JPS60244629A - Device for controlling distance between vehicles - Google Patents
Device for controlling distance between vehiclesInfo
- Publication number
- JPS60244629A JPS60244629A JP59098497A JP9849784A JPS60244629A JP S60244629 A JPS60244629 A JP S60244629A JP 59098497 A JP59098497 A JP 59098497A JP 9849784 A JP9849784 A JP 9849784A JP S60244629 A JPS60244629 A JP S60244629A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- distance
- speed
- following
- inter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
Description
【発明の詳細な説明】
［発明の技術分野］
この発明は、自車速を制御することで車間距離を制御す
る装置に関し、当該車間距離の制御を適切にした車間距
離制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a device for controlling an inter-vehicle distance by controlling the speed of the own vehicle, and more particularly to an inter-vehicle distance control device that appropriately controls the inter-vehicle distance.
［発明の技術的背景とその問題点］
近年、車両を一定の設定車速で走行させる定速走行装置
の車両への装備に伴ない、先行車への追突防止、運転操
作性向上等を目的として、自車両と先行車との距離を検
出してその検出結果に応じて車速制御することで、自車
両を先行車に追従走行させる車両走行制御装置が提案さ
れている（例えば特開昭５５−８６００．０号）。その
概略構成としては、レーダ装置によって自車両と先行車
との距離を測定し、同時に自車両の速度を車速センサに
よって測定して信号処理回路に入力する。そしてこの信
号処理回路では先行車との距離、その距離を時間微分し
てめた相対速度、自車両の車速等の各情報を処理し、先
行車との間に安全な車間距離を保つために必要な加減速
をするための信号を出力する。そしてこの出力が車速制
御装置に入力され、その信号を受けてスロットル或いは
トランスミッション等を制御し、そど制御する。[Technical background of the invention and its problems] In recent years, as vehicles have been equipped with constant-speed running devices that allow vehicles to run at a fixed set speed, this has been done with the aim of preventing rear-end collisions with preceding vehicles and improving driving operability. , a vehicle running control device has been proposed that allows the own vehicle to follow the preceding vehicle by detecting the distance between the own vehicle and the preceding vehicle and controlling the vehicle speed according to the detection result (for example, Japanese Patent Laid-Open No. 1983-1999) 8600.0). Its general configuration is that a radar device measures the distance between the own vehicle and a preceding vehicle, and at the same time the speed of the own vehicle is measured by a vehicle speed sensor and input to a signal processing circuit. This signal processing circuit processes information such as the distance to the preceding vehicle, the relative speed determined by time-differentiating that distance, and the own vehicle's speed, in order to maintain a safe distance from the preceding vehicle. Outputs signals for necessary acceleration/deceleration. This output is then input to the vehicle speed control device, which receives the signal and controls the throttle, transmission, etc.
このように、この車間距離制御装置では、先行車との間
の距離を堅守しで先行車との安全な車間距離を確保する
構成である。ところで、例えば車線変更する場合には、
変更しようとする車線を走行している後方車との車間距
離等から判断して車線変更後に後方車に急接近せしめら
れるようなことがないように、加速しながら車線変更を
行なうことが一般的である。しかしながら、前記車間距
離制御装置にａ＞いては、車間距離制御中にＪ５いて中
線変更をしようどＪる場合にあっては、常に先行車との
車間距離のみに応じて車速制御するような構成で釣るた
め、十分に加速されず車線変更後に後方車に接近せしめ
られるおそれがある。このため運転者としては、このよ
うな事態を避【プるため、加速ずべくアクＣル操作しな
ければならず、通常このような操作があると装置は解除
されるのでこの結果車間距離制御が行なわれず、設定操
作をしな【プればならず、手間がかがる。In this way, this inter-vehicle distance control device is configured to maintain a safe distance from the preceding vehicle by strictly maintaining the distance between the vehicle and the preceding vehicle. By the way, for example, when changing lanes,
Judging from the distance between you and the vehicle behind you that is driving in the lane you are changing to, it is common practice to change lanes while accelerating to avoid being forced to suddenly approach the vehicle behind you after changing lanes. It is. However, with the above-mentioned following distance control device, when changing the center line while controlling the following distance, the vehicle speed is always controlled only according to the following distance to the preceding vehicle. Because it relies on configuration, there is a risk that the vehicle will not accelerate sufficiently and be forced to approach the vehicle behind it after changing lanes. Therefore, in order to avoid such a situation, the driver must operate the accelerator pedal as much as possible without accelerating. Normally, such an operation disables the device, and as a result, the following distance control is disabled. is not performed, and you have to perform setting operations, which is time-consuming.
口発明の目的］
この発明は、この様な従来の問題に鑑みてなされたもの
であって、先行車どの車間距離と共に後方車との車間距
離をも適切な車間距離に保つことができる様にした車間
距離制御装置を提供する事を目的とする。Purpose of the Invention] This invention was made in view of the above-mentioned conventional problems, and aims to maintain an appropriate following distance between the preceding vehicle and the following vehicle. The purpose of the present invention is to provide a vehicle-to-vehicle distance control device.
［発明の概要コ
上記目的を達成するために、この発明は、第１図に示す
如く、自車両に対して前方車までの距離を検出する前方
距離検出手段１および後方車よＣ′の距離検出する後方
距離検出手段３を設【プ、車速制御手段７が、検出した
車間距離に基づいて自車速を制御するようにしたことを
要旨とする。[Summary of the Invention] In order to achieve the above object, the present invention, as shown in FIG. The gist is that the vehicle speed control means 7 controls the own vehicle speed based on the detected inter-vehicle distance.
［発明の実施例］
第２図は、この発明の一実施例のブロック図を示し、前
方物体との距離を測定する前方レーダ装置１１、後方物
体との距離を測定する後方レーダ装置１２、自車両の車
速を測定する車速センサ１３を備え、これらからの信号
が信号処理回路１４に入力される。この信号処理回路１
４は、例えばマイクロコンピュータで構成され、２つの
レーダ装置１１．１２と車速センサ１３からの信号をし
処理して先行車との間の車間距離及び後続車との車間距
離について安全な車間距離を得る為に必要な自車両を加
減速を判断、その加減速の信号を車速制御装置１５へ入
力する。車速制御装置１５では加減速信号を受けて、例
えばスロットルバルブの開度制御し車速の加速成いは減
速を行なう。[Embodiment of the Invention] FIG. 2 shows a block diagram of an embodiment of the present invention, which includes a front radar device 11 that measures the distance to an object in front, a rear radar device 12 that measures the distance to an object behind, and a vehicle. A vehicle speed sensor 13 is provided to measure the speed of the vehicle, and signals from these sensors are input to a signal processing circuit 14. This signal processing circuit 1
4 is composed of, for example, a microcomputer, and processes signals from two radar devices 11 and 12 and a vehicle speed sensor 13 to determine a safe distance between the preceding vehicle and the following vehicle. The acceleration/deceleration of the own vehicle necessary to achieve the desired speed is determined, and the acceleration/deceleration signal is input to the vehicle speed control device 15. The vehicle speed control device 15 receives the acceleration/deceleration signal and controls the opening of a throttle valve, for example, to accelerate or decelerate the vehicle speed.
次に、この実施例の作用を第３図に示した前記信号処理
回路１４における車速制御のフローを基に説明する。走
行している道路の許容最高速度や運転者自身の希望によ
り設定した最大車速ｖｍ ａ ｘを読み込み、次に車速
センサ１３からの自車速Ｖを読み込む（ステップ１０．
２０）。Next, the operation of this embodiment will be explained based on the flow of vehicle speed control in the signal processing circuit 14 shown in FIG. The maximum allowable speed of the road on which the driver is traveling and the maximum vehicle speed vmax set according to the driver's own wishes are read, and then the own vehicle speed V from the vehicle speed sensor 13 is read (step 10.
20).
次に装甲車との距離を前方レーダ装置１１の信号として
読み込み、それをＦＲ間微分して相対速度をめ、更に車
速、車間距離、相対速度によりブレーキの制御能力等を
考慮して先行車に対する安全車間距離をめる（ステップ
３０〜５０）。同様にして後続車に対する安全車間距離
を、後方レーダ装置１２からの車間距離信号を読み込み
、その車間距離の時間微分により相対速度をめ、後続車
との安全車間距離を算出する（ステップ６０〜８０）。Next, the distance to the armored vehicle is read as a signal from the forward radar device 11, and it is differentiated between FRs to determine the relative speed.Furthermore, the vehicle speed, inter-vehicle distance, and relative speed are used to consider brake control ability, etc. to ensure safety against the preceding vehicle. Increase the following distance (steps 30-50). Similarly, the safe following distance to the following vehicle is calculated by reading the following distance signal from the rear radar device 12, determining the relative speed by time differentiation of the following distance (steps 60 to 80). ).
次に後続車との実測車間距離とステップ６０で算出した
安全車間距離とを比較して後続車に対して安全かどうか
を判断する（ステップ９０）。そして後続車に対して安
全な場合は先行車に追従するための目標車速ｖ１ をめ
、ステップ１０で設定されたＶＩＩｌａ×を越えない範
囲で加速成いは減速信号を出し車速制御装置１５により
車速制御を行なう（ステップ１００−１３０）。なお、
ステップステップ１１０において、目標速度ｖ１ が設
定速度ゾｍａｘを越える場合には、設定速度？／−ｍ
ａ ｘを目標速度として加減速信号を出力するくステッ
プ１２０）。Next, the actually measured inter-vehicle distance with the following vehicle is compared with the safe inter-vehicle distance calculated in step 60 to determine whether it is safe for the following vehicle (step 90). If it is safe for the following vehicle, set a target vehicle speed v1 to follow the preceding vehicle, and issue an acceleration or deceleration signal within a range not exceeding VIIla× set in step 10, and control the vehicle speed control device 15 to control the vehicle speed. Control is performed (steps 100-130). In addition,
In step 110, if the target speed v1 exceeds the set speed max, then the set speed? /-m
Step 120) outputs an acceleration/deceleration signal with ax as the target speed.
一方、ステップ９０において後続車に対して安全車間距
離が確保されてない場合、ステップ５０で算出された先
行車に対する安全車間距離と実測車間距離とを比較し、
先行車に対して安全かどうか判断する（ステップ１４０
）。そして先行車に対して安全車間距離が確保されてい
る場合は後続車に対して安全な目標車速ｒ２を算出し、
ステップ１０におけるＰ ｌ ａ Ｘを越えない範囲で
加速信号を出力して自車両を加速し、先行車に対する車
間距離を詰めて後続車に対（る車間距離を開くように車
速制御する（ステップ１５０〜１７０）。なお、ステッ
プ１５０において、自車速しゞが設定速度ｙ ｍ ａ
ｘを越える場合には、設定速度ｙ−ｍ ａ ｘを目標速
度として前記ステップ１２０に進んで加減速信号を出力
する。On the other hand, if the safe following distance is not secured for the following vehicle in step 90, the safe following distance for the preceding vehicle calculated in step 50 is compared with the actually measured following distance,
Determine whether it is safe for the preceding vehicle (step 140)
). Then, if a safe inter-vehicle distance is secured for the preceding vehicle, a safe target vehicle speed r2 for the following vehicle is calculated,
The vehicle is accelerated by outputting an acceleration signal within a range that does not exceed P l a ~170).In addition, in step 150, the own vehicle speed is set to the set speed y m a
If the speed exceeds x, the set speed ymax is set as the target speed and the process proceeds to step 120, where an acceleration/deceleration signal is output.
またステップ１４０において、先行車に対して安全車間
距離が確保されていない場合、すなわち後続車に対して
も、また先行車に対しても安全な車間距離が確保されて
いない場合には、運転者に警報を行ない先行車に追従す
べく前述したステップ１００に進んで目標車３１ｆｙ＋
を算出し、最適な速度に制御Ｊる。（ステップ１４０
，１４５、ステップ１００〜１３０）。Further, in step 140, if a safe following distance is not ensured with respect to the preceding vehicle, that is, if a safe following distance is not ensured with respect to the following vehicle or with respect to the preceding vehicle, the driver Proceed to step 100 described above to issue a warning and follow the preceding vehicle, and the target vehicle 31fy+
is calculated and controlled to the optimum speed. (Step 140
, 145, steps 100-130).
したがって、本実施例によれば、
■後続車に対して安全車間距離が確保されているときは
、乗心地を重視して比較的ゆっくりと加速して先行車に
追従するようになる。（ステップ９０，１００，１１０
．１３０＞
■後続車に対して安全車間距離が確保されていないが、
先行車に対しては安全車間距離が確保されているときは
、前記加速より大きい加速で後続車との安全車間距離を
確保するようになる。Therefore, according to this embodiment, (1) When a safe inter-vehicle distance is ensured with respect to the following vehicle, the vehicle accelerates relatively slowly to follow the preceding vehicle with emphasis on ride comfort. (Steps 90, 100, 110
．． 130> ■A safe distance is not maintained for the following vehicle,
When a safe inter-vehicle distance is ensured with respect to the preceding vehicle, a safe inter-vehicle distance with the following vehicle is ensured by an acceleration greater than the above acceleration.
〈ステップ９０．ｉ４ｏ、１５０，１６０゜１７０）
■後続車に対しても、先行車に対しても安全車間距離が
確保されていないときは、運転者および後続車の運転者
に対して警報し、車速はずでに先行車に追従しているた
めに変化しない。（ステップ９０，１４０，１４５，１
００，１１０゜１３０）
［発明の効果コ
以上説明したように、この発明によれば、自車両に対し
て先行車および後方車との車間距離を検出する手段を設
け、検出した車間路１１１１および自車速に基づいて自
車速を制御するようにしたので、先行車との安全車間距
離を確保すると共に後方車との間での安全車間距離をも
確保することができる。これにより、例えば車間距離制
御中に車線変更するような場合であっても、運転者がア
クセル操作をする必要がなく、もって当然アクセル操作
による車間距離制御の解除に伴う再作動操作の手間が不
要である。<Step 90. i4o, 150, 160゜170) ■If a safe distance is not maintained for either the following vehicle or the preceding vehicle, a warning will be given to the driver and the driver of the following vehicle, and the vehicle speed will be reduced. It does not change because it is following the vehicle in front. (Steps 90, 140, 145, 1
00,110゜130) [Effects of the Invention] As explained above, according to the present invention, the vehicle is provided with a means for detecting the inter-vehicle distance between the preceding vehicle and the following vehicle, and the detected inter-vehicle distance 1111 and Since the own vehicle speed is controlled based on the own vehicle speed, it is possible to ensure a safe inter-vehicle distance to the preceding vehicle and also to a safe inter-vehicle distance to the following vehicle. This eliminates the need for the driver to operate the accelerator even when changing lanes during inter-vehicle distance control, for example, and of course there is no need for the driver to re-activate inter-vehicle distance control when it is canceled by accelerator operation. It is.
第１図クレーム対応図、第２図はこの発明の一実施例の
ブロック図、第３図はこの発明の一実施例の７０−ヂｌ
−−１へである。
１・・・ 前方車間距離制御手段
３・・・ 後方車間距離制御手段
７・・・ 車速制御手段
陶（１工津
第１図
第２図
３Fig. 1 is a claim correspondence diagram, Fig. 2 is a block diagram of an embodiment of the present invention, and Fig. 3 is a 70-dill diagram of an embodiment of the invention.
--To 1. 1... Front inter-vehicle distance control means 3... Rear inter-vehicle distance control means 7... Vehicle speed control means (Fig. 1, Fig. 2, Fig. 3)
Claims (1)
離検出手段と、自車両に対して後方車までの距離を検出
する後方車間距離検出手段と、検出した前方車および後
方車との車間距離に基づいて自車速を制御する車速制御
手段とを有することを特徴とする車間距離制御装置。Front inter-vehicle distance detection means for detecting the distance from the own vehicle to the vehicle in front; Rear inter-vehicle distance detection means for detecting the distance from the own vehicle to the rear vehicle; and the detected distance between the front vehicle and the rear vehicle. 1. An inter-vehicle distance control device comprising: vehicle speed control means for controlling own vehicle speed based on distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59098497A JPS60244629A (en) | 1984-05-18 | 1984-05-18 | Device for controlling distance between vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59098497A JPS60244629A (en) | 1984-05-18 | 1984-05-18 | Device for controlling distance between vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60244629A true JPS60244629A (en) | 1985-12-04 |
Family
ID=14221275
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59098497A Pending JPS60244629A (en) | 1984-05-18 | 1984-05-18 | Device for controlling distance between vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60244629A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04176747A (en) * | 1990-11-12 | 1992-06-24 | Kensaku Aoki | Front and rear end collision prevention device for vehicle and the like |
| JPH07172208A (en) * | 1993-12-21 | 1995-07-11 | Mazda Motor Corp | Speed controller for automobile |
| JP2000233663A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device of distance between cars |
| JP2000233662A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device for distance between cars |
| JP2002052952A (en) * | 2000-08-11 | 2002-02-19 | Nissan Motor Co Ltd | Traveling control device for vehicle |
| CN105270176A (en) * | 2015-10-29 | 2016-01-27 | 郑州宇通客车股份有限公司 | Safety distance keeping control method and safety distance keeping control system |
| JP2016536210A (en) * | 2013-09-11 | 2016-11-24 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Modified adaptive cruise control to reduce rear collisions |
-
1984
- 1984-05-18 JP JP59098497A patent/JPS60244629A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04176747A (en) * | 1990-11-12 | 1992-06-24 | Kensaku Aoki | Front and rear end collision prevention device for vehicle and the like |
| JPH07172208A (en) * | 1993-12-21 | 1995-07-11 | Mazda Motor Corp | Speed controller for automobile |
| JP2000233663A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device of distance between cars |
| JP2000233662A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device for distance between cars |
| JP2002052952A (en) * | 2000-08-11 | 2002-02-19 | Nissan Motor Co Ltd | Traveling control device for vehicle |
| JP2016536210A (en) * | 2013-09-11 | 2016-11-24 | ローベルト ボッシュ ゲゼルシャフト ミット ベシュレンクテル ハフツング | Modified adaptive cruise control to reduce rear collisions |
| CN105270176A (en) * | 2015-10-29 | 2016-01-27 | 郑州宇通客车股份有限公司 | Safety distance keeping control method and safety distance keeping control system |
| CN105270176B (en) * | 2015-10-29 | 2018-05-25 | 郑州宇通客车股份有限公司 | A kind of safe distance between vehicles keeps control method and a kind of safe distance between vehicles to keep control system |
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