JPH08216727A - Travel control device for automobile - Google Patents

Abstract

PURPOSE: To perform the follow-up travel control of an own automobile to a preceding vehicle always accurately by detecting an object in front of the own automobile, making a lock-on judgement when this object is a specified moving object, and holding this lock-on judgment also at the time of specified low speed. CONSTITUTION: An object such as a preceding vehicle existing in front of an own automobile is detected by a laser radar device or the like. A detection signal from the laser radar device or the like is inputted to an input information processing part 21 where specified information processing is performed. On the basis of specially detection data on the front object and the information of a proceeding path predicted by a proceeding path predicting means 22 out of input information, a lock-on judging means 24A makes a lock-on judgment on whether or not the front object is the preceding vehicle to be the follow-up object of the own automobile on the basis of judgement on whether or not the front object is a moving object existing in a specified moving condition on the proceeding path. A lock-on continuing means 24B continues lock-on until the own automobile stops even after the stop of the lock-on object vehicle on the basis of the speed of the own automobile and the speed of the lock-on judged preceding vehicle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is a vehicle mounted on a vehicle for measuring the distance to a forward object such as a preceding vehicle existing in the traveling direction of the vehicle and allowing the vehicle to travel following the forward object. The present invention relates to the traveling control device.

[0002]

2. Description of the Related Art As a traveling control device for an automobile of this type,
For example, a scanning radar device that transmits a radar wave in front of the vehicle and receives and detects a reflected wave from an object existing in front of the host vehicle to calculate the presence or absence of a preceding object such as a preceding vehicle or an obstacle and the distance from the left and right Scanning is performed for each predetermined scanning width at a relatively wide angle in the horizontal direction, and from the received information obtained by the scanning, a microcomputer is used to determine the running state such as the steering angle and yaw rate of the vehicle. By picking up only those in the area along the traveling path of the own vehicle estimated based on the above, the distance to the preceding object is calculated by software, and the following running is executed while maintaining a predetermined inter-vehicle distance. Such a structure has already been developed (for example, see Japanese Patent Laid-Open No. 1-213593).

Further, in the follow-up running system, for example, as a target vehicle for follow-up running (lock-on target vehicle), a target vehicle for follow-up running is a vehicle other than a vehicle running in the same direction as the own vehicle such as an oncoming vehicle or a stopped vehicle. There has also been proposed a vehicle that is not locked on (supplemented) to prevent malfunction of the system and to improve the safety and reliability of follow-up traveling control (for example, Japanese Patent Laid-Open No. 64-52531). reference).

[0004]

However, if the lock-on determination is made only on the condition that the vehicle is traveling in the same direction as described above, the lock-on target vehicle on the traveling road of the vehicle is Is stopped, that is, when it is no longer a moving object, the lock-on state is released, and follow-up running becomes impossible. Therefore, if the driver does not recognize it promptly, a rear-end collision may occur.

Even if the lock-on target vehicle stops and the own vehicle also stops, it may be better to continue the lock-on if it is due to traffic congestion, waiting for a signal, or the like.

The present invention has been made in order to solve the problem, and in the following traveling control for the preceding vehicle, when the front object is no longer a moving object or the preceding vehicle and the own vehicle stop. It is an object of the present invention to provide a vehicle drive control device that accurately performs lock-on determination at any time to improve safety and convenience.

[0007]

In order to achieve the object, the present invention comprises the following problem solving means.

That is, first, in the vehicle traveling control apparatus of the present invention, the object detecting means for detecting an object on the traveling path of the own vehicle and the object detected by the object detecting means are in the same direction as the traveling direction of the own vehicle. , And based on whether or not the vehicle is traveling at a predetermined vehicle speed or higher, a lock-on determination means for determining whether or not the detection object is a lock-on target, and a determination result of the lock-on determination means. And a lock-on object detecting means for detecting the presence of a lock-on object, wherein the lock-on determining means locks the lock-on object even under a vehicle speed condition lower than a vehicle speed of an object other than the lock-on object. The ON determination state is retained.

Further, in the vehicle traveling control device of the present invention, in the above structure, the lock-on determination means releases the lock-on determination state when the stop state of the vehicle is detected under the lock-on determination state. It is supposed to be done.

Further, in the vehicle traveling control device of the present invention, in the above-mentioned configuration, the lock-on determination state is released when the stopped state of the vehicle is detected for a predetermined time or more.

Further, in the vehicle travel control device of the present invention, the lock-on determination means is not released even when the vehicle is stopped.

Further, in the vehicle drive control device of the present invention, in each of the above configurations, the lock-on determination means locks on based on the distance between the detected object and the vehicle, the relative vehicle speed, and the vehicle speed of the vehicle. It is designed to judge.

[0013]

The present invention has the following actions corresponding to each of the above configurations.

That is, as described above, in the configuration of the vehicle traveling control device of the present invention, the object detecting means for detecting an object on the traveling path of the own vehicle, and the object detected by the object detecting means are the traveling of the own vehicle. Lock-on determination means for determining whether or not the detected object is the lock-on target based on whether or not the vehicle is traveling in the same direction as the direction and at a predetermined vehicle speed or more; and the lock-on determination Based on the judgment result of the means,
A lock-on object detection means for detecting the presence of a lock-on object, wherein the lock-on determination means determines the lock-on object even under a vehicle speed condition lower than the vehicle speed of an object other than the lock-on object. Since the state is maintained, for example, not only the lock-on condition in the steady running state, but also the front object such as the front vehicle stopped or decelerated below a predetermined vehicle speed is a moving object. It is possible to extend the lock-on condition even when it disappears or approaches a stopped state, and it is possible to reliably continue the lock-on state until the own vehicle completely stops corresponding to the preceding vehicle. So, the safety of follow-up running control,
You will be able to increase reliability.

Further, in this case, if the lock-on determination means is configured to release the lock-on determination state when the stop state of the vehicle is detected under the lock-on determination state, When the vehicle completely stops and the follow-up control becomes unnecessary, the lock-on state is released, and an appropriate lock-on determination can be made at the start of the next running.

Further, in this case, if the lock-on state is released only when the stopped state of the vehicle is detected for a predetermined time or more,
For example, even when the own vehicle stops in response to a stop in front of the vehicle due to traffic congestion or waiting for a signal, the lock-on state for the preceding vehicle continues for a predetermined time and the vehicle follows the preceding vehicle. By continuing the above, it is not necessary to make a new lock-on determination, the system can be simplified, and stable follow-up running can be realized.

Further, if the lock-on state is not released even when the stop state of the own vehicle is detected, for example, it means that the preceding vehicle has stopped due to traffic congestion, signal waiting, etc. Correspondingly, when the own vehicle seems to stop, the lock-on state for the preceding vehicle is continued,
By continuing to follow the preceding vehicle, a new lock-on determination is unnecessary, the system can be simplified, and stable follow-up running can be realized.

Furthermore, in the configuration of the vehicle traveling control device of each of the above inventions, the lock-on determination means is:
For example, when the lock-on determination is performed based on the distance between the detected object and the own vehicle, the relative vehicle speed, and the vehicle speed of the own vehicle, the follow-up traveling control that maintains an appropriate safe inter-vehicle distance from the preceding vehicle during traveling is performed. In addition to being possible, when the preceding vehicle is stopped, the own vehicle can be appropriately stopped correspondingly.

[0019]

As a result of the above, according to the vehicle travel control device of the present invention, it is possible to carry out appropriate follow-up travel corresponding to the behavior of the front object, and it is possible to secure sufficient safety of the follow-up travel control system. Like

[0020]

【Example】

(Embodiment 1) FIG. 1 shows the overall configuration of a vehicle travel control device according to Embodiment 1 of the present invention. here,
Reference numeral 1 is a throttle control device that automatically adjusts the opening of a throttle valve (not shown) of the engine intake system, 2 is a control device of an electronically controlled automatic transmission (EAT), and 3 is a braking force that is automatically applied to each wheel. These three types of control devices 1 to 3 are brake control devices for adjustment, and each of these three types of control devices has an actuator (not shown), and each actuator is controlled by the travel control unit 4.

That is, the traveling control unit 4 outputs a target throttle opening signal to the actuator of the throttle control device 1 for control, and
A target brake amount signal is output to the actuator of the brake control device 3 for control. Further, the traveling control unit 4 outputs a shift control signal to an actuator of the EAT control device 2 while receiving a shift position signal from a sensor (not shown) that detects the shift position of the EAT control device 2 for control. To do.

The information display device indicated by reference numeral 5 is provided on, for example, an instrument panel in the vehicle compartment, and although not shown, an alarm lamp that lights up in response to an alarm signal from the traveling control unit 4 and traveling control are provided. A display unit that receives a self-diagnosis signal from the unit 4 and displays a screen is provided.

The laser radar device shown by reference numeral 6 acts as an object detecting means for detecting an object (for example, a preceding vehicle) existing in front of the own vehicle, and directs the laser radar wave to the front of the own vehicle. It is configured so that the reflected wave that is transmitted by the vehicle and that is reflected by hitting the front object is received, and the distance between the vehicle and the front object is measured by the time difference between the reception time and the transmission time. The detection signal detected by the laser radar device 6 is input to the traveling control unit 4 as an inter-vehicle distance signal. Further, the laser radar device 6 of the present embodiment is of a scan type that scans the laser radar wave in the horizontal direction at a relatively wide angle.

Reference numeral 7 is a throttle opening sensor for detecting the opening of the throttle valve, 8 is a vehicle speed sensor for detecting the vehicle speed, 9 is a steering angle sensor for detecting a steering angle of the steering wheel (hereinafter, simply referred to as steering angle), and 10 is a steering angle sensor. A yaw rate sensor for detecting the yaw rate generated in the host vehicle, 11 a lateral G sensor for detecting the lateral acceleration generated in the host vehicle, 12 a brake switch that is turned on when the brake pedal is depressed, and 13 depending on the operating state of the clutch. A clutch switch that is turned on, 14 is a lock-on switch, and 15 is an au-cruise switch that is turned on when the vehicle is in cruising operation. The detection signals of these sensors and switches 7 to 15 are all travel control units. 4 is input. Although detection signals from an engine speed sensor and other sensors and switches (not shown) are also input to the travel control unit 4, detailed description thereof will be omitted.

For example, as shown in FIG. 2, the traveling control unit 4 receives a detection signal from the laser radar device 6 and a detection signal from various sensors and switches 7 to 15 to perform predetermined information processing. The input information processing unit 21 to be performed and information regarding the traveling state of the own vehicle from the input information processing unit 21 (for example, vehicle speed from the vehicle speed sensor 8, steering angle from the steering angle sensor 9, yaw rate from the yaw rate sensor 10, etc.). The traveling route predicting means 22 that receives the traveling route and predicts the traveling route of the own vehicle based on these, and the detection data regarding the front object detected by the laser radar device 6 among the information of the input information processing unit 21 and the traveling route. Receiving the information on the traveling path predicted by the prediction means 22, it is determined whether or not the object is a moving object existing on the traveling path under a predetermined moving condition. Then, the lock-on determination means 24A for determining this as a preceding vehicle to be followed by the own vehicle, the vehicle speed V _{1 of the} own vehicle, and the vehicle speed V _{2 of the} preceding vehicle for which the lock-on determination has been made are input, as will be described later. Even if the lock-on target vehicle A is stopped, the lock-on continuation judging means 24B for continuing the lock-on until it is judged that the own vehicle is stopped, and the moving object judged to be locked-on by the lock-on judging means 24A. Is provided with a follow-up running control means 25 for controlling the following and an output information processing unit 26 for performing the follow-up running control.

Then, the information of the preceding vehicle A, which is determined as the object to be followed by the lock-on determination means 24A, is output from the lock-on determination means 24A to the follow-up running control means 25, and the follow-up running control means 25 itself. The throttle is controlled via the output information processing unit 26 so as to appropriately control the vehicle speed of the own vehicle M so that the own vehicle M follows the preceding vehicle A on the basis of the inter-vehicle distance and the relative speed between the vehicle and the preceding vehicle A to be followed. The control output signal is output to the control device 1 and the like.

(Main Routine) In FIG. 3, among the controls by the traveling control unit 4, especially the lock-on switch 14 is turned on, and the own vehicle M is the preceding vehicle A.
The flowchart which shows the main routine at the time of follow-up run control which follows and runs is shown.

This main routine includes, for example, predictive control of the traveling road (step S ₁ ) and registration control of the lock-on target vehicle.
(Step S ₂ ), lock-on execution control (step S ₃ ), lock-on continuation and release control (step S 2).
₄ ), the subroutine of the predictive control of the traveling path is shown in FIG. 4, the subroutine of the registration control of the lock-on target vehicle is shown in FIG. 5, and the subroutine of the lock-on execution control is shown in FIG. Further, the lock-on continuation and release control subroutines are shown in FIG. 7, respectively.
Hereinafter, each of them will be sequentially described.

(Predictive control of traveling path) In the flow chart of FIG. 4, first, in step S ₁₁ , vehicle data (steering angle θ,
After reading the vehicle speed v and the yaw rate ψ), the turning radius R ₁ of the own vehicle is calculated based on the steering angle θ in the following step S ₁₂ by the following formula: R ₁ = (1 + S · v ² ) (N · L / θ ) Calculate. However, S is a stability factor, N is a steering gear ratio, and L is a wheel base.

Then, in step S ₁₃ , the turning radius R _{2 of the} vehicle is calculated based on the yaw rate ψ by the following formula, R ₂ = v / ψ.

[0031] Thereafter, further out in step S ₁₄ of both turning radius R _1, R _2, and determines which is small, its smaller the radius of curvature R of the traveling path at step S ₁₅ and step S ₁₆ At the same time, in step S ₁₇ , the curvature radius R is provided with a predetermined width to generate a traveling path,
To return. Here, the smaller radius of gyrations R ₁ and R _{2 is set as} the radius of curvature R of the traveling path because the response delay of the sensors is taken into consideration. The prediction of the traveling road as described above is performed by the traveling road predicting means 22 in the traveling control unit 4. The travel path may be predicted only by the turning radius R ₁ or the turning radius R ₂ .

(Registration control of lock-on target vehicle) In the flowchart of FIG. 5, first, the detection data of the front object detected by the laser radar device 6 in step S ₂₁ .
(Distance and direction) after reading, the determination whether or not the detected data are detected continuously, as the detection data is equal to or larger than a predetermined definite level in the predetermined area by the step S ₂₃ in step S ₂₂ Or not. Here, the degree of certainty refers to the number of detections per hour, and both the degree of certainty that is not greater than or equal to a predetermined value and the degree that the detection data is widely scattered outside a predetermined area are not considered to be objects. Above when both determination are both affirmative determination imparts an object identification number for those objects regarded in step S _24.

[0033] Subsequently, it is determined whether an object that grants the object identification number is a mobile in step S _25. In this determination, the speed V ₂ of the moving object is obtained from the relative speed between the own vehicle and the object and the own vehicle speed V _1, and it is examined whether or not the speed of the moving object is equal to or more than a predetermined threshold value. Done by. Next, you are determined whether or not the same moving object in step S ₂₆ is present in the traveling path. If the results of both of the above determinations are YES, step S ₂₇
In this case, it is assumed that the moving object is the preceding vehicle A on the traveling road and is a lock-on (L / O) target candidate.

Then, in step S ₁₈ , it is determined whether or not the preceding vehicle A, which is a candidate for lock-on, has the shortest inter-vehicle distance, that is, the closest preceding vehicle A. If the determination result is YES, the preceding vehicle is registered as the lock-on target vehicle in step S ₂₉ , and the process returns. The registration of the lock-on target vehicle as described above is performed by the lock-on determination means 24A in the traveling control unit 4.

[0035] (execution control of the lock-on) in the flowchart of FIG. 6, after confirming that the lock-on target vehicle A is registered in step S _31, performs the lock-on in a step S _32, the process returns .
The lock-on is to control the own vehicle speed so that the vehicle A can be driven at the same vehicle speed while keeping a predetermined inter-vehicle distance with respect to the lock-on target vehicle A. Done.

(Lock-on continuation and release control) Next, based on the flowchart of FIG.
The release control subroutine will be described with reference to the reference diagram of FIG.

In FIG. 7, first, at step S ₅₁ , the radii of curvature R of the lock-on target vehicle A and the traveling path K are recognized, and the lock-on target vehicle A on the traveling path K of the own vehicle M as shown in FIG. Ensure that but present, then determines whether the vehicle speed V ₂ of the preceding vehicle a is equal to or less than a predetermined set value Vs (e.g. Vs = 10km / h) in step S _52. As when the result is negative determination continues to lock on to the lock-on target vehicle A in step S _53. On the other hand, if YES, the routine proceeds to step _S54 , at this time, it is further judged whether or not the vehicle speed V _{1 of the} own vehicle has become equal to or less than the set value Vs, and if NO, the lock-on is continued, but YES releases the lock on state proceeds to step S ₅₅ when the. These determinations are made by the lock-on continuation determining means 24B in the traveling control unit 4.

In the above structure, for example, as shown in FIG. 8, the own vehicle M with respect to the lock-on target vehicle A on the predetermined traveling path K.
In the case where the target vehicle A travels following the vehicle while maintaining a predetermined inter-vehicle distance, even if the target vehicle A suddenly decelerates or stops from A ′ to A in FIG. 8, the target vehicle A stops and the own vehicle M Since the follow-up traveling control is continued until the vehicle is stopped and safety is ensured, it is possible to prevent the risk of a rear-end collision.

(Embodiment 2) By the way, in the following traveling state, for example, even if the preceding vehicle A, which is a lock-on target vehicle, is stopped and the own vehicle M is also stopped correspondingly, In the case of waiting for a short traffic light, traffic congestion, etc., the vehicle starts traveling again after a predetermined time. Therefore, even if the own vehicle M is stopped even in that case, it is rather inconvenient if the lock-on is released each time, and it may be considered to be against the improvement of safety. In addition, a system hunting phenomenon is also expected.

Therefore, in the present embodiment, as shown in the flow chart of FIG. 9, the lock-on is released only when the above-described stop of the vehicle M continues for a predetermined time or longer, and otherwise the lock-on is performed. so that continued (step S _55).

Other configurations are the same as those in the flow chart of the first embodiment.

The invention of the present application is not limited to the above-described embodiments, but includes various other modifications. For example, in the above-described embodiment, as the laser radar device 6, a scan type device that scans a laser radar wave in a horizontal direction at a relatively wide angle is used, but the present invention is not limited to this scan type laser radar device 6. Instead, the invention can be similarly applied to a laser radar device that detects an object only within a relatively narrow range of angles, and that the laser radar device is configured to rotate about a vertical axis by an actuator.

In the above embodiment, when the lock-on judging means 18 judges the lock-on target vehicle, the judgment is made based on the inter-vehicle distance and the relative speed between the own vehicle and the preceding vehicle. Alternatively, the determination may be made based on the speed of the preceding vehicle.

[Brief description of drawings]

FIG. 1 is a block diagram showing the overall configuration of a vehicle travel control device according to a first embodiment of the present invention.

FIG. 2 is a functional block diagram of a traveling control unit in the vehicle traveling control device according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing a main routine of follow-up traveling control in the vehicle traveling control device according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing a subroutine for predicting a traveling path in the vehicle travel control device according to the first embodiment of the present invention.

FIG. 5 is a flowchart showing a subroutine of registration control of a lock-on target vehicle in the vehicle travel control device according to the first embodiment of the present invention.

FIG. 6 is a flowchart illustrating a subroutine of lock-on execution control in the vehicle travel control device according to the first embodiment of the present invention.

FIG. 7 is a flowchart showing a subroutine of lock-on continuation / release control in the vehicle travel control device according to the first embodiment of the present invention.

FIG. 8 is a reference diagram for explaining lock-on continuation and release control in the vehicle travel control device according to the first embodiment of the present invention.

FIG. 9 is a flowchart showing a subroutine of lock-on continuation / release control in the vehicle travel control device according to the second embodiment of the present invention.

[Explanation of symbols]

6 is a laser radar device as an object detecting means, 22 is a traveling path predicting means, 24A is a lock-on determining means, 24B is a lock-on continuation determining means, and 25 is a follow-up traveling control means.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kenji Shimizu 3-1, Shinchi, Fuchu-cho, Aki-gun, Hiroshima Mazda Motor Corporation

Claims (5)

[Claims] 1. An object detecting means for detecting an object on a traveling path of the own vehicle, and an object detected by the object detecting means while traveling in the same direction as the traveling direction of the own vehicle and at a predetermined vehicle speed or more. Based on whether it is a thing, lock-on determination means for determining whether or not the detection object is a lock-on target,
Based on the determination result of the lock-on determination means, a lock-on object detection means for detecting the presence of a lock-on object,
The lock-on determination means holds the lock-on determination state for the lock-on object even under a vehicle speed condition lower than the vehicle speed of an object other than the lock-on object. Control device. 2. The lock-on determination means is configured to release the lock-on determination state when the stop state of the vehicle is detected under the lock-on determination state. The traveling control device for the automobile described. 3. The vehicle drive control device according to claim 2, wherein the lock-on determination state is released when the stop state of the vehicle is detected for a predetermined time or more. 4. The vehicle drive control device according to claim 1, wherein the lock-on determination means is configured so as not to be released even when the vehicle is stopped. 5. The lock-on determination means is configured to perform lock-on determination based on the distance between the detected object and the vehicle, the relative vehicle speed, and the vehicle speed of the vehicle. The traveling control device for an automobile according to 2, 3, or 4.