 2, the object detection sensor 4 emits an electromagnetic wave such as a laser or millimeter wave at a predetermined angle Ω forward from the front end of the vehicle 1 and travels the reflected wave. By receiving, an object within the above range is detected. Further, the relative speed RV (m / s) between the detected object and the vehicle 1, the distance L (m) between the detected object and the vehicle 1, and the detected object position data TGD (m) are detected, and the detected relative The speed RV, distance L, and position data TGD are output to the ECU 5. The relative speed RV is detected with the direction in which the vehicle 1 and the object are separated from each other as the positive direction. The position data TGD is detected as an X coordinate and a Y coordinate in the vehicle coordinate system. The vehicle coordinate system is a two-dimensional coordinate set as, for example, coordinates (Xa, Ya) as shown in FIG. 2, where the left direction of the vehicle 1 is the positive X-axis direction and the traveling direction of the vehicle 1 is the positive Y-axis direction. It is a system.

  The ECU 5 includes a CPU (Central Processing Unit) 51, a ROM (Read Only Memory) 52, and a RAM (Random Access Memory) 53. The CPU 51 reads a program stored in the ROM, executes each process described later, and functions as a course estimation unit, a forward vehicle determination unit, a determination distance setting unit, and a preceding vehicle detection unit. The RAM includes a vehicle speed V detected by the vehicle speed sensor 2, a yaw rate Yaw detected by the rotational angular velocity sensor 3, a relative speed RV of the object detected by the object detection sensor 4, a distance L from the object, position data TGD, and an offset amount D described later. And a storage area for the count values of the continuation counters InCnt and OutCnt and the on / off value of the preceding vehicle flag. The object relative speed RV, distance L, position data TGD, offset amount D, continuation counter InCnt, OutCnt count value, and on / off value of the preceding vehicle flag exist for each target TG. An identification number ID unique to the target TG is given. That is, it is possible to read / write these data belonging to a specific target TG by specifying an identification number ID. Further, the position data TGD has a storage area for at least current data, previous data, and previous data in order to execute tracking processing described later.

  When the brake actuator 6 receives the control signal from the ECU 5, the brake actuator 6 forcibly operates the disc brakes of the front wheels and the rear wheels (not shown) to generate a predetermined braking force on each wheel.

  When the throttle actuator 7 receives a control signal from the ECU 5, the throttle actuator 7 operates an engine throttle valve (not shown) in the acceleration direction.

The indicator 8 is provided, for example, on an instrument panel (not shown) in the passenger compartment, and when it receives a display instruction signal from the ECU 5, displays it to alert the driver.
Next, processing executed by the ECU 5 will be described based on the flowchart of FIG. This process is executed every predetermined time. First, the ECU 5 acquires the vehicle speed V detected by the vehicle speed sensor 2, the yaw rate Yaw detected by the rotational angular velocity sensor 3, the relative speed RV, the distance L, and the position data TGD between the vehicle 1 and the object detected by the object detection sensor 4. step S1).

  Next, the ECU 5 executes a process for creating own vehicle data (step S2). The vehicle data creation process is a process of estimating the expected course Tr from the current position of the vehicle 1. The expected course Tr is estimated as a curve having a curvature radius R (m). The curvature radius R is calculated according to the following equation (1) using the vehicle speed V and the yaw rate Yaw acquired in step S1. Note that the expected course is calculated according to the following equation (1) in both cases of straight running and turning.

R = V / Yaw (1)

  Next, the ECU 5 executes a tracking process (step S3). The tracking process is a process for storing the target (currently detected target) TGnew corresponding to the position data TGD acquired this time in step S1 in association with the target TGpast detected and stored in the past in time series. That is, it is determined whether the target TGnew detected this time and the target TGpast already stored are the same target. If it is determined that they are the same target, the target TGnew detected this time is already stored. The same identification number ID as the identification number ID of the target TGpast is assigned. When it is determined that they are not the same target, a new identification number ID is assigned to the target TGnew detected this time as a new target. When assigning a new identification number ID, the count values of the continuation counters InCnt and OutCnt associated with the identification number ID are simultaneously cleared, and the preceding vehicle flag associated with the identification number ID is turned off.

  Whether or not the target TGnew detected this time and the already stored target TGpast are the same target is determined by the following procedure, for example. First, when the target TGpast moves at the relative speed RV by substituting the coordinate value (Xk, Yk) and the relative speed RV of the target TGpast stored at the time of the previous data acquisition into the following equation (2), this time An estimated position (Xk + 1, Yk + 1) estimated to exist at the time of data acquisition is calculated. When the target TGnew (Xnew, Ynew) detected this time is within a predetermined range from the calculated estimated position (Xk + 1, Yk + 1), it is determined that the target TGpast and the target TGnew detected this time are the same target and do not exist. In this case, it is determined that the target TGnew detected this time is a new target.

Xk + 1 = Xk + RVk × Δt × sin θ, Yk + 1 = Yk + RVk × Δt × cos θ (2)

  In the above equation (2), Δt is a time from the previous data acquisition time to the current data acquisition time (detection time interval of the target TG), and θ is the traveling direction of the target TGpast and the traveling direction of the vehicle 1 ( (Y axis direction). As the traveling direction of the target TGpast, when the previous coordinate values (Xk, Yk) and the previous (previous) coordinate values (Xk-1, Yk-1) of the target TGpast are stored, FIG. As shown, the vector direction from the previous coordinate value (Xk-1, Yk-1) to the previous coordinate value (Xk, Yk) is obtained. When the previous coordinate values (Xk-1, Yk-1) are not stored, that is, when the target is a newly determined target last time, the traveling direction of the target TGpast is the previous coordinate value (Xk, Yk). ) To the vehicle 1 as a vector direction.

  Next, the ECU 5 executes a forward vehicle discrimination process (step S4). The forward vehicle discrimination process is a process of selecting a vehicle traveling in the same direction in front of the vehicle 1 from all the target TGnew detected this time that has been subjected to the tracking process. First, the ECU 5 compares the relative speed RV between the vehicle 1 acquired in step S1 and the target TGnew detected this time with the vehicle speed V of the vehicle 1. A target in which the relationship between the relative speed RV of the target TGnew detected this time and the vehicle speed V of the vehicle 1 is RV <−V is an oncoming vehicle that runs in the opposite direction to the vehicle 1, and a target in RV = −V is a stop vehicle or A structure, a target in −V <RV <0 is a vehicle approaching the vehicle 1 while traveling in the same direction as the vehicle 1, and a target in RV = 0 is a vehicle 1 traveling in the same direction as the vehicle 1 A vehicle that maintains the following distance, and a target with RV> 0 can be classified as a vehicle that is traveling away from the vehicle 1 while traveling in the same direction as the vehicle 1. Therefore, a target in which the relationship between the relative speed RV of the target TGnew detected this time and the vehicle speed V of the vehicle 1 is RV> −V is a vehicle traveling in the same direction in front of the vehicle 1 (hereinafter referred to as a processing target TGnew). ).

  Next, the ECU 5 executes target data creation processing (step S5). The target data creation process is a process for obtaining a distance (offset amount Dnew) between the current position TGDnew (Xnew, Ynew) of the processing target TGnew determined in the forward vehicle determination process and the expected course Tr of the vehicle 1. . As shown in FIG. 5, the offset amount Dnew is expressed by the following equation (3) using the coordinate values (Xnew, Ynew) of the processing target TGnew and the curvature radius R of the expected course Tr of the vehicle 1 obtained in step S2. Calculate.

Dnew = R / | R | × ((Xnew−R) ² + Ynew ² ) ^1/2 − | R |) (3)

  The ECU 5 calculates the offset amount Dnew for all the processing target targets TGnew and assigns the same identification number ID as the processing target TGnew.

  Next, the ECU 5 determines whether or not the processing from step S7 to step S9, which will be described later, has been completed for all the processing target targets TGnew (step S6), and if there are processing target targets TGnew that have not been processed yet, step The process proceeds to S7 and proceeds to Step S10 only when the processing has been completed for all the processing target targets TGnew.

  When the process proceeds to step S7, the ECU 5 determines whether or not the preceding vehicle flag assigned with the same identification number ID as the processing target TGnew is ON. If the preceding vehicle flag is off, the process proceeds to step S8 to execute the preceding vehicle determination process. If the preceding vehicle flag is on, the process proceeds to step S9 to execute the preceding vehicle continuation determination process. When the target TGnew to be processed is a newly determined target TG, the preceding vehicle flag associated with the assignment of the new identification number ID is turned off, so the process proceeds to step S8 to determine the preceding vehicle. Execute the process.

  Specific contents of the preceding vehicle determination process (step S8) are shown in FIG. First, the first determination distance k is set for determining the preceding vehicle. The determination distance k is not a fixed value, but is set for each target TGnew from the distance L and the relative speed RV between the vehicle 1 belonging to the identification number ID of the processing target TGnew and the processing target TGnew, and decreases as the relative speed increases. The value increases as the distance increases. Specifically, for example, the determination distance k is calculated and set by the following equation (4) (step S81).

k = α × L × (1-RV / β) (4)
Here, α and β are predetermined coefficients.

  It is determined whether or not the absolute value of the offset amount Dnew at the current position obtained in step S5 with respect to the processing target TGnew is equal to or less than the determination distance k (step S82), and the absolute value of the offset amount Dnew at the current position is determined. When the distance is equal to or shorter than k, the process proceeds to step S83, and the count value of the continuation counter InCnt to which the same identification number ID as the processing target TGnew is assigned is incremented by 1, and the process proceeds to step S85. When the absolute value of the offset amount Dnew at the current position exceeds the determination distance k, the process proceeds to step S84 to clear the count value of the continuation counter InCnt to which the same identification number ID as the processing target TGnew is assigned. Proceed to S85.

  In step S85, it is determined whether or not the count value of the continuation counter InCnt to which the same identification number ID as that of the processing target TGnew is given exceeds a predetermined threshold value m. As a result of the determination, if the count value exceeds the predetermined threshold value m, it is determined that the processing target TGnew is a preceding vehicle of the vehicle 1, and the process proceeds to step S86, where the same identification number as the processing target TGnew is obtained. The preceding vehicle flag assigned with the ID is set to ON. If the count value is less than or equal to the predetermined threshold value m, it is determined that the processing target TGnew is not the preceding vehicle, and the process proceeds to step S87 where the preceding vehicle flag assigned the same identification number ID as the processing target TGnew is displayed. Set it to off. By executing the process of step S86 or step S87, the preceding vehicle determination process is terminated, and the process returns to step S6 of FIG.

  In the preceding vehicle continuation determination process (step S9), as shown in FIG. 7, first, h, which is the second determination distance of the preceding vehicle determination, is set for the processing target TGnew. h is a numerical value that increases as the distance between the vehicle 1 and the target TGnew increases (step S91). It is determined whether or not the absolute value of the offset amount Dnew at the current position obtained in step S5 with respect to the processing target TGnew is greater than or equal to the determination distance h (step S92), and the absolute value of the offset amount Dnew at the current position is determined. When the distance is equal to or longer than h, the process proceeds to step S93, and the count value of the continuation counter OutCnt to which the same identification number ID as the processing target TGnew is assigned is incremented by 1, and the process proceeds to step S95. When the absolute value of the offset amount Dnew of the current position is less than the determination distance h, the process proceeds to step S94, and the count value of the continuation counter OutCnt to which the same identification number ID as that of the processing target TGnew is assigned is cleared, and the process proceeds to step S95. move on.

  In step S95, it is determined whether or not the count value of the continuation counter OutCnt to which the same identification number ID as that of the processing target TGnew is given exceeds a predetermined threshold value n. As a result of the determination, if the count value exceeds the predetermined threshold value n, it is determined that the processing target TGnew is not a preceding vehicle of the vehicle 1, and the process proceeds to step S96 where the same identification number ID as the processing target TGnew is obtained. The preceding vehicle flag assigned with is set to OFF. When the count value is equal to or smaller than the predetermined threshold value n, the process proceeds to step S97, and the preceding vehicle flag assigned with the same identification number ID as the processing target TGnew is set on. By executing the process of step S96 or step S97, the preceding vehicle determination process is terminated, and the process returns to step S6 of FIG.

  In the preceding vehicle priority determination process (step S10), first, of all the processing target targets TGnew for which the preceding vehicle flag is set to ON, a target with the smallest distance L between the vehicle 1 and the processing target TGnew is set as the preceding target to be followed. The vehicle is determined, and a signal is sent to the display 8 to display that the preceding vehicle to be followed is recognized. Next, the distance L between the vehicle 1 and the processing target TGnew determined as the preceding vehicle to be tracked is compared with the target inter-vehicle distance Ls (m). The target inter-vehicle distance Ls is set in advance as the inter-vehicle distance that the vehicle 1 should maintain with respect to the preceding vehicle to be tracked. When the distance L is less than or equal to the target inter-vehicle distance Ls, the brake actuator 6 is controlled to decelerate the vehicle 1, and when the distance L exceeds the target inter-vehicle distance Ls, the throttle actuator 7 is By controlling and accelerating the vehicle 1, the distance L between the vehicle 1 and the preceding vehicle is controlled to be the target inter-vehicle distance Ls to be maintained.

  According to the embodiment as described above, the value of the determination distance k with respect to the offset amount Dnew of the vehicle becomes smaller as the vehicle ahead is faster (relative speed is larger) from the vehicle 1 and is thus detected as a preceding vehicle. It becomes difficult. Therefore, for example, as shown in FIG. 8, when the vehicle 1 is traveling straight in the right lane of one side two lanes with a curve in the right direction ahead, the expected course Tr of the vehicle 1 is When passing on the left lane adjacent to the travel lane of the vehicle 1, if the front vehicle traveling in the left lane of the front curve accelerates away from the vehicle 1, it becomes difficult to be detected as a preceding vehicle. . Therefore, it is possible to reduce the possibility of erroneously recognizing the preceding vehicle traveling in the adjacent lane as the preceding vehicle.

  Further, in the present embodiment, the own lane of the vehicle 1 serving as a reference for the preceding vehicle determination is based on the predicted course Tr estimated from the own vehicle information without actually detecting it using a special device such as a camera. Therefore, it is possible to reduce the possibility of erroneously recognizing the preceding vehicle traveling in the adjacent lane as the preceding vehicle with an extremely simple configuration and processing without detecting the actual traveling direction of the traveling lane of the host vehicle.

  In the present embodiment, since the value of the determination distance k is increased as the distance between the preceding vehicle and the vehicle 1 increases, the preceding vehicle that is farther from the vehicle 1 is more easily detected as a preceding vehicle and is closer to the vehicle 1. The vehicle ahead is less likely to be detected as a preceding vehicle. When the preceding vehicle is detected as a preceding vehicle, the preceding vehicle with the smallest distance L from the vehicle 1 is determined as the preceding vehicle to be followed by the preceding vehicle priority determination process. Therefore, the determination condition as a preceding vehicle is relaxed for a forward vehicle that is less likely to be identified as a tracking target, and the preceding vehicle closest to the host vehicle is accurately identified as a tracking target among widely detected preceding vehicles. Can do.

  As mentioned above, although the embodiment to which the invention made by the present inventor is applied has been described, the present invention is not limited by the discussion and the drawings that form part of the disclosure of the present invention according to this embodiment. That is, it is needless to say that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on this embodiment are all included in the scope of the present invention.

  For example, in the above embodiment, the object detection sensor 2 detects the distance and relative speed between the vehicle 1 and the object. However, the object detection sensor 2 detects only the distance L of the object, and the ECU 5 detects the object from the distance. The relative speed RV may be calculated from the position (Xa, Ya) and the time change of the distance based on the coordinates.

  In the above embodiment, the estimated course Tr of the vehicle 1 is estimated using the vehicle speed V detected by the vehicle speed sensor and the yaw rate Yaw detected by the rotational angular velocity sensor. However, the steering angle of the steering detected by the steering angle sensor The predicted course may be estimated using other traveling state information such as the acceleration of the vehicle 1 detected by the acceleration sensor.

  Further, in the above embodiment, one ECU 5 as an ACC device determines a preceding vehicle, and controls the brake actuator 6 and the engine actuator 7 to maintain the determined distance L between the preceding vehicle and the vehicle 1 at the target inter-vehicle distance Ls. However, the determination of the preceding vehicle and the inter-vehicle distance control of the vehicle 1 may be configured by different units. In this configuration, for an existing vehicle equipped with an ACC device, the part for executing the preceding vehicle determination process of the ACC device may be replaced with the preceding vehicle determination processing device (unit) according to the present invention. Therefore, the present invention can be easily applied to existing vehicles to reduce false detection of adjacent lanes.

  The preceding vehicle detection device of the present invention can be used by being mounted on various vehicles.

1: Vehicle 2: Vehicle speed sensor (vehicle information detection means)
3: Rotational angular velocity sensor (vehicle information detection means)
4: Object detection sensor (object detection means)
5: ECU (route estimation means, forward vehicle discrimination means, determination distance setting means, preceding vehicle detection means)
6: Brake actuator 7: Throttle actuator 8: Indicator

Claims (1)

A preceding vehicle detection device mounted on a vehicle to detect a preceding vehicle that can be set as a tracking target,
An object detection means for detecting an object present ahead of the traveling direction of the vehicle, and detecting a relative speed between the object and the vehicle and a position of the object with respect to the vehicle;
Vehicle state detection means for detecting travel state information of the vehicle;
A route estimation unit that estimates an expected route of the vehicle based on the traveling state information detected by the vehicle information detection unit;
Forward vehicle discrimination for discriminating whether the object is a forward vehicle traveling in the same direction as the vehicle based on the relative speed detected by the object detection means and the running state information detected by the vehicle information detection means. Means,
Determination distance setting means for setting a determination distance from the expected course;
When the object is discriminated said preceding vehicle judgment means that the front vehicle, the distance between the predicted course and position of the object in which the object detecting unit detects is equal to or less than the determination distance A preceding vehicle detection means for detecting an object determined to be equal to or less than the determination distance as the preceding vehicle ,
The determination distance setting means determines, using the detection result of the object detection means, whether the object moves away from the vehicle when the vehicle determination means determines that the object is the preceding vehicle. When it is determined that the object moves away from the vehicle, according to the increase in the relative speed detected by the object detection unit, the determination distance is shortened as the separation speed of the object from the vehicle increases. A preceding vehicle detection device characterized in that the determination distance is set short .

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