JP6315070B1 - Obstacle detection device for vehicles - Google Patents

Abstract

An object of the present invention is to determine whether or not there is an obstacle in a region where the irregular driving has been performed by appropriately determining whether or not there is an obstacle in the vehicle where the preceding vehicle has irregularly operated during vehicle follow-up control. Appropriately determine whether or not to follow regular driving, and achieve both the safety of the host vehicle and driving stability. A follow-up travel control device includes a follow-up running unit that causes a host vehicle to follow a preceding vehicle at a predetermined distance, and an obstacle detection unit that detects an obstacle existing around the host vehicle. And the irregular traveling determination unit 41 that determines whether the preceding vehicle has irregular traveling, and the obstacle traveling determination unit 41 determines that the preceding vehicle has performed irregular traveling. When no obstacle is detected in the predetermined area Z including the place where the preceding vehicle has traveled irregularly by the detection means 30, the detection sensitivity changing section 42 increases the detection sensitivity for the area of the obstacle detection means 30. Is provided. [Selection] Figure 1

Description

  TECHNICAL FIELD The present invention relates to an obstacle detection device for a vehicle provided with a device for detecting obstacles around the own vehicle, and more particularly to a technical field related to obstacle detection of a vehicle during follow-up traveling in which the own vehicle follows a preceding vehicle. Belonging to.

  As part of automatic vehicle driving technology, follow-up running control is known that controls the speed of the own vehicle so that the own vehicle follows the preceding vehicle traveling ahead by adjusting the distance between the own vehicle and the preceding vehicle. Yes.

  For example, Patent Document 1 discloses a target inter-vehicle distance in which the distance between the host vehicle and the preceding vehicle is determined in advance by detecting the distance to the preceding vehicle ahead by irradiating a laser beam or radio wave in front of the host vehicle with a radar sensor. Follow-up running control is disclosed in which the braking force and driving force of the host vehicle are controlled so as to be included in the distance range to control the inter-vehicle distance from the preceding vehicle. In the follow-up travel control, for example, the travel route of the preceding vehicle detected by a sensor, a camera, or the like is stored, the future travel route of the own vehicle is calculated using the stored travel route, and the following steering control is automatically performed. Travel control has also been proposed.

  On the other hand, an obstacle detection device that is mounted on a vehicle for safety prediction such as collision prevention and detects the presence or absence of an obstacle in front of the host vehicle is known.

  For example, the obstacle detection device disclosed in Patent Document 2 detects the distance to an obstacle existing around the current position of the host vehicle with an ultrasonic sensor, and collates with map information when the obstacle is detected. For example, when the obstacle is recognizable without notification of a road structure or the like and there is a low possibility that another obstacle exists, the sensitivity of the sensor is reduced so that the obstacle is not recognized. To do. This suppresses unnecessary notification while reliably reporting when an obstacle is present.

JP 2014-118073 A JP 2006-123569 A

  By the way, while the own vehicle is following the traveling control as described in Patent Document 1, the preceding vehicle detects an obstacle by the obstacle detecting device described in Patent Document 2, and performs the avoidance traveling of the obstacle. It is assumed that At this time, first, when there is an obstacle, it is necessary to ensure safety by traveling by avoiding the own vehicle following the preceding vehicle. On the other hand, when the presence of an obstacle cannot be confirmed, the host vehicle is forced to determine whether to perform avoidance traveling following the preceding vehicle. For example, if there is no obstacle in the area where the preceding vehicle has made an obstacle avoidance run and there is no need for the avoidance running in the own vehicle, the own vehicle is an irregularity of the preceding vehicle. It is preferable in terms of running stability not to follow the running.

  In view of this, the present invention, when the preceding vehicle travels irregularly during the following traveling control of the vehicle, appropriately determines the presence or absence of an obstacle in the region where the irregular traveling has been performed, so that the host vehicle It is an object of the present invention to appropriately determine whether or not to follow irregular running of a vehicle and to achieve both safety and running stability of the host vehicle.

  In order to solve the above-described problems, the vehicle obstacle detection device according to the present invention is configured as follows.

  First, an obstacle detection device for a vehicle according to the invention described in claim 1 includes a following traveling control means for causing the own vehicle to follow the preceding vehicle at a predetermined inter-vehicle distance, and an obstacle existing around the own vehicle. An obstacle detection device for a vehicle having an obstacle detection means for detecting, wherein the preceding vehicle travels irregularly by the irregular traveling determination means for determining whether the preceding vehicle is irregularly traveling, and the irregular traveling determination means. When it is determined that an obstacle has not been detected by the obstacle detection means in a predetermined area including a place where the preceding vehicle has irregularly traveled, the area of the obstacle detection means And a detection sensitivity changing means for increasing the detection sensitivity with respect to.

  According to a second aspect of the present invention, in the first aspect of the invention, the detection sensitivity changing unit lowers the threshold when the obstacle detection unit determines whether or not there is an obstacle. It is characterized by increasing the sensitivity of the object detection adjusting means.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the irregular traveling determination means estimates a future traveling route of a preceding vehicle and determines the estimated traveling route. When the actual travel route of the preceding vehicle deviates by a predetermined amount or more in the lateral direction, it is determined that the preceding vehicle has traveled irregularly.

  According to a fourth aspect of the present invention, in the first or second aspect of the present invention, the irregular traveling determination means estimates a future traveling route of the preceding vehicle, and the preceding vehicle with respect to the estimated traveling route. When the lateral component of the speed of the vehicle is equal to or greater than a predetermined amount, it is determined that the preceding vehicle has traveled irregularly.

  According to a fifth aspect of the present invention, in the first or second aspect of the invention, the irregular running determination unit includes a white line detection unit that detects a white line on a road surface, and the white line detection unit detects the irregular line. When the amount of lateral movement of the position of the preceding vehicle relative to the white line is greater than or equal to a predetermined amount, it is determined that the preceding vehicle has traveled irregularly.

  According to a sixth aspect of the present invention, in the first or second aspect of the invention, the irregular running determination unit includes a white line detection unit that detects a white line on a road surface, and the white line detection unit detects the irregular line. When the lateral component of the speed of the preceding vehicle with respect to the white line is greater than or equal to a predetermined amount, it is determined that the preceding vehicle has performed irregular running.

  The invention according to claim 7 is the invention according to any one of claims 1 to 6, wherein the follow-up running control means causes the preceding vehicle to run irregularly by the irregular running determination means. If it is determined that the obstacle is not detected by the obstacle detection means whose sensitivity is increased by the detection sensitivity changing means, the own vehicle is controlled so as not to follow the irregular traveling of the preceding vehicle. It is characterized by.

  First, according to the first aspect of the present invention, in the follow-up running control in which the host vehicle follows the preceding vehicle with a predetermined inter-vehicle distance, the preceding vehicle performs an irregular running with a possibility of obstacle avoidance running. When it is determined that the obstacle has been detected, it is possible to detect the obstacle by increasing the obstacle detection sensitivity in a predetermined area including the place where the preceding vehicle has irregularly traveled, and the presence or absence of the obstacle can be appropriately determined. In addition, the area for increasing the obstacle detection sensitivity is limited to only a predetermined area, and normal sensitivity is maintained outside the area, so that the presence or absence of an obstacle in the predetermined area is accurately detected, An increase in noise due to an increase in sensitivity for unnecessary areas is prevented.

  According to the second aspect of the invention, as the detection method of the obstacle detection device, the obstacle detection sensitivity is increased by a method of setting a low threshold value for the obstacle detection device to determine as an obstacle. Power consumption can be avoided. For example, when increasing the sensitivity in a detection method using a laser radar, it is determined whether or not the object is detected as an obstacle based on the intensity of the reflected wave from the obstacle of the irradiating laser radar, but only the threshold of the intensity of the reflected wave is lowered. Therefore, energy consumption can be suppressed compared to a method of increasing the intensity of the reflected wave by increasing the output wave of a laser radar or the like without changing the threshold value.

  Furthermore, according to the third aspect of the present invention, the presence or absence of irregular traveling of the preceding vehicle during the follow-up traveling control is determined based on the lateral position between the traveling route of the future preceding vehicle and the actual traveling route of the preceding vehicle. Therefore, the area where the own vehicle increases the sensitivity of the detection sensitivity changing means can be narrowed, and the power consumption due to the irradiation of the laser radar can be further suppressed and unnecessary noise can be avoided.

  According to the fourth aspect of the present invention, when the preceding vehicle under the follow-up traveling control has irregularly traveled, when the own vehicle determines the presence or absence of an obstacle, the estimated future traveling route of the preceding vehicle Since the determination is made based on whether or not the lateral component of the speed of the preceding vehicle with respect to the vehicle is greater than or equal to a predetermined amount, the area in which the own vehicle increases the sensitivity of the detection sensitivity changing means can be narrowed. It is possible to suppress the power consumption due to the irradiation and to pick up unnecessary noise.

  Furthermore, according to the fifth aspect of the present invention, when the preceding vehicle under the follow-up running control runs irregularly, the white line is determined based on the white line on the road surface when the vehicle determines the presence or absence of an obstacle. Since the determination is based on the amount of lateral movement of the position of the preceding vehicle with respect to the vehicle, the area in which the own vehicle increases the sensitivity of the detection sensitivity changing means can be narrowed, and the power consumption due to laser radar irradiation can be further reduced. It is possible to suppress noise and to pick up unnecessary noise.

  According to the invention described in claim 6, when the preceding vehicle in the follow-up running control is running irregularly, when the host vehicle determines the presence or absence of an obstacle, the preceding line with respect to the white line is determined based on the white line on the road surface. Since the determination is made based on whether or not the lateral component of the vehicle speed is greater than or equal to a predetermined amount, the area in which the own vehicle increases the sensitivity of the detection sensitivity changing means can be narrowed as in the third aspect. It is possible to suppress wasteful power consumption due to, and to avoid picking up unnecessary noise.

  According to the seventh aspect of the present invention, when an obstacle cannot be detected even if the sensitivity of the obstacle detection means of the host vehicle is increased when the preceding vehicle under the follow-up running control runs irregularly, Since it is determined that there is no obstacle and does not follow the irregular traveling of the preceding vehicle, it can be appropriately determined whether or not to follow the preceding vehicle. That is, it is possible to suppress a decrease in traveling stability due to unnecessary vehicle behavior following the avoidance traveling of the preceding vehicle and an uncomfortable feeling to the driver, even though no obstacle can be confirmed. On the other hand, by increasing the sensitivity of the obstacle detection means, when an obstacle is detected, the obstacle can be reliably avoided, so that safety such as collision with the obstacle is ensured. This makes it possible to achieve both the safety of the host vehicle and traveling stability when the preceding vehicle travels while avoiding obstacles during follow-up traveling.

1 is a system diagram of a vehicle according to an embodiment of the present invention. 1 is a schematic plan view of a vehicle according to an embodiment of the present invention. It is a flowchart which shows the operation | movement of the irregular driving | running | working control at the time of following driving | running | working. It is a flowchart which shows the content of the irregular driving | running | working determination step of step S3 of FIG. It is explanatory drawing which shows the determination method of the irregular driving | running | working of the preceding vehicle which concerns on embodiment of this invention. It is explanatory drawing which shows the area | region which raises the obstacle detection sensitivity of the obstacle detection apparatus which concerns on embodiment of this invention. It is the diagram which showed the relationship between the intensity | strength of the reflected wave from the front obstacle based on embodiment of this invention, the threshold value of the reflected wave for determination of an obstacle detection, and the distance to the obstacle from the own vehicle. . It is explanatory drawing which shows the other example of the determination method of the irregular driving | running | working of the preceding vehicle which concerns on embodiment of this invention.

  Hereinafter, an embodiment of a vehicle obstacle detection device according to the present invention will be described.

  As shown in FIG. 1, the vehicle 1 according to this embodiment includes a follow-up travel control device 10, and the follow-up travel control device 10 includes a front radar 11, a front left / right radar 12, a front camera 13, a vehicle speed sensor 14, and a steering angle. A sensor 15 and a switch 16 for following traveling control are provided, and signals from these sensors and switches 11 to 16 are input to the control unit 40 to control the engine 2, the brake 3 and the steering 4 to follow the following traveling control. Is supposed to do. The follow-up travel control of this embodiment is a combination of inter-vehicle distance control that maintains the inter-vehicle distance between the host vehicle and the preceding vehicle, and travel route control that causes the host vehicle to travel along the target travel route. It is the control performed by.

  The follow-up running control device 10 also serves as an obstacle detection means 30 in addition to the follow-up running means 20, and the obstacle detection means 30 detects the presence or absence of an obstacle around the vehicle.

  Then, the control unit 40 includes an irregular traveling determination unit 41 that determines whether or not the preceding vehicle has performed an irregular traveling that may be an obstacle avoidance traveling, and a detection sensitivity that increases the detection sensitivity of the obstacle detecting means 30. And a changing unit 42.

  Also, as shown in FIG. 2, the front radar 11 emits radio waves toward a region W1 in a predetermined angle range in front of the vehicle, and the front left and right radars 12 are directed toward a region W2 in a predetermined angle range on the side ahead of the vehicle. The output wave and the reflected wave are detected, and a signal corresponding to the detection result is output to the control unit 40 together with the reliability obtained from the reflected wave intensity and the like. In the control unit 40, an inter-vehicle distance and a relative speed with respect to a preceding vehicle are calculated, an obstacle is detected, and a distance to the obstacle is calculated.

  The front camera 13 images the vehicle front area W3, and outputs the captured image data to the control unit 40 together with the reliability obtained from the definition of the image or the clarity of the contour of the image. The image captured by the front camera 13 includes a lane and a road shape of a road on which the host vehicle is traveling, an image of a preceding vehicle traveling in front of the traveling direction of the host vehicle, and the like.

  The vehicle speed sensor 14 detects the rotation speed of the wheel of the host vehicle and outputs a signal corresponding to the detected rotation speed to the control unit 40. In the control unit 40, the vehicle speed of the host vehicle is calculated based on the rotational speed.

  The steering angle sensor 15 detects the steering angle of the steering 4 and outputs a signal corresponding to the detected steering angle to the control unit 40. In the control unit 40, the traveling direction of the vehicle 1 is calculated based on the steering angle.

  Next, obstacle detection during follow-up running control by the control unit 40 will be described with reference to the flowcharts of FIGS.

  First, in step S1 of the flowchart of FIG. 3, it is determined from the follow-up running control switch 16 whether the vehicle is in the preceding vehicle follow-up mode.

  When the switch 16 is OFF, it is determined that the preceding vehicle follow-up mode is not set, and the process proceeds to step S2 where the vehicle is controlled based on the driver's operation.

  When the switch 16 is ON, the following traveling control of the preceding vehicle is performed, and it is determined in step S3 whether or not the irregular traveling with the possibility of obstacle avoidance traveling of the preceding vehicle is detected.

  The determination as to whether or not irregular traveling of the preceding vehicle of the present embodiment has been detected is performed according to the flowchart of FIG.

  First, in step S20 of FIG. 4, the travel route of the preceding vehicle in a predetermined time (for example, several seconds) up to the present is stored from the signals and images acquired by the front radar 11, the front left and right radar 12, and the front camera 13, In S21, the future travel route of the preceding vehicle is estimated. For example, if the travel route to the present of the preceding vehicle is a straight line, the future travel route is also estimated as a straight line, and if the travel route is a curve, the future travel route is also estimated as a curve with the same direction and the same curvature. .

  Here, with reference to FIG. 5, a description will be given of the amount of lateral position deviation between the travel path of the future vehicle ahead and the actual vehicle ahead in step S22 and the determination of irregular travel.

  In step S22, the future travel route a ′ of the preceding vehicle A is estimated based on the travel route a up to the present time of the preceding vehicle A stored in step S20, and the future travel route a ′ of the preceding vehicle A and the actual travel route a ′. A deviation of the preceding vehicle A ′ from the travel route b, that is, a lateral position deviation amount X that changes as the preceding vehicle travels irregularly is calculated at any time, and whether or not the deviation amount X is equal to or greater than a predetermined amount. judge.

  Therefore, in step S22 of the flowchart of FIG. 4, if the amount of lateral displacement between the future travel route of the preceding vehicle estimated in step S21 and the actual travel route of the preceding vehicle is smaller than a predetermined amount, the process proceeds to step S23. It is determined that there is no forward irregular traveling, and the flow returns to the flowchart of FIG. 3 to set a target traveling route that follows the preceding vehicle in step S4, and the tracking traveling control is continued in step S5.

  On the other hand, if it is determined in step S22 in FIG. 4 that the amount of lateral displacement between the future travel route of the preceding vehicle estimated in step S21 and the actual travel route of the preceding vehicle is greater than or equal to a predetermined amount, the process proceeds to step S24. It is determined that there is regular travel, and the flow returns to the flowchart of FIG. 3 to proceed to step S6, where the obstacle detection means 30 increases the detection sensitivity in a predetermined region Z including the place where the preceding vehicle traveled irregularly.

  Here, a region for increasing the sensitivity of the obstacle detection unit 30 by the detection sensitivity changing unit 42 and a method for increasing the sensitivity of the obstacle detection unit 30 will be described with reference to FIGS. 6 and 7.

  First, referring to FIG. 6, in the present embodiment, the position of the vehicle B and a predetermined area Z including a place where the preceding vehicle A has irregularly traveled as an area for increasing the sensitivity of the obstacle detection means 30. The relationship will be described.

  As described above, when it is determined in step S23 that there is an irregular traveling, for example, the front center O of the own vehicle B is set to (X, Y) = (0, 0), and the preceding vehicle A does not travel irregularly. When detected in the vicinity of 60 m ahead of the vehicle B, a predetermined area Z including the place where the preceding vehicle A has traveled irregularly around the area (X, Y) = (− 1 m to 1 m, 60 m to 70 m) And The coordinates of the predetermined area Z change as the host vehicle B moves. Specifically, when the host vehicle B travels forward 30 m after detecting the irregular traveling of the preceding vehicle A, the front center O ′ of the host vehicle B ′ after the movement is set to (X, Y) = (0, 0), the coordinates of the predetermined area Z are (−1 m to 1 m, 30 m to 40 m).

  In the present embodiment, the obstacle detection means 30 sets a threshold value for the reflected wave intensity when a reflected wave from a radar or the like is received, and the obstacle detection unit 30 detects the obstacle when the reflected wave intensity from the obstacle exceeds the threshold value. It is set to determine that it has been detected. Then, as a method for increasing the sensitivity of the obstacle detection means 30, control for lowering the threshold value of the reflected wave intensity of the radar for detecting the reflected wave by the control unit 40 is used.

  Next, the threshold value of the reflected wave intensity of the radar for determining the detection of the preceding vehicle and the obstacle will be described with reference to FIG. FIG. 7 is a diagram showing the relationship between the reflected wave intensity p of the radar with respect to the distance between the obstacle including the preceding vehicle and the host vehicle and the threshold value q for judging the detection of the obstacle. As the distance between the obstacle and the host vehicle approaches 0, the threshold value q is set to be higher so that the sensitivity is reduced.

  In the present embodiment, when the threshold value is set to the normal threshold value q, the irregular traveling of the preceding vehicle is detected, and the obstacle cannot be detected in the predetermined region Z including the place where the leading vehicle has irregularly traveled. In this region Z, the sensitivity of obstacle detection is increased by lowering the threshold value q to q ′ shown in the figure, and the obstacle detection sensitivity can be changed so as to accurately detect the presence or absence of an obstacle. . For example, if there is an obstacle (for example, a falling rock or a hole) at point P in FIG. 7 and the preceding vehicle travels irregularly, it cannot be detected with the normal threshold q, but by lowering the threshold to q ′ Since the reflected wave intensity of the obstacle indicated by the point P exceeds the threshold value q ′, it can be detected as an obstacle.

  Returning to the flowchart of FIG. 3, in step S7, if no obstacle is detected by the obstacle detection means 30 whose detection sensitivity has been increased by the above-described method, the process proceeds to step S8, and the target vehicle is detected from the current running state of the host vehicle. A travel route is set, the vehicle is controlled based on the target travel route in step S9, and the driver is informed that the follow-up travel mode has been canceled in step S10.

  On the other hand, if an obstacle is detected in step S7, the process proceeds to step S11, a target travel route that follows the preceding vehicle is set, and the follow travel control is continued in step S12.

  Another example of the irregular traveling detection and determination method of the preceding vehicle in step S3 in the present embodiment will be described with reference to FIG.

  FIG. 8A shows a case where the future travel route b of the preceding vehicle A and the speed V of the preceding vehicle A are used as means for determining irregular traveling of the preceding vehicle. First, as in the embodiment, the future travel route a ′ of the preceding vehicle A is estimated based on the travel route a up to the present time of the preceding vehicle A. For example, if the travel route to the present of the preceding vehicle is a straight line, the future travel route is also estimated as a straight line, and if the travel route is a curve, the future travel route is also estimated as a curve with the same direction and the same curvature. . Then, with respect to the estimated future travel route a ′ of the preceding vehicle A, a lateral component Vx of the speed V of the preceding vehicle A ′ is generated, and when the lateral component Vx exceeds a predetermined amount, the preceding vehicle It is determined that A has performed irregular driving.

  In FIG. 8B, as a means for determining irregular traveling of the preceding vehicle, for example, the white line L of the forward traveling road detected by the front camera 13 is taken as a reference, and the positional relationship of the preceding vehicle A with respect to the white line L is used. Shows the case. The lateral movement amount of the current center point o of the preceding vehicle A with respect to the white line L is set as Y, and the movement amount Y from the white line L that changes as the preceding vehicle travels avoiding is calculated as needed. When it becomes more than a predetermined amount, it determines with the preceding vehicle A having implemented irregular driving | running | working. In FIG. 8B, A ′ represents the preceding vehicle during irregular driving, o ′ represents the center point of A ′, and Y ′ represents the amount of movement of o ′ in the horizontal direction with respect to the white line L.

  Further, in FIG. 8C, as a means for determining the irregular traveling of the preceding vehicle, the preceding vehicle A with respect to the white line L is taken with reference to the white line L of the forward traveling path detected by the front camera 13 as in FIG. The case where the speed V is used is shown. When the lateral component Vy of the speed V of the preceding vehicle A is generated with respect to the white line L and the lateral component Vy exceeds a predetermined amount, it is determined that the preceding vehicle A has performed irregular running.

  In the present invention, there are various methods for defining the reference point when measuring the positional relationship of the preceding vehicle in the irregular traveling determination unit 41. For example, the center point of the host vehicle is used as the reference point, and the reference point is the center point of the preceding vehicle. It can also be determined by the amount of deviation.

  Further, in the present invention, there is a case where the preceding vehicle carries out irregular traveling without turning on the direction indicator, and in that case, it is considered that the possibility of irregular traveling becomes higher, in other words, the direction indicator. It is also possible to determine that the vehicle is not traveling irregularly when the button is lit, and it may be added to the condition that the preceding vehicle does not light the turn indicator in the irregular traveling determination means.

  As described above, according to the present invention, the present invention can be suitably used in vehicle obstacle detection devices, particularly in travel control when avoiding an obstacle during follow-up travel control for a preceding vehicle.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Engine 3 Brake 4 Steering 10 Tracking travel control apparatus 11 Front radar 12 Front left-right radar 13 Front camera 20 Tracking traveling means 30 Obstacle detection means 40 Control unit 41 Irregular traveling determination part 42 Detection sensitivity change part A, A ' Preceding vehicle B, B 'own vehicle L white line Z area a traveling route a' future traveling route b actual traveling route p reflected wave intensity q, q 'threshold

Claims (7)

An obstacle detection device for a vehicle, comprising: a follow-up travel control unit that causes the host vehicle to follow a preceding vehicle at a predetermined inter-vehicle distance; and an obstacle detection unit that detects an obstacle existing around the host vehicle.
In the case where it is determined that the preceding vehicle has performed irregular traveling by the irregular traveling determining means for determining whether or not the preceding vehicle has irregular traveling, and the irregular traveling determining means,
Detection sensitivity changing means for increasing the detection sensitivity of the obstacle detection means for the area when no obstacle is detected in a predetermined area including a place where the preceding vehicle has irregularly traveled by the obstacle detection means; An obstacle detection device for a vehicle, comprising:   The said detection sensitivity change means raises the sensitivity of this obstruction detection adjustment means by making low the threshold value when the said obstacle detection means determines the presence or absence of an obstruction, The said obstacle detection adjustment means is characterized by the above-mentioned. Obstacle detection device for vehicles. The irregular traveling determination means estimates a future traveling route of the preceding vehicle,
2. The method according to claim 1, wherein when the actual travel route of the preceding vehicle deviates by a predetermined amount or more in the lateral direction with respect to the estimated travel route, it is determined that the preceding vehicle has traveled irregularly. Item 3. The vehicle obstacle detection device according to Item 2. The irregular traveling determination means estimates a future traveling route of the preceding vehicle,
3. The method according to claim 1, wherein when the lateral component of the speed of the preceding vehicle with respect to the estimated traveling route is equal to or greater than a predetermined amount, it is determined that the preceding vehicle has traveled irregularly. Obstacle detection device for vehicles. The irregular running determination means includes a white line detection means for detecting a white line on the road surface,
2. The method according to claim 1, wherein when the amount of lateral movement of the position of the preceding vehicle relative to the white line detected by the white line detecting means is greater than or equal to a predetermined amount, it is determined that the preceding vehicle has traveled irregularly. The vehicle obstacle detection device according to 2. The irregular running determination means includes a white line detection means for detecting a white line on the road surface,
3. The method according to claim 1, wherein when the lateral component of the speed of the preceding vehicle with respect to the white line detected by the white line detecting means is equal to or greater than a predetermined amount, it is determined that the preceding vehicle has traveled irregularly. The obstacle detection device for vehicles as described in 2.   The follow-up travel control means is configured to detect an obstacle by the obstacle detection means whose sensitivity is increased by the detection sensitivity changing means when the preceding travel determination means determines that the preceding vehicle has traveled irregularly. The vehicle obstacle detection device according to any one of claims 1 to 6, wherein when the vehicle cannot be detected, the host vehicle is controlled so as not to follow the irregular traveling of the preceding vehicle.

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