JPH10147160A - Vehicle follow-up running control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle follow-up control device which can ensure safety during a start or a rush at a road crossing or a railway crossing or intervention of a vehicle. SOLUTION: A vehicle follow-up running control device comprises a vehicle ahead start confirming means 22 for delivering a start confirming signal F from the vehicle ahead during stopping under follow-up control, and a start demand inhibiting means 23 for delivering a start effective signal G in accordance with a start demand E after the start confirming signal is delivered. The start demand inhibiting means 23 disables the start demand produced during stopping before the start confirming signal is delivered, but enables the same after the start confirming signal is delivered, and accordingly, control is made for starting of the instant vehicle in response only to the start demand from the drive after the start of the vehicle ahead is confirmed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a follow-up running control device for a vehicle, which controls a vehicle to follow a preceding vehicle so as to keep an inter-vehicle distance with a preceding vehicle at a safe inter-vehicle distance. The present invention relates to a vehicle cruising control device that ensures safety when starting from a stopped state.

[0002]

2. Description of the Related Art Conventionally, a follow-up cruise control system for a vehicle, which has been developed for the purpose of reducing the operation effort of a driver, includes an inter-vehicle distance sensor for detecting the inter-vehicle distance from a preceding vehicle, and maintains the inter-vehicle distance constant. By controlling the running state of the own vehicle in such a manner, the vehicle starts, stops, or runs following the preceding vehicle.

[0003] Also, for example, when a signal is waiting at an intersection or when the vehicle is stopped on a congested road, an alarm device is provided for notifying the start of the preceding vehicle and prompting the start of the vehicle. Travel control devices have been developed.

[0004] A vehicle follow-up cruise control device for automatically controlling the engine output torque and the brake as described above can be referred to, for example, in Japanese Utility Model Laid-Open No. 3-68126. As a result, even if the road is crowded with vehicles, the burden on the driver of forward attention is reduced, and the driver is free from the trouble of repeatedly starting and stopping the vehicle.

[0005] In this type of vehicle follow-up traveling control device, there are cases where only the throttle is automatically controlled, or where both the throttle and the brake are controlled.
In either case, when the inter-vehicle distance increases, the host vehicle is accelerated to follow the preceding vehicle.

However, even if the preceding vehicle starts and the inter-vehicle distance increases, for example, when the own vehicle stops at the head of an intersection due to a red light or stops at the head of a railroad crossing, the own vehicle is immediately stopped. It is often the case that it is not appropriate to accelerate

[0007] When the vehicle starts automatically, a situation may occur in which the driver is not paying attention to the front, so that it is difficult to cope with sudden jumps of pedestrians or the appearance of interrupted vehicles. May occur.

In preparation for such a situation, conventionally, for example, as referred to in Japanese Utility Model Laid-Open No. 3-68126,
A device provided with a manual operation switch for prohibiting the start of the vehicle has also been proposed. However, since the vehicle can always be set to the start permission state when the vehicle stops, a situation in which the vehicle does not check forward when starting the own vehicle may be considered.

[0009]

As described above, the conventional vehicle cruise control system performs only the own vehicle tracing acceleration to keep the inter-vehicle distance with the preceding vehicle constant.
Even when the preceding vehicle starts and the inter-vehicle distance increases, the own vehicle cannot be accelerated immediately, such as when the own vehicle stops at the head of an intersection due to a red light or at the head of a railroad crossing. Nevertheless, there is a problem that the automatic start of the own vehicle cannot be prevented.

In addition, since the self-vehicle is automatically started, it is not possible to cope with a sudden pedestrian jumping out or the appearance of an interrupting vehicle when the driver does not pay attention to the front. was there.

Further, even when a manual operation switch for inhibiting the start of the vehicle is provided as described in Japanese Utility Model Laid-Open No. 3-68126, the start can always be permitted when the vehicle is stopped. There has been a problem that it is not possible to prevent a situation of neglecting confirmation.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and when the start of a preceding vehicle is confirmed when the host vehicle is stopped during follow-up control, the start of the driver after confirming the start of the preceding vehicle is started. It is an object of the present invention to obtain a vehicle following travel control device that secures the safety of the vehicle by detecting and starting the request.

According to the present invention, when the start of the preceding vehicle is confirmed when the host vehicle is stopped during the follow-up control, an alarm is generated and the start request of the driver after the alarm is generated is detected and started. It is an object of the present invention to obtain a vehicle following travel control device that secures the safety of its own vehicle.

Another object of the present invention is to provide a vehicle follow-up cruise control device that frees the driver from the complexity of operating switches and the like in a repeated state of a short stop time.

[0015]

According to a first aspect of the present invention, there is provided a vehicle follow-up traveling control device, comprising: a vehicle speed sensor for detecting a traveling speed of an own vehicle; and an inter-vehicle distance detecting an inter-vehicle distance from the own vehicle to a preceding vehicle. A distance sensor, a start request detecting means for detecting a start request for the own vehicle, a throttle actuator for controlling an engine output of the own vehicle, a brake actuator for controlling a brake of the own vehicle, and maintaining an inter-vehicle distance at a safe inter-vehicle distance. And a follow-up control means for controlling at least one of the throttle actuator and the brake actuator in the following manner. When the own vehicle is stopped, the start of the preceding vehicle is confirmed from the increase in the inter-vehicle distance and the start is confirmed. A forward vehicle start confirmation means for outputting a signal, and a start valid signal based on a start request after the start confirmation signal is generated. The start request prohibition means disables the start request during stoppage of the own vehicle before generating the start confirmation signal and makes it valid after the start confirmation signal is generated, and generates the start confirmation signal. A start valid signal in response to only a later start request is output, and the following control means includes start control means for starting and controlling the own vehicle in response to the start valid signal while the own vehicle is stopped. When the vehicle stops, the vehicle is started in response to a start request from the driver after the start of the preceding vehicle is confirmed.

According to a second aspect of the present invention, there is provided a vehicle follow-up cruise control device according to the first aspect, further comprising an alarm unit for generating an alarm in response to a start confirmation signal, and the start request prohibiting unit includes a start confirmation unit. A start valid signal is output in response to a start request while the vehicle is stopped only after the generation of the signal and after the operation of the alarm means.

According to a third aspect of the present invention, there is provided a vehicle follow-up cruise control device according to the first or second aspect.
The start request detecting means is constituted by switch operation detecting means for detecting operation of switches, and the start request is constituted by an operation detection signal generated by the switch operation detecting means.

According to a fourth aspect of the present invention, there is provided a vehicle follow-up cruise control device according to the first or second aspect.
The start request detecting means is constituted by an accelerator operation detecting means for detecting an accelerator operation, and the start request comprises an accelerator operation detecting signal generated by the accelerator operation detecting means.

According to a fifth aspect of the present invention, there is provided a vehicle follow-up cruise control device according to the first or second aspect.
The start request detecting means is constituted by a contact detecting means provided on the steering wheel, and the start request is composed of a handle contact detecting signal generated by the contact detecting means.

According to a sixth aspect of the present invention, in the vehicle follow-up cruise control device according to any one of the first to fifth aspects, a timer means for measuring a stop time of the vehicle is provided, and the timer means When the start confirmation signal is generated before the stop time elapses the predetermined time, the start control unit outputs the start control signal to the start control unit in response to the start confirmation signal, and the start control unit responds to the start control signal. This is to automatically start the own vehicle.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an overall configuration of the first embodiment of the present invention. In FIG. 1, reference numeral 10 denotes an inter-vehicle distance sensor that detects an inter-vehicle distance D from the host vehicle to a preceding vehicle, and is constituted by, for example, a laser radar device or a millimeter wave radar device, and a detection signal corresponding to the inter-vehicle distance D. Is output.

Reference numeral 11 denotes a vehicle speed sensor for detecting the traveling speed V of the own vehicle, and outputs a vehicle speed pulse having a frequency corresponding to the traveling speed V as a detection signal. A start request detecting means 12 detects a start request E for the own vehicle, and outputs a detection signal in response to the start request E by the driver's operation.

Reference numeral 13 denotes a control ECU for controlling the own vehicle to follow the preceding vehicle. The control ECU 13 includes a microcomputer for maintaining the inter-vehicle distance D at a predetermined safe inter-vehicle distance. Take in V and E,
As will be described later, at least one of a throttle for acceleration / deceleration switching and a brake for vehicle stop / start switching is controlled.

Reference numeral 14 denotes a throttle actuator which is driven and controlled by a throttle drive signal A from the control ECU 13, and controls the engine output of the host vehicle by adjusting the opening of a throttle (not shown).

Reference numeral 15 denotes a brake actuator that is driven and controlled by a brake drive signal B from the control ECU 13, and controls a brake (not shown) of each wheel of the host vehicle to determine a stopped state or a start state.

The control ECU 13 includes a follow-up control means 21 for outputting a throttle drive signal A and a brake drive signal B based on the following distance D and running speed V. Each of the actuators 14 and 15 is controlled by the drive signals A and B.
Is controlled to drive the throttle and the brake so that the inter-vehicle distance D becomes the safe inter-vehicle distance, thereby controlling the own vehicle to follow the preceding vehicle.

The control ECU 13 confirms the start of the preceding vehicle from the increase in the inter-vehicle distance D and outputs a start confirmation signal F while the own vehicle is stopped. Starting request prohibiting means 23 for outputting a starting valid signal G based on the generated starting request E.

The forward vehicle start confirming means 22 and the start request prohibiting means 23 include a stop determining means for determining whether the vehicle is stopped based on the zero output of the traveling speed V. The start request prohibiting means 23 invalidates the start request E during the stop of the own vehicle before the start confirmation signal F is generated and is valid after the start confirmation signal F is generated, and sets the start request after the start confirmation signal F is generated. E
The start valid signal G is output in response to only the start valid signal G.

The follow-up control means 21 includes a start control means for controlling the start of the own vehicle in response to the start valid signal G while the own vehicle is stopped. The start request detecting means 12 that generates the start request E in response to the driver's operation has a general configuration that does not cause a cost increase, and is arranged near the driver's seat as described later. The start request switch, the switch for detecting depression of the accelerator pedal, the accelerator pedal position sensor for detecting the depression amount of the accelerator pedal, the touch sensor installed on the steering wheel, or the like can be used.

Next, the following control operation and the start control operation after stopping according to the first embodiment of the present invention shown in FIG. 1 will be described. Here, the start request detecting means 12 is composed of switch operation detecting means for detecting the operation of switches (start request switch). The start request switch is only temporarily turned on when the driver operates, Usually O
Hold the FF state. Therefore, the start request detecting means 1
No. 2 generates the start request E only when the driver performs the ON operation.

First, in a normal following running state, the following control means 21 in the control ECU 13 controls the following distance sensor 1.
A detection signal indicating the inter-vehicle distance D from 0 and a vehicle speed sensor 11
Based on the detection signal indicating the traveling speed V from the vehicle, the relative speed of the preceding vehicle with respect to the own vehicle is calculated together with the own vehicle speed and the preceding vehicle speed.

Subsequently, the following control means 21 calculates the safe inter-vehicle distance from the own vehicle to the preceding vehicle from the own vehicle speed, the preceding vehicle speed and the relative speed, and the inter-vehicle distance D is always maintained at the safe inter-vehicle distance. Thus, the throttle actuator 14 and the brake actuator 15 are controlled to control the engine output and the brake for each wheel.

When the preceding vehicle stops, the own vehicle stops following the preceding vehicle.
Since the inter-vehicle distance D increases, the forward vehicle start confirmation means 22
Outputs a start confirmation signal F. Therefore, in response to the start confirmation signal F, the following control unit 21 releases the brake and drives the throttle to keep the safe inter-vehicle distance, thereby causing the preceding vehicle to follow and start.

However, when the preceding vehicle and the host vehicle stop and the preceding vehicle starts and the inter-vehicle distance D increases, the brake is released so as to maintain the safe inter-vehicle distance and the throttle is driven to always switch to the preceding vehicle. Following start is not appropriate as described above. This is because if a pedestrian suddenly jumps out or an interrupted vehicle occurs due to a situation such as an intersection or a railroad crossing, the driver tends to be less careful.

Therefore, the start request prohibiting means 23 in the control ECU 13 increases the inter-vehicle distance D with the preceding vehicle when the host vehicle stops during the follow-up control and the start confirmation signal F
Is generated and the start valid signal G is not output until the generation of the start request E by the driver's operation is confirmed, and the actual start control is not performed.

That is, the start request inhibiting means 23 invalidates the start request E before the start confirmation signal F is generated,
Only when a new start request E is generated after the generation of the start confirmation signal F, the start valid signal G is output and the actual start control is performed.

As a result, even if the preceding vehicle has not yet started, the driver does not check ahead and always requests the start E
Is not generated, the start control means in the follow-up control means 21 does not actually start in response to the start request E. At this time, the follow-up control means 21 controls the brake actuator 15 based on the brake drive signal B to maintain the braking force and maintain the stopped state of the vehicle.

Thereafter, the start confirming means 22 determines that the following distance D
When the start of the preceding vehicle is confirmed by the increase in
The start request prohibiting means 23 outputs the start valid signal G in response to the start request E after the generation of the start confirmation signal F.

Subsequently, the start control means in the follow-up control means 21 releases the brake force by releasing the brake actuator 15 when the start valid signal G is generated, and controls the drive of the throttle actuator 14. Start control is performed. Hereinafter, the following traveling similar to that described above is performed.

Hereinafter, the start control operation according to the first embodiment of the present invention will be described more specifically with reference to the flowchart of FIG. In FIG. 2, first, the vehicle stop determination means in each of the means 21 to 23 in the control ECU 13 includes:
Based on the detection information such as the traveling speed V from the vehicle speed sensor 11, it is determined whether or not the vehicle is in a stopped state (step S).
1).

If the running speed V is not zero and it is determined that the vehicle is in the running state (ie, NO), the process exits the processing routine of FIG. 2 and returns to the start. If it is determined that the vehicle is in the stopped state (that is, YES), the start confirmation unit 22 subsequently outputs the following distance D from the following distance sensor 10.
It is determined whether or not the preceding vehicle has started based on (Step S2).

At this time, the follow-up control means 21 generates the brake drive signal B to stop the host vehicle.
In step S2, if it is determined that the preceding vehicle has started (ie, YES) due to an increase in the inter-vehicle distance D, the start confirmation unit 22 outputs a start confirmation signal F.

Subsequently, the start request prohibiting means 23 determines whether or not there is a start request E that has been continuing from before (previous time) the start confirmation signal F is generated when the start confirmation signal F is generated. (Step S3). The state in which the start request E continues is likely to occur when the start request switch is not of the OFF return type, and is unlikely to occur when the start request switch is of the OFF return type as described above.

If it is determined in step S3 that there is no start request E continuing from the previous time (that is, NO), the start request prohibiting means 23 subsequently has a new start request E from the driver. Is determined (step S
4).

If it is determined that there is a new start request E (ie, YES), the start request prohibition means 23 outputs a start valid signal G. Accordingly, the start control means in the follow-up control means 21 performs start control of the own vehicle in response to the start valid signal G (step S5), and the control ECU 1
3 exits the processing routine of FIG.

On the other hand, if it is determined in step S2 that the preceding vehicle has not started (ie, NO),
Since the start confirmation signal F is not generated from the start confirmation unit 22, the start valid signal G is not generated from the start request prohibition unit 23. Therefore, the follow-up control means in the follow-up control means 21 does not operate, and the follow-up control means 21 performs the stop control while maintaining the braking force (step S6), and exits the processing routine of FIG.

If it is determined in step S3 that there is a start request E continuing from the previous time (ie, YES), the start valid signal G is not generated even after the start confirmation signal F is generated. The follow-up control means 21 continues the stop control of step S6.

Similarly, if it is determined in step S4 that there is no new start request E (that is, NO), the start valid signal G is not generated, and the follow-up control means 21 performs the stop control in step S6. continue.

Accordingly, in a situation where the driver's start request E is continuously generated before the start of the preceding vehicle is confirmed, the own vehicle is not started and the start of the preceding vehicle is confirmed. Only when a later new start request E occurs,
The vehicle can start.

Embodiment 2 In the first embodiment, the warning to the driver in response to the start confirmation signal F is not particularly mentioned. However, when the start of the preceding vehicle is detected, the driver is warned and the start request E is issued. The generation operation may be prompted. In this case, only the start request E generated after the generation of the start confirmation signal F and after the alarm operation becomes the start valid signal G.

Hereinafter, a second embodiment of the present invention having an alarm means driven in response to the start confirmation signal F will be described with reference to the drawings. FIG. 3 is a functional block diagram showing the overall configuration of the second embodiment of the present invention.
3, A, B, D, E, F, G and V are the same as those described above (see FIG. 1).

Numeral 30 denotes alarm means connected to the control ECU 13 and comprises any means such as an audio alarm or a video display which is driven in response to the start confirmation signal F from the preceding vehicle start confirmation means 22. Alert the person.
Further, the warning means 30 outputs a warning operation signal H to the start request prohibition means 23 during operation.

The start request prohibiting means 23 outputs the start confirmation signal F
And in response to the alarm operation signal H, the newly generated start request E is made valid only after the start of the preceding vehicle is confirmed and only after the operation of the alarm means 30. Accordingly, the follow-up control unit 21 actually performs the start control only when the start request E after the notification of the start of the forward vehicle is detected.

That is, in FIG. 3, when the preceding vehicle start confirming means 22 confirms the start of the preceding vehicle while the host vehicle is stopped, the forward vehicle starting confirming means 22 drives the warning means 30 by the start confirming signal F to notify the driver of the start of the preceding vehicle. Report the status. Also, the alarm means 30
The alarm operation signal H generated at the time of the operation is input to the start request prohibiting means 23, and the start request E generated after the generation of the alarm operation signal H is validated.

As described above, the start request E generated and continued before the driver actually confirms the start of the preceding vehicle is ignored, as described above. Also, after the start confirmation signal G and the alarm operation signal H are generated, the actual start control is performed only when a new start request E is generated from the driver.

As described above, when the start confirmation signal F for the preceding vehicle is generated while the own vehicle under the following control is stopped, the start is actually started until the start request E from the driver after the warning is confirmed. Without control, it is possible to invalidate that the driver constantly issues the start request E without confirming the front.

Embodiment 3 In the first and second embodiments, the start request detecting means 12 is constituted by the switch operation detecting means, and the switch operation detecting signal is transmitted to the start request E.
However, the start request detecting means 12 may be constituted by an accelerator operation detecting means for detecting an accelerator operation, and the accelerator operation detecting signal may be used as the start request E.

Hereinafter, the accelerator operation detection signal is transmitted to the start request E
Embodiment 3 of the present invention will be described with reference to the drawings.
FIG. 4 is a characteristic diagram for explaining the operation according to the third embodiment of the present invention, and shows a case where an accelerator pedal position sensor is used as the start request detecting means 12.

In FIG. 4, the horizontal axis is the accelerator depression amount α, and the vertical axis is the sensor output β of the accelerator pedal position sensor. ΑE is a predetermined value of accelerator depression amount α, βE is a predetermined value of sensor output β, and each predetermined value αE
And βE correspond to threshold values indicating the driver's start request E.

Next, the operation of the third embodiment of the present invention will be described. It is assumed that the driver depresses the accelerator pedal to indicate the start request E while the host vehicle is stopped.

At this time, when the accelerator depression amount α exceeds the predetermined value αE and the sensor output β from the accelerator pedal position sensor exceeds the predetermined value βE, a start request E is generated from the start request detecting means 12 and the control ECU 13
It is input to the start request prohibiting means 23 in the inside.

Therefore, as described above, if the start confirmation signal F is generated from the forward vehicle start confirmation means 22, the start request E becomes valid and is input to the start control means in the follow-up control means 21. Then, the start control of the own vehicle is performed.

Embodiment 4 In the third embodiment, the start request detecting means 12 is constituted by the accelerator operation detecting means, and the accelerator operation detecting signal (sensor signal β) is set as the start request E. However, the start request detecting means 12 is provided on the steering wheel. The contact detection means may be used as the start request E and a handle contact detection signal generated by the contact detection means may be used as the start request E.

Hereinafter, the start request E is sent to the steering wheel contact detection signal.
Embodiment 4 of the present invention will be described with reference to the drawings.
FIG. 5 is a plan view showing the periphery of a handle according to Embodiment 4 of the present invention, and FIG. 6 is an enlarged side sectional view showing a main part in FIG. 5, showing a case where a handle touch sensor is used as contact detection means. Is shown.

In FIG. 5, reference numeral 40 denotes a handle disposed in the driver's seat of the vehicle, and reference numeral 41 denotes a contact detecting means, that is, a touch sensor provided on an operation section of the handle 40. FIG.
The touch sensor 41 includes a contact film 42 disposed on the upper surface and in direct contact with the driver's hand, a conductive film 43 on the upper surface fixed to the inner surface of the contact film 42, and a lower surface fixed to the handle 40 side. Side conductive film 44, a pressurized conductive film 45 interposed between the conductive films 43 and 44, a power supply 46 electrically connected to the conductive film 43, and a resistor electrically connected to the conductive film 44. And a container 47.

The pressurized conductive film 45 may be made of pressurized conductive rubber whose resistance value decreases when pressed. One end of the resistor 47 is an output terminal for outputting a start request E, and the other end of the resistor 47 is grounded.

Touch sensor 41 configured as shown in FIG.
5 is provided on a part of the handle 40 as shown in FIG. 5 so that when the driver grips the touch sensor 41 of the handle 40, the pressurized conductive film 45 conducts between the conductive films 43 and 44.

As a result, a current flows from the power supply 46 to the ground via the resistor 47, and a voltage corresponding to the resistance value is generated at one end of the resistor 47. The voltage at one end of the resistor 47 is
The start request E is input to the start request prohibiting means 23 (see FIG. 1 or FIG. 3) in the control ECU 13.

Therefore, as described above, the control ECU 1
3 can detect the driver's start request E and perform start control according to the start request E and the start confirmation signal F.

Embodiment 5 FIG. The first embodiment
In ~ 4, the stop time of the own vehicle was not specifically considered,
When the start confirmation signal F is generated within a short stop time, the host vehicle may be automatically started and followed regardless of the presence or absence of the start request E.

In this case, for example, during a traffic jam,
Even in a case where the preceding vehicle is repeatedly stopped and started within a short stopping time, the own vehicle is automatically followed and started, so that the driver's labor can be reduced.

Hereinafter, a fifth embodiment of the present invention in which the host vehicle is automatically started in response to a start confirmation signal F within a short stop time will be described with reference to the drawings. FIG. 7 is a functional block diagram showing the overall configuration of Embodiment 5 of the present invention.
13A corresponds to the control ECU 13;
14, 15, 21 to 23, A, B, D, E, F, G and V are the same as those described above (see FIG. 1).

In FIG. 7, the control ECU 13A includes a timer 24 for measuring the stop time of the host vehicle. The timer 24 includes, for example, a timer counter in which a count value corresponding to a predetermined time is initially set, and starts counting down from the time when the traveling speed V is detected to be zero (stop state), and counts up (the predetermined time has elapsed). If the start confirmation signal F is input before the start, a start control signal T is output.

The start control means in the follow-up control means 21 responds to the start control signal T,
Is released and the throttle actuator 14 is driven to start the own vehicle automatically.

Next, a start control operation according to the fifth embodiment of the present invention will be described with reference to the flowchart of FIG. FIG. 8 shows a processing routine for automatically starting the vehicle by the start confirmation signal F during a stop time within a predetermined time even if there is no start request E. In FIG. 8, S1 to S6
Are the same as those described above (see FIG. 2), and will not be described in detail here.

First, it is determined whether or not the vehicle is in a stopped state (step S1). If it is determined that the vehicle is in a stopped state (ie, YES), the timer 24 starts counting. Subsequently, the start confirmation unit 22 determines whether or not the preceding vehicle has started (step S2). If NO is determined, the process proceeds to a stop control step S6. If YES is determined, the start confirmation unit 22 starts. A confirmation signal F is output.

Subsequently, with reference to the count state of the timer 24, it is determined whether or not the stop time of the host vehicle at the time when the start confirmation signal F is generated is within a predetermined time (step S13). If the timer 24 has not counted up yet, within a predetermined time after stopping (ie, YES)
If it is determined that the vehicle is running, the process immediately proceeds to step S5 to automatically start the vehicle, and exits the processing routine of FIG.

On the other hand, in step S13, the timer 24 has already counted up at the time of generation of the start confirmation signal F, and the stop time has elapsed for a predetermined time (ie, N
If it is determined as O), the same steps S3 to S6 as described above are performed.
Is executed. That is, the start request E that has been
If there is, the process proceeds to the stop control step S6, and if there is no ongoing start request E, the process proceeds to the start control step S5 according to the new start request E.

Thus, when the start confirmation signal F of the preceding vehicle is generated within a predetermined time after the stop of the host vehicle, the start control of the host vehicle is automatically performed even if the start request E of the driver is not issued. Done.

Therefore, even in a situation where the vehicle stops and starts frequently within a predetermined time period such as during a traffic jam,
The following stop and start of your vehicle will be performed automatically,
The labor of the driver can be significantly reduced.

[0081]

As described above, according to the first aspect of the present invention, a vehicle speed sensor for detecting the running speed of the own vehicle, an inter-vehicle distance sensor for detecting the inter-vehicle distance from the own vehicle to the preceding vehicle, and Start request detecting means for detecting a start request for the vehicle, a throttle actuator for controlling the engine output of the own vehicle, a brake actuator for controlling the brake of the own vehicle, a throttle actuator and a brake for maintaining the inter-vehicle distance at a safe inter-vehicle distance. A follow-up traveling control device for a vehicle, comprising: follow-up control means for controlling at least one of the actuators. A forward vehicle that outputs a start confirmation signal by confirming the start of the preceding vehicle from an increase in inter-vehicle distance while the own vehicle is stopped. Start confirmation means; start request prohibition means for outputting a start valid signal based on a start request after generation of a start confirmation signal; The start request prohibiting means disables the start request when the host vehicle is stopped before the start confirmation signal is generated and is valid after the start confirmation signal is generated, and responds only to the start request after the generation of the start confirmation signal. The following control means includes start control means for controlling the start of the own vehicle in response to the start valid signal while the own vehicle is stopped. The vehicle is started in response to the start request from the driver after confirmation, so it can respond to the start at an intersection or a railroad crossing. Therefore, the following cruise control device for a vehicle that ensures the safety of the own vehicle can be obtained.

According to a second aspect of the present invention, in the first aspect, an alarm means for generating an alarm in response to the start confirmation signal is provided, and the start request prohibition means is provided after the start confirmation signal is generated. Only after the operation of the alarm means, since the start valid signal is output in response to the start request during stopping,
It is not necessary for the driver to always concentrate his or her attention on the front, so that there is an effect that the following cruise control device for the vehicle which reduces the burden on the driver while stopped and ensures the safety of the own vehicle can be obtained.

According to a third aspect of the present invention, in the first or second aspect, the start request detecting means is constituted by the switch operation detecting means and the operation detection signal is used as the start request, so that the cost is particularly increased. There is an effect that a follow-up cruise control device for a vehicle, which secures the safety of the host vehicle by using a general configuration, can be obtained without inducing.

According to the fourth aspect of the present invention, in the first or second aspect, the start request detecting means is constituted by the accelerator operation detecting means, and the accelerator operation detecting signal is used as the start request. There is an effect that a following-up running control device for a vehicle, which secures the safety of the own vehicle by using a general configuration, without inviting the vehicle up, can be obtained.

According to the fifth aspect of the present invention, in the first or second aspect, the start request detecting means is constituted by the contact detecting means provided on the handle, and the start request signal is used as the start request. Therefore, there is an effect that a following-up running control device for a vehicle can be obtained by using a general configuration and ensuring the safety of the own vehicle without particularly increasing the cost.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects, a timer means for measuring a stop time of the own vehicle is provided, If a start confirmation signal is generated before the passage of time, the start control signal is output to the start control means in response to the start confirmation signal, and the start control means automatically responds to the start control signal to automatically control the own vehicle. The vehicle is started, and when the vehicle is stopped within a predetermined time, the vehicle is automatically started without requiring a start request, so that the driver can be relieved of the trouble of repeatedly operating switches in a short stop time. There is an effect that a vehicle follow-up running control device can be obtained.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing an overall configuration of a first embodiment of the present invention.

FIG. 2 is a flowchart showing a start control operation after stopping according to the first embodiment of the present invention.

FIG. 3 is a functional block diagram showing an overall configuration of a second embodiment of the present invention.

FIG. 4 is a characteristic diagram illustrating a relationship between an accelerator depression amount and an output of an accelerator pedal position sensor for describing a start request generation operation according to a third embodiment of the present invention.

FIG. 5 is a plan view showing the periphery of a handle according to a fourth embodiment of the present invention.

FIG. 6 is an enlarged side sectional view showing a sensor unit according to a fourth embodiment of the present invention.

FIG. 7 is a functional block diagram showing an overall configuration of a fifth embodiment of the present invention.

FIG. 8 is a flowchart showing a start control operation after stopping according to Embodiment 5 of the present invention.

[Explanation of symbols]

Reference Signs List 10 inter-vehicle distance sensor, 11 vehicle speed sensor, 12 start request detecting means, 13, 13A control ECU, 14 throttle actuator, 15 brake actuator, 21 follow-up control means, 22 forward vehicle start confirming means,
23 Start request prohibition means, 24 timer, 30 alarm means, 40 steering wheel, 41 contact detection means, D start distance, E start request, F start confirmation signal, G start valid signal, T start control signal, V running speed, S1 stop Step S2: determining the start of the preceding vehicle, step S4: determining the start request after confirming the start of the preceding vehicle, step S5: controlling the start of the own vehicle, step S6.
Step of stopping control of the own vehicle, S13 Step of determining whether or not the stop time is within a predetermined time.

Claims (6)

[Claims] A vehicle speed sensor for detecting a running speed of the host vehicle; an inter-vehicle distance sensor for detecting an inter-vehicle distance from the host vehicle to a preceding vehicle; a start request detecting means for detecting a start request for the host vehicle; A throttle actuator that controls an engine output of the host vehicle; a brake actuator that controls a brake of the host vehicle; and controls at least one of the throttle actuator and the brake actuator so as to maintain the inter-vehicle distance at a safe inter-vehicle distance. A vehicle follow-up traveling control device comprising: a follow-up control unit; and a vehicle start confirmation unit that outputs a start confirmation signal by confirming the start of the preceding vehicle from an increase in the inter-vehicle distance while the vehicle is stopped. A start request that outputs a start valid signal based on the start request after generation of the start confirmation signal; Prohibition means, wherein the start request prohibition means invalidates the start request during stoppage of the host vehicle before the start confirmation signal is generated and is valid after the start confirmation signal is generated. The start control signal is output in response to only the start request after the generation of the start control signal, and the following control means controls the start of the host vehicle in response to the start enable signal while the host vehicle is stopped. A follow-up cruise control device for a vehicle, characterized by including means. 2. An alarm means for generating an alarm in response to the start confirmation signal, wherein the start request prohibition means stops the vehicle only after the start confirmation signal is generated and only after the operation of the alarm means. The vehicle following travel control device according to claim 1, wherein the start valid signal is output in response to the start request. 3. The start request detecting means comprises switch operation detecting means for detecting an operation of switches, and the start request comprises an operation detection signal generated by the switch operation detecting means. Claim 1
Or a vehicle follow-up running control device according to claim 2. 4. The start request detecting means comprises an accelerator operation detecting means for detecting an operation of an accelerator, and the start request comprises an accelerator operation detecting signal generated by the accelerator operation detecting means. The vehicle follow-up running control device according to claim 1 or 2, wherein 5. The start request detecting means comprises contact detecting means provided on a steering wheel, and the start request comprises a handle contact detecting signal generated by the contact detecting means. 1
Or a vehicle follow-up running control device according to claim 2. 6. A timer means for measuring a stop time of the host vehicle, wherein the timer means outputs the start confirmation signal when the start confirmation signal is generated before the stop time elapses a predetermined time. The start control unit outputs a start control signal to the start control unit in response to the start control unit, and the start control unit automatically starts the own vehicle in response to the start control signal. The follow-up running control device for a vehicle according to any one of the above.