JPH03260899A - Controller for distance between cars - Google Patents

Abstract

PURPOSE:To enable travel faithfully according to the instruction of a signal while being preferentially to fixed inter-vehicle distance travel control by providing a means to stop the fixed inter-vehicle distance maintaining operation of a travel speed control means when detecting a specified color beam coming from the front side of a vehicle in addition to a travel speed control means to execute the fixed inter-car distance maintaining operation. CONSTITUTION:In addition to image pickup output signals to be obtained from cameras 5 and 6 and a detection output signal from an inter-vehicle distance sensor 8, a detection output signal from a vehicle speed sensor 14 and further signals to be obtained from a brake pedal 16, clutch operating mechanism 17, fixed inter-vehicle distance travel control switch 20 are suppled to a control unit 10. The control unit 10 executes the fixed inter-vehicle distance travel control, detects a state to stop the fixed inter- vehicle distance travel control and supplies the detection output to an alarm buzzer 23 and when such a state is continued for more than a prescribed period, the fixed inter-vehicle distance travel control is stopped. Thus, even under the fixed inter-vehicle distance travel control, the vehicle can be traveled faithfully according to the instruction of the signal while being preferential to maintain the distance between vehicles constant.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an inter-vehicle distance control device that controls a vehicle to travel so as to maintain a constant inter-vehicle distance from a vehicle traveling in front.

(Prior Art) Vehicles are known that are equipped with an inter-vehicle distance control device that performs constant inter-vehicle distance driving control to automatically maintain a constant distance from a vehicle traveling in front. In a vehicle equipped with such an inter-vehicle distance control device, generally, for example,
As shown in Japanese Unexamined Patent Publication No. 60-19208, when constant inter-vehicle distance driving control is performed, the appropriate inter-vehicle distance set based on the current traveling speed and, for example, a radar device etc. When the actual following distance between the vehicle and the vehicle in front is detected by the following distance sensor configured to be used, and the actual following distance is greater than the appropriate following distance, the throttle connected to the accelerator pedal is compared. The traveling speed is increased by increasing the opening of the valve, and when the actual following distance is smaller than the appropriate following distance, the opening of the throttle valve is reduced or the brake system is activated. As a result, the traveling speed is reduced, and the traveling speed is adjusted so that the actual inter-vehicle distance detected by the inter-vehicle distance sensor matches the appropriate inter-vehicle distance.

(Problem to be Solved by the Invention) However, when a vehicle equipped with the following distance control device as described above is in a state where constant following distance driving control is performed, when the vehicle traveling ahead is in an acceleration state, the vehicle accelerates. Also, if the vehicle in front of you is decelerated, it will be decelerated.For example, if a traffic light in front of the vehicle is emitting a yellow warning light, the vehicle in front of you will be in a deceleration state. When accelerating past a location where a traffic light is installed, the vehicle accelerates by following the acceleration of the vehicle in front of it, and as a result, the traffic light changes from emitting a yellow light, which is a caution indicator, to a red light, which is a stop indicator. Even though the state has changed to emit light, there is a risk that the vehicle may end up passing through the location where the traffic light is installed.

In view of the above, the present invention provides constant following distance driving f/II 1B in which a vehicle maintains a constant following distance between itself and the vehicle traveling in front of it. To provide an inter-vehicle distance control device that allows a vehicle to faithfully follow instructions from a traffic light, giving priority to maintaining a constant inter-vehicle distance to a vehicle traveling in front even during control. The purpose is to

(Means for Solving the Problem) In order to achieve the above-mentioned object, the following distance control device according to the present invention includes a vehicle speed detecting means for detecting the traveling speed of the vehicle, and a distance from the vehicle to the vehicle traveling ahead. An inter-vehicle distance detecting means for detecting an inter-vehicle distance, an inter-vehicle distance setting means for setting an appropriate inter-vehicle distance based on the traveling speed detected by the vehicle speed detecting means, and an inter-vehicle distance setting means for setting the appropriate inter-vehicle distance to the vehicle traveling ahead; an operation unit that is operated to cause the
When the operation unit is operated, the traveling speed of the vehicle is adjusted according to the difference between the appropriate inter-vehicle distance and the distance detected by the inter-vehicle distance detection means, and the distance detected by the inter-vehicle distance detection means is matched to the appropriate inter-vehicle distance. In addition to the traveling speed control means for maintaining a constant distance between vehicles, there is also a colored light detection means for detecting colored light coming from the front side of the vehicle, and when a specific colored light is detected by the colored light detection means, the traveling speed control means and a control stop means for stopping the constant inter-vehicle distance maintenance operation.

(Function) In the inter-vehicle distance control device according to the present invention configured as described above, even when the traveling speed control means is performing an operation to maintain a constant inter-vehicle distance, the color light detection means detects a specific color light. For example, when a red light or yellow light from a traffic light installed in front of the vehicle is detected, the constant following distance maintenance operation is stopped and the distance to the vehicle in front is adjusted to the appropriate following distance. Priority is given to maintaining the situation in which the vehicle is left in a state where it does not follow the instructions of the traffic light. Therefore, even when constant inter-vehicle distance driving control is performed, priority is given to maintaining a constant inter-vehicle distance to the vehicle traveling in front, and the vehicle can be made to faithfully follow the instructions of the traffic light. The situation will be taken.

(Embodiment) FIG. 2 generally shows a vehicle to which an example of an inter-vehicle distance control device according to the present invention is applied.

In the vehicle 1 shown in FIG. 2, cameras 5 and 6 are respectively arranged on the passenger compartment 4 side at both upper ends of the front windscreen 3, and an inter-vehicle distance sensor 8 is arranged at the front end of the vehicle body. Furthermore, a control unit IO is arranged inside the instrument panel 9 in the vehicle interior 4. Each of the cameras 5 and 6 is, for example, a color video camera, captures an image within a predetermined range on the front side of the vehicle 1, and sends an image capture output signal to the control unit 10.
Each of the cameras 5 and 6 and the control unit 10 are as follows:
It forms a colored light detection means for detecting colored light coming from the front side of the vehicle.

Further, as shown in FIG. 3, the inter-vehicle distance sensor 8 is
For example, if an electromagnetic wave E is emitted toward the front side of the vehicle 1, and there is a vehicle 13 running in front of the vehicle 1, it will receive the reflected electromagnetic wave E' from the vehicle 13 ahead, and based on the reflected electromagnetic wave E' The actual inter-vehicle distance between the vehicle 13 and the traveling vehicle 13 is detected, and a detection output signal indicating the actual inter-vehicle distance is sent to the control unit 10.

An example of the inter-vehicle distance control device according to the present invention is the above-mentioned cameras 5 and 6. Inter-vehicle distance sensor 8 and control unit 1-1
0 as its constituent elements, and has the configuration as shown in FIG. In the example shown in FIG. 1, in addition to the imaging output signals SAI and SA2 obtained from the cameras 5 and 6, and the detection output signal SB from the inter-vehicle distance sensor 8, A detection output signal SC1 for detecting the traveling speed of the vehicle 1 from a vehicle speed sensor 14 disposed inside the maintenance panel 9 and detecting the traveling speed of the vehicle 1 is further transmitted to the brake pedal 16, the clutch actuating mechanism 17, and the vehicle l. A signal S indicating each operating state is obtained from a switch 20 for controlling constant inter-vehicle distance running near the driver's seat.
D, SE and SF are supplied. Then, the control unit 10 forms control drive signals CA and CB based on the various signals supplied, and sends them to an actuator 21 that drives a throttle valve connected to an accelerator pedal.
and a constant inter-vehicle distance driving control that is selectively sent to the actuator 22 that operates the brake device connected to the brake pedal, and causes the vehicle 1 to maintain a constant inter-vehicle distance from the vehicle 13 traveling in front. At the same time, it detects a state in which constant inter-vehicle distance driving control should be stopped and outputs drive signal C.
C is supplied to the warning buzzer 23, and when this state continues for a predetermined period or more, a drive signal CD is supplied to the warning lamp 24 to stop constant inter-vehicle distance running control.

The constant following distance running control by the control unit 10 is performed when the switch 20 is turned on to start the constant following distance running control, and the signal SF from the switch 20 indicates that the switch 20 is turned on. Begins when it is assumed. In the constant inter-vehicle distance control by the control unit 10, first, the detection output signal SC obtained after the switch 20 is turned on determines the appropriate inter-vehicle distance on the front side of the vehicle 1 based on the traveling speed. is set, and the set appropriate inter-vehicle distance is compared with the actual inter-vehicle distance at which the detection output signal SB is generated.

As a result, if the actual inter-vehicle distance is greater than the appropriate inter-vehicle distance, a positive control drive signal CA is generated according to the difference between the appropriate inter-vehicle distance and the actual inter-vehicle distance. 21. As a result, the throttle valve is driven by the actuator 21 to which the control drive signal CA of positive polarity is supplied to increase its opening degree in accordance with the difference between the appropriate inter-vehicle distance and the actual inter-vehicle distance,
The speed of vehicle I is increased to match the actual following distance to the proper following distance.

On the other hand, when the actual inter-vehicle distance is smaller than the appropriate inter-vehicle distance, and the difference between the appropriate inter-vehicle distance and the actual inter-vehicle distance is relatively small, a negative polarity control drive signal corresponding to the difference CA is formed and supplied to the actuator 21, and when the difference between the appropriate inter-vehicle distance and the actual inter-vehicle distance is relatively large, a predetermined negative polarity control drive signal CA is formed and is supplied to the actuator 21. is supplied to the actuator 21, and a control drive signal CB corresponding to the difference is formed,
It is supplied to the actuator 22.

As a result, the throttle valve is driven by the actuator 21 to which the control drive signal CA of negative polarity is supplied so as to reduce its opening according to the difference between the appropriate inter-vehicle distance and the actual inter-vehicle distance, or The throttle valve is driven to fully close its opening by the actuator 21 to which the control drive signal CA is supplied, and the actuator 22 to which the control drive signal CB is supplied.
The brake system is actuated to reduce the speed of the vehicle 1 in order to bring the actual following distance into compliance with the proper following distance.

Note that, as a result of comparing the appropriate inter-vehicle distance and the actual inter-vehicle distance, if the appropriate inter-vehicle distance and the actual inter-vehicle distance match, neither the control drive signals CA nor CB are sent from the control unit IO. .

When constant inter-vehicle distance driving control is performed in this way, the control unit 10 performs image analysis processing based on the image capture output signals SAI and SA2 from the cameras 5 and 6, and uses the camera 5 or 6 to It is determined whether the installed traffic light is being imaged, and if the traffic light is being imaged, it is determined whether the traffic light is emitting red light or yellow light. Then, while constant inter-vehicle distance driving control is being performed, for example, as shown in FIG. When the image is captured by the camera 5 or the camera 6, the control unit 10
As a result of image analysis processing based on the imaging output signals SAI and SA2, it is recognized that the traffic light 25 is emitting red light or yellow light, and the drive signal CC is supplied to the warning buzzer 23 to activate the warning buzzer 23. As a result, a control stop standby state is established. Then, during the control stop standby state, the switch 20 is turned off, and the signal S from the switch 20 is
When F indicates that the switch 20 has been turned off, the control unit 10 stops the constant inter-vehicle distance running control in response. In addition, the control stop standby state is
If the switch 20 continues for a predetermined period or more without being turned off, the control unit 10 outputs the drive signal C.
D is supplied to the warning lamp 24 to turn on the warning lamp 24, and then the constant inter-vehicle distance running control is stopped.

In this way, when the traffic light 25 installed in front of the vehicle 1 emits red light or yellow light, the constant following distance driving control is stopped, so that the vehicle 1 In this case, priority is given to maintaining a constant inter-vehicle distance to the vehicle 13 traveling ahead, and the driving condition is to faithfully follow the traffic lights 25.

Note that the control unit 10 is activated when the brake pedal 16 is depressed and the signal SD from the brake pedal 16 is supplied, or when the clutch actuation mechanism 17 is activated and the signal SE from the clutch actuation mechanism 17 is supplied. Also, the constant following distance driving control is stopped.

The control unit 10 that operates as described above, for example,
An example of a program configured using a microcomputer and executed by such a microcomputer during constant inter-vehicle distance driving control will be described with reference to the flowchart of FIG.

In the program shown in the flowchart of FIG. 4, after the start, various signals (
SAI, SA2. SB, SC, SD, SE, and SF), and in the subsequent step 31, it is determined whether the switch 20 is in the on state based on the signal SF. When the switch 20 is turned on,
In step 32, based on the signals SD and SE, it is determined whether the brake pedal 16 is depressed and whether the clutch actuation mechanism 17 is activated. In addition, if the clutch actuation mechanism 17 is not in the actuated state, in step 33, as a result of image analysis processing based on the imaging output signals SAI and SA2, an analysis output RY indicating a state in which the traffic light emits red light or yellow light is generated. Determine whether it is obtained or not.

As a result of the judgment in step 33, if the analysis output RY is not obtained, in step 34, the detection output signal SC is determined based on the estimated traveling speed and the appropriate inter-vehicle distance D.
A is set, and in the subsequent step 35, the actual inter-vehicle road MDx where the detection output signal SB is generated is determined to be the appropriate inter-vehicle distance DA.
Determine whether it is greater than or not. If the actual inter-vehicle distance MDX is greater than the appropriate inter-vehicle distance DA, in step 36, a control drive signal CA of positive polarity is applied according to the difference between the actual inter-vehicle road 11111DX and the appropriate inter-vehicle distance DA.
is sent to the actuator 21, and in step 37 it is determined whether the control display flag F is 1 or not. As a result, if the control display flag F is not 1, the control display flag F is set to 1 in step 38, and if the control display flag F is 1, step 37
directly returns to step 30.

Further, as a result of the determination in step 35, if the actual inter-vehicle distance DX is not greater than the appropriate inter-vehicle distance DA, in step 39 it is determined whether the actual inter-vehicle distance jllllDX and the appropriate inter-vehicle distance DA are equal, When the actual inter-vehicle distance DX and the appropriate inter-vehicle distance DA are equal, the process advances to step 37, and the subsequent steps are executed as described above. Further, when the actual inter-vehicle distance DX and the appropriate inter-vehicle distance DA are not equal, that is, when the actual inter-vehicle distance @DX is smaller than the appropriate inter-vehicle distance MDA, the process proceeds to step 40. In step 40, it is determined whether the difference ΔDX between the actual inter-vehicle distance 1IIDX and the appropriate inter-vehicle distance DA is greater than a predetermined value ΔDR. If the difference ΔDX is less than or equal to the predetermined value ΔDR, in step 41 , sends a control drive signal CA of negative polarity according to the difference ΔDX to the actuator 21, and proceeds to step 37. On the other hand, if the difference ΔDX is larger than the predetermined value ΔDR, in step 42, a predetermined control drive signal CA is sent to the actuator 21. In step 37, a negative polarity control drive signal CA is sent to the actuator 21, and a control drive signal CB corresponding to the difference ΔDX is sent to the actuator 22.
and perform each subsequent step as described above.

On the other hand, if it is determined in step 32 that the brake pedal 16 is in the depressed state or that the clutch actuation mechanism 17 is in the operating state, or in step 33, image analysis processing is performed based on the imaging output signals SAI and SA2. If it is determined that the analysis output RY has been obtained as a result, it is determined in step 43 whether the control display flag F is 1 or not. As a result, if the control display flag F is not 1, the process returns to step 30, and if the control display flag F is 1, the drive signal CC is sent to the warning buzzer 23 in step 44, and the process proceeds to step 45. In step 45,
It is determined whether a predetermined period of time has elapsed after the analysis output RY is obtained as a result of the image analysis processing based on the imaging output signals SAI and SA2, and if the predetermined period has not elapsed, the process returns to step 30, and If the period has elapsed, the drive signal CD is switched to the warning lamp 2 in step 46.
After sending out the control drive signals CA and CB in step 47, the operation of sending out the control drive signals CA and CB is stopped, and the operation in step 4 continues.
At step 8, the control display flag F is set to 0, and the process returns to step 30.

Furthermore, as a result of the determination in step 31, switch 2
If 0 is in the off state, it is determined in step 49 whether the control display flag F is 1 or not. As a result, if the control display flag F is not 1, the process returns to step 30, and if the control display flag F is 1, the process proceeds to step 47, and the subsequent steps are executed as described above.

Next, an example of a program executed by the microcomputer constituting the control unit 10 when performing image analysis processing based on the imaging output signals SAI and SA2 will be described with reference to the flowchart shown in FIG.

In the program shown in FIG. 5, after starting,
In step 50, the imaging output signals SAl and SA2
In the subsequent step 51, a traffic light installed on the road is imaged by the camera 5 or 6, and it is determined whether the image output signal SAI or the image output signal SA2 includes an image output component regarding the traffic light. do. As a result, if the imaging output signal SAI or the imaging output signal SA2 includes an imaging output component regarding the traffic light, in step 52,
It is determined whether the imaging output component for the traffic light indicates that the traffic light is in a state of emitting red light or yellow light. If the imaging output component for the traffic light indicates that the traffic light is in a state where it emits red light or yellow light, an analysis output RY is formed in step 53, and the process returns to step 50.

Further, as a result of the determination in step 51, if the imaging output signal SAI or the imaging output signal SA2 is not determined to include the imaging output component regarding the traffic light, or as a result of the determination in step 52, the imaging output signal SAI or the imaging output signal SA2 does not include the imaging output component regarding the traffic light. However, if it is not detected that the traffic light is emitting a red or yellow light, the process returns to step 50.

(Effects of the Invention) As is clear from the above description, the following distance control device according to the present invention allows a vehicle to drive while maintaining a constant distance between itself and the vehicle traveling ahead. When performing driving control, even when maintaining a constant distance between vehicles, the colored light detection means detects specific colored light, such as red or yellow light from a traffic light installed in front of the vehicle. Sometimes, the constant following distance maintenance operation is stopped to avoid a situation in which the vehicle is in a state where the vehicle does not follow the instructions of the traffic light. This means that priority is given to maintaining a constant inter-vehicle distance between the vehicle and the vehicle, allowing the vehicle to faithfully follow the instructions of the traffic light.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an example of the following distance control device according to the present invention, FIG. 2 is a diagram showing a vehicle to which an example of the following distance control device according to the present invention is applied, and FIG. 3 is a block diagram showing an example of the following distance control device according to the present invention. FIGS. 4 and 5, which are used to explain the operation of an example of such an inter-vehicle distance control device, respectively show the case where a microcomputer is used in the control unit shown in FIG.
It is a flowchart showing an example of a program executed by such a microcomputer. In the figure, 1 is a vehicle, 5 and 6 are cameras, 8 is an inter-vehicle distance sensor, 10 is a control unit, 14 is a vehicle speed sensor, 21 and 22 are actuators, 23 is a warning buzzer, and 24 is a warning lamp. Figure 2 Figure 5

Claims (1)

[Scope of Claims] Vehicle speed detection means for detecting the running speed of a vehicle; inter-vehicle distance detection means for detecting the distance from the vehicle to a vehicle running ahead of the vehicle; a following distance setting means for setting an appropriate following distance based on the above; an operating section operated by the operating section to cause the vehicle to take a driving state in which the distance to the preceding vehicle is maintained at the appropriate following distance; when the vehicle is detected, the traveling speed of the vehicle is adjusted according to the difference between the appropriate inter-vehicle distance and the distance detected by the inter-vehicle distance detection means, and the distance detected by the inter-vehicle distance detection means is adjusted to the appropriate inter-vehicle distance. a traveling speed control means for maintaining a constant distance between vehicles; a colored light detecting means for detecting colored light coming from the front side of the vehicle; and when a specific colored light is detected by the colored light detecting means, said traveling speed control means An inter-vehicle distance control device comprising: a control stop means for causing the means to stop the constant inter-vehicle distance maintaining operation.