WO2008093890A1

WO2008093890A1 - Follow-up control device

Info

Publication number: WO2008093890A1
Application number: PCT/JP2008/051983
Authority: WO
Inventors: Kyoichi Abe
Original assignee: Toyota Jidosha Kabushiki Kaisha
Priority date: 2007-02-01
Filing date: 2008-01-31
Publication date: 2008-08-07
Also published as: JP2008189055A; JP4225352B2

Abstract

Intended is to provide a follow-up control device capable of running while keeping the distance suited for a peripheral environment. The follow-up control device (1) comprises an ECU (2) mounted on a vehicle. The ECU (2) includes a distance setting unit (15) for setting a driver's kind distance from the driver's kind distance map stored in a memory unit (13), a peripheral vehicle detecting unit (16) for determining the distance or the like between the driver's vehicle and the peripheral vehicle on the basis of the detection signals of a front radar (9) and a back radar (10), a peripheral environment distance setting unit (17) for determining the distance according to the running state of the peripheral vehicle, on the basis of the distance between the driver's vehicle and the peripheral vehicle, a target distance setting unit (18) for determining the target distance between the driver's vehicle and the peripheral vehicle, by using the driver's kind distance and the distance according to the running state of the peripheral vehicle, and a speed control unit (20) for controlling the speed in accordance with the target distance.

Description

Akira Ita

Tracking control device

Technical field

The present invention relates to a follow-up control device that performs follow-up control on a preceding vehicle traveling in front of the host vehicle.

Background art

As a conventional follow-up control device, for example, a vehicle speed control device described in Japanese Patent Laid-Open No. 7-329009 is known. The vehicle speed control device described in Japanese Patent Application Laid-Open No. 7-3 2 9 09 detects the distance between the host vehicle and the preceding vehicle during non-auto cruise, accumulates this distance data, and during auto cruise, A target inter-vehicle distance is set based on the inter-vehicle distance data, and the vehicle speed is controlled so as to maintain the target inter-vehicle distance.

Disclosure of the invention

The optimum inter-vehicle distance with respect to the preceding vehicle varies depending on the traveling conditions of surrounding vehicles traveling around the host vehicle. However, in the above-described prior art, the target inter-vehicle distance is set without taking into consideration the driving conditions of surrounding vehicles at all during a cruise, and therefore, an appropriate inter-vehicle distance may not be maintained with respect to the preceding vehicle.

An object of the present invention is to provide a follow-up control device that makes it possible to travel while ensuring an inter-vehicle distance suitable for the surrounding environment.

That is, the present invention relates to a follow-up control device that performs control so as to follow a preceding vehicle traveling in front of the host vehicle, and includes a plurality of vehicles including the host vehicle and surrounding vehicles traveling around the host vehicle. The first inter-vehicle distance setting that sets the first inter-vehicle distance according to the driving conditions of the surrounding vehicles based on the inter-vehicle distances of the plurality of vehicles detected by the inter-vehicle distance detection means. And the target inter-vehicle distance setting means for setting the target inter-vehicle distance between the host vehicle and the preceding vehicle using the first inter-vehicle distance set by the first inter-vehicle distance setting means, and the target inter-vehicle distance setting means. Target inter-vehicle distance And a means for controlling the speed of the own vehicle according to the above. In the follow-up control device as described above, the first inter-vehicle distance corresponding to the traveling state of the surrounding vehicle is set based on the inter-vehicle distance of a plurality of vehicles including the host vehicle and the surrounding vehicles. At this time, for example, the inter-vehicle distance that allows the host vehicle to travel according to the traveling speed of the surrounding vehicle is set as the first inter-vehicle distance. Then, the target inter-vehicle distance between the host vehicle and the preceding vehicle is set using the first inter-vehicle distance set as described above, and the speed of the host vehicle is controlled according to the target inter-vehicle distance. As a result, it is possible to travel in a state where an inter-vehicle distance suitable for the surrounding environment including the traveling state of the surrounding vehicle is secured.

Preferably, the vehicle further comprises a second inter-vehicle distance setting means for setting the second inter-vehicle distance according to the preference of the driver driving the host vehicle, and the target inter-vehicle distance setting means is set by the first inter-vehicle distance setting means. The target inter-vehicle distance is set based on the first inter-vehicle distance and the second inter-vehicle distance set by the second inter-vehicle distance setting means.

The distance between vehicles also depends on the driver's preference. Therefore, by further setting the second inter-vehicle distance according to the preference of the driver driving the vehicle, and setting the target inter-vehicle distance based on the first inter-vehicle distance and the second inter-vehicle distance, It is possible to drive with the optimum distance between the vehicles taking into account not only the surrounding environment, but also the driver's preferences.

Preferably, the inter-vehicle distance detecting means detects an inter-vehicle distance between the own vehicle and a subsequent vehicle traveling behind the own vehicle, and the first inter-vehicle distance setting means is an inter-vehicle distance between the own vehicle and the following vehicle. The first inter-vehicle distance is set based on the distance. In this case, it is possible to travel in a state where an inter-vehicle distance suitable for the traveling state of the following vehicle is secured. At this time, the vehicle further includes a lane type detecting means for detecting a lane type including a traveling lane and an overtaking lane, and the first inter-vehicle distance setting means is configured such that the host vehicle is traveling in an overtaking lane by the lane type detecting means. When it is detected, it is preferable not to set the first inter-vehicle distance based on the inter-vehicle distance between the host vehicle and the following vehicle. When the vehicle is driving in the overtaking lane, when driving in the driving lane to overtake the preceding vehicle In many cases, the speed is increased. In this case, there is a possibility that the appropriate first inter-vehicle distance cannot be obtained because the inter-vehicle distance between the host vehicle and the following vehicle changes rapidly. Therefore, when the host vehicle is traveling in the overtaking lane, the first vehicle distance is not set based on the distance between the host vehicle and the following vehicle. This prevents the target inter-vehicle distance from being set.

The inter-vehicle distance detecting means detects the inter-vehicle distance between surrounding vehicles traveling in the lane adjacent to the lane in which the host vehicle is traveling, and the first inter-vehicle distance setting means is based on the inter-vehicle distance between the surrounding vehicles. The first inter-vehicle distance may be set. In this case, it is possible to travel in a state where an inter-vehicle distance suitable for the traveling state of surrounding vehicles traveling in the adjacent lane is ensured.

Further preferably, the first inter-vehicle distance setting means sets the first inter-vehicle distance for each lane in which the host vehicle is traveling. In this case, for example, when driving in the overtaking lane while driving in the overtaking lane, the first inter-vehicle distance is set, or, conversely, during driving in the overtaking lane, driving through the driving lane. The first inter-vehicle distance can be set. According to the present invention, it is possible to travel while ensuring an inter-vehicle distance suitable for the surrounding environment. Thereby, for example, it is possible to reduce the driving fatigue of the driver.

Brief Description of Drawings

FIG. 1 is a schematic configuration diagram showing an embodiment of a tracking control device according to the present invention. FIG. 2 is a functional block diagram for executing the follow-up control by ECU shown in FIG.

FIG. 3 is a table showing an example of the driver favorite inter-vehicle distance map stored in the memory unit shown in FIG.

FIG. 4 is a conceptual diagram showing a situation where other vehicles are traveling around the host vehicle.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of a tracking control device according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an embodiment of a tracking control device according to the present invention. In the figure, the follow-up control device 1 of the present embodiment is applied to an ACC (Adaptive Cruise Control) system mounted on a vehicle. The ACC system is a system that follows the preceding vehicle and keeps a certain inter-vehicle distance according to the speed of the preceding vehicle that runs ahead with the set speed as the upper limit.

The tracking control device 1 includes an electronic control unit (ECU) 2 composed of a CPU, ROM, RAM, and the like. The CPU of ECU2 has a built-in clock function. ECU 2 includes AC C switch 3, inter-vehicle switch 4, vehicle speed sensor 5, person recognition camera 6, navigation terminal with GPS function (navigation terminal) 7, white line recognition power 8, front radar 9, rear radar 10. Throttle valve 1 1 and brake actuator 12 are connected.

The AC C switch 3 is a switch for inputting an instruction as to whether or not the driver executes AC C. When ACC switch 3 is turned on, ACC is executed and the vehicle is automatically controlled to follow the preceding vehicle.

The inter-vehicle switch 4 is a switch for the driver to select and input the inter-vehicle mode, and operates only when the AC C switch 3 is in the ON state. The inter-vehicle switch 4 is configured to switch the inter-vehicle mode in the order of “long” → “medium” → “short” — “auto” → “long”.

The vehicle speed sensor 5 is a sensor that detects the traveling speed (vehicle speed) of the host vehicle. The person recognition camera 6 is a camera that captures the face of the driver currently driving. The navigation terminal 7 is a terminal that acquires navigation information such as road type (for example, general road and highway) information. The white line recognition camera 8 is a camera that captures the type of white line attached to the road on which the vehicle is traveling.

The forward radar 9 is provided at the front of the host vehicle and detects the distance between the host vehicle and another vehicle traveling ahead (see FIG. 4). The rear radar 10 is installed at the rear of the host vehicle and detects the distance between the host vehicle and another vehicle traveling behind it (see Fig. 4). See) For example, a laser radar or a millimeter wave radar is used as the front radar 9 and the rear radar 10.

When the ACC switch 3 is in the ON state, the electronic control unit (ECU) 2 determines that the inter-vehicle distance (inter-vehicle time) for the preceding vehicle is the target inter-vehicle distance according to the inter-vehicle mode selected by the inter-vehicle switch 4 The throttle valve 1 1 and the brake actuator 1 2 are controlled to match the distance (target inter-vehicle time).

Specifically, when the long mode is selected by the inter-vehicle switching switch 4, the inter-vehicle time for the preceding vehicle is controlled to be a first predetermined value (for example, 2 seconds). When the middle mode is selected by the inter-vehicle distance switching switch 4, the inter-vehicle time for the preceding vehicle is controlled to be a second predetermined value (for example, 1.5 seconds) smaller than the first predetermined value. When the short mode is selected by the inter-vehicle distance switching switch 4, the inter-vehicle time for the preceding vehicle is controlled to be a third predetermined value (for example, 1 second) smaller than the second predetermined value. If the target inter-vehicle time between the host vehicle and the preceding vehicle is set as described above, the target inter-vehicle distance between the host vehicle and the preceding vehicle is determined by the following formula. The vehicle speed of the host vehicle can be determined from the vehicle speed sensor 5.

Target inter-vehicle distance = target inter-vehicle time X vehicle speed

In addition, when the auto mode is selected by the inter-vehicle switch 4, the detection values of the vehicle speed sensor 5, the forward radar 9 and the rear radar 10, the acquired information of the navigation terminal 7, the image of the person recognition power 6 and the white line recognition camera 8 are captured. An image is input, predetermined calculation processing is performed, the target inter-vehicle distance between the host vehicle and the preceding vehicle is obtained, and the throttle valve 11 and the brake actuator 12 are controlled according to the target inter-vehicle distance.

FIG. 2 is a functional block diagram for executing the follow-up control by the ECU 2 when the auto mode is selected by the inter-vehicle switching switch 4. In the figure, the ECU 2 includes a memory unit 1 3, a driver recognition unit 1 4, an inter-vehicle distance setting unit 1 5 for driver preference, an adjacent vehicle detection unit 1 6, and an inter-vehicle distance setting unit 1 for the surrounding environment. 7, a target inter-vehicle distance setting unit 18, a control command value generation unit 19, and a speed control unit 20. The memory unit 13 stores a driver-preferred inter-vehicle distance map during ACC execution, a driver-preferred inter-vehicle distance map during normal operation, and driver image data of the driver. The driver-preferred inter-vehicle distance map during ACC is a collection of inter-vehicle distance data preferred by the driver during ACC execution. The driver-preferred inter-vehicle distance map during normal operation is the driver during normal operation without executing ACC. This is a collection of data on the distance between vehicles preferred by. These driver preference inter-vehicle distance map data are automatically updated (learned) according to the driving conditions.

Fig. 3 (a) shows an example of the driver-preferred inter-vehicle distance map during A C C execution. This driver-preferred inter-vehicle distance map shows the road speed (Okm / h, 10km / h, 20km / h) for each road type (general road, highway), time zone (morning, noon, evening, night, midnight) ... It has several inter-vehicle distance data and learning flags divided by 200km / h). There are three types of inter-vehicle distance data: “long”, “medium”, and “short” corresponding to the long mode, middle mode and short mode of the inter-vehicle switching switch 4. The learning flag includes “not yet” indicating that learning has not been completed and “done” indicating that learning has been completed.

In such a driver-preferred inter-vehicle distance map during A C C execution, the initial value of the inter-vehicle distance data for each category is set to “long”, and the initial value of the learning flag for each category is set to “not yet”. The initial value of the inter-vehicle distance data is set to “long” in consideration of safety.

When the long mode is selected by the inter-vehicle switching switch 4 and the inter-vehicle time for the preceding vehicle is actually controlled to the first predetermined value (described above), the classification corresponding to the driving condition in the driver preference inter-vehicle distance map As the learning is completed, the learning flag is rewritten from “not yet” to “done”. When the middle mode is selected by the inter-vehicle switching switch 4 and the inter-vehicle time for the preceding vehicle is actually controlled to the second predetermined value (described above), the classification corresponding to the driving condition in the driver-preferred inter-vehicle distance map is displayed. As learning is completed, the inter-vehicle distance data is rewritten from “long” to “medium”, and the learning flag is rewritten from “not” to “done”. Shortened by inter-vehicle switch 4 When the mode is selected and the inter-vehicle time for the preceding vehicle is actually controlled to be the third predetermined value (described above), it is assumed that learning of the category corresponding to the driving condition in the driver-preferred inter-vehicle distance map has been completed. The inter-vehicle distance data is rewritten from “long” to “short”, and the learning flag is rewritten from “not” to “done”.

At this time, based on the current time obtained from the CPU of the ECU 2, the road type information acquired by the navigation terminal 7, and the traveling speed detected by the vehicle speed sensor 5, the inter-vehicle time for the preceding vehicle is set to the specified inter-vehicle mode. When the control is performed for a predetermined number of times, it is determined that the learning of the category corresponding to the driving condition in the driver-preferred inter-vehicle distance map has been completed. For example, when the short mode is selected by the inter-vehicle switching switch 4 and the vehicle is run at a speed of 20 km / h on a general road in the morning, a predetermined number of times are displayed as shown in Fig. 3 (a). The inter-vehicle distance data is rewritten from “long” to “short”, and the learning flag is rewritten from “not” to “done”.

Fig. 3 (b) shows an example of the driver-preferred inter-vehicle distance map during normal driving. This driver-preferred inter-vehicle distance map has a plurality of inter-vehicle distance data divided under the same conditions as the driver-preferred inter-vehicle distance map at the time of the above-mentioned A C C execution. Note that this driver preference inter-vehicle distance map has no learning flag.

In such a driver-preferred inter-vehicle distance map during normal driving, the initial value of inter-vehicle distance data for each category is set to “long”. The current time obtained from the CPU of the ECU 2, the road type information acquired by the navigation terminal 7, the travel speed detected by the vehicle speed sensor 5, and the inter-vehicle distance to the preceding vehicle detected by the forward radar 9 Based on the above, rewrite the inter-vehicle distance data corresponding to the driving conditions in the driver-preferred inter-vehicle distance map. For example, if you actually drive at a speed of 20 km / h on a general road in the morning, and the distance between the preceding vehicle detected by the forward radar 9 is equivalent to “medium”, it is shown in Fig. 3 (b). As described above, the distance data of the corresponding category is rewritten from “long” to “medium”. When a plurality of humans drive one vehicle, a driver favorite inter-vehicle distance map for each driver during ACC execution and normal operation is registered in the memory unit 13. The face image data of each driver is also registered in the memory unit 13. Returning to FIG. 2, the driver recognition unit 14 receives the captured image (face image) of the person recognition ability 6, performs image processing, and matches this with the face image data stored in the memory unit 13. To determine who is currently driving. Then, the driver recognition unit 14 reads the driver preference inter-vehicle distance map for the driver from the memory unit 13.

The driver preference inter-vehicle distance setting unit 15 inputs the driver preference inter-vehicle distance map read from the memory unit 13, the detection value of the vehicle speed sensor 5 and the acquired information of the navigation terminal 7, the current time zone, the current driving The inter-vehicle distance data corresponding to the type of road being used and the current vehicle speed is selected from the driver-preferred inter-vehicle distance map, and the inter-vehicle distance (inter-vehicle time) corresponding to this inter-vehicle distance data is obtained.

At this time, since this processing is processing at the time of A C C execution, the driver favorite inter-vehicle distance map at the time of A C C execution is used in preference to the driver favorite inter-vehicle distance map during normal operation. Specifically, if the driver-preferred inter-vehicle distance map at the time of ACC execution has already learned the inter-vehicle distance data according to the current time zone, the type of road currently being driven, and the current vehicle speed, The inter-vehicle distance data is used as it is, and if it has not been learned yet, the inter-vehicle distance data of the same category in the driver-preferred inter-vehicle distance map during normal driving is adopted.

The surrounding vehicle detection unit 16 is based on the detection signals of the front radar 9 and the rear radar 10 and the distance between the own vehicle and the surrounding vehicles (preceding vehicle / following vehicle) and the distance between the neighboring vehicles adjacent to each other in the traveling direction. Find the distance.

Specifically, for example, as shown in FIG. 4, there is a preceding vehicle Q 1 traveling in front of the host vehicle P in the same lane as the host vehicle P and a preceding vehicle Q 2 traveling further ahead. In the case, based on the detection signal of the forward radar 9, the vehicle 自³ and preceding Find the distance d 1 between the vehicle Q 1 and the distance d 2 between the preceding vehicle Q 1 and the preceding vehicle Q 2. Also, as shown in FIG. 4, when there is a following vehicle Q3 traveling behind the host vehicle P in the same lane as the host vehicle P, the host vehicle is determined based on the detection signal of the rear radar 10. Find the inter-vehicle distance d3 between P and the following vehicle Q3. As shown in FIG. 4, when there are surrounding vehicles Q 4 and Q 5 traveling in the lane adjacent to the lane in which the host vehicle P is traveling, the detection signals of the front radar 9 and the rear radar 10 are detected. Based on this, the inter-vehicle distance d 4 between the surrounding vehicles Q 4 and Q 5 is obtained.

The inter-vehicle distance setting unit 17 for the surrounding environment is based on the image of the white line recognition power 8 and the extracted value of the inter-vehicle distance obtained by the peripheral vehicle detection unit 16 and the lane in which the host vehicle is currently traveling. The optimal inter-vehicle distance (inter-vehicle time) is calculated for the preceding vehicle. Specifically, for example, an average value of the inter-vehicle time between the vehicles is calculated for each lane from the extracted value of the inter-vehicle distance obtained by the surrounding vehicle detection unit 16, and the optimum inter-vehicle distance is calculated using the average value. Ask for. At this time, if the surrounding vehicle is not detected for a long time, the average value is calculated assuming that the extracted value of the inter-vehicle distance is a value corresponding to the long mode.

However, the calculation of the inter-vehicle distance (inter-vehicle time) as described above is performed only when the host vehicle is driving in the driving lane (left lane shown in Fig. 4), and the own vehicle is passing the lane (right lane shown in Fig. 4). It is desirable not to do this when traveling. When the host vehicle is driving in the overtaking lane, the distance between the host vehicle and the following vehicle will fluctuate abruptly due to the vehicle being hit by a subsequent vehicle whose speed is increasing. This is because (inter-vehicle time) may not be obtained.

The target intervehicular distance setting unit 1 8 includes the intervehicular distance obtained by the intervehicular distance setting unit 15 (second intervehicular distance according to the driver's preference) and the intervehicular distance obtained by the intervehicular distance setting unit 17 ( The target inter-vehicle distance (target inter-vehicle time) between the host vehicle and the preceding vehicle is obtained using the first inter-vehicle distance according to the driving conditions of surrounding vehicles. Specifically, for example, the longer inter-vehicle distance between the first inter-vehicle distance and the second inter-vehicle distance may be set as the target inter-vehicle distance, or a weighted average of the first inter-vehicle distance and the second inter-vehicle distance is calculated and this is calculated. The target inter-vehicle distance It is also good.

The control command value generator 19 creates a throttle valve so that the actual inter-vehicle distance (actual inter-vehicle time) between the host vehicle and the preceding vehicle becomes the target inter-vehicle distance (target inter-vehicle time) obtained by the target inter-vehicle distance setting unit 18. 1 Determine the control command value to control 1 1 and brake actuator 1 2.

At this time, if the control command value changes suddenly, the movements of the throttle valve 11 and the brake actuator 1 2 become jerky. For this reason, the control command value generation unit 19 generates a control command value having a change rate that becomes relatively moderately high. As a result, the throttle valve 11 and the brake actuator 12 can be operated smoothly.

The speed control unit 20 controls the traveling speed of the host vehicle by controlling the control command value obtained by the control command value generation unit 19 (thus, controlling the throttle valve 1 1 and the brake actuator 1 2). To do.

As described above, in the present embodiment, when performing the ACC control, not only the preference of the driver driving the host vehicle but also the driving state of the surrounding vehicle driving around the host vehicle is considered. The target inter-vehicle distance between the host vehicle and the preceding vehicle is obtained, and the traveling speed of the host vehicle is controlled so that the actual inter-vehicle distance with respect to the preceding vehicle becomes the target inter-vehicle distance. For this reason, for example, even if the distance between the vehicles preferred by the driver is short, the distance between the preceding vehicle and the preceding vehicle may be corrected depending on the driving condition of the surrounding vehicle. As a result, the vehicle can travel in a state in which an appropriate inter-vehicle distance (inter-vehicle time) according to the preference of the driver and the traveling state of the surrounding vehicles is secured with respect to the preceding vehicle. Accordingly, effective follow-up control can be performed on the preceding vehicle, so that the burden on the driver can be sufficiently reduced and convenience can be improved.

In addition, this invention is not limited to the said embodiment. For example, in the above embodiment, the inter-vehicle distance switch 4 for setting the inter-vehicle mode to any one of “long”, “medium”, “short”, and “auto” is provided, and the inter-vehicle distance setting unit 15 of the ECU 2 is provided. In In addition, using the two types of driver-preferred inter-vehicle distance maps for ACC and normal driving, the inter-vehicle distance is set according to the driver's preference, but the inter-vehicle switching switch 4 is not particularly required. . In this case, it is only necessary to set the inter-vehicle distance according to the driver's preference using only the driver-preferred inter-vehicle distance map during normal operation as shown in Fig. 3 (b).

Industrial applicability

INDUSTRIAL APPLICABILITY The present invention can be used for a follow-up control device that performs follow-up control on a preceding vehicle traveling in front of the host vehicle.

Claims

The scope of the claims

1. In a tracking control device that controls to follow a preceding vehicle traveling in front of the host vehicle,

Inter-vehicle distance detection means for detecting inter-vehicle distances of a plurality of vehicles including the host vehicle and surrounding vehicles traveling around the host vehicle;

Based on the inter-vehicle distances of the plurality of vehicles detected by the inter-vehicle distance detection means, the first inter-vehicle distance setting means for setting the first inter-vehicle distance according to the running state of the surrounding vehicles, and the first inter-vehicle distance Target inter-vehicle distance setting means for setting a target inter-vehicle distance between the host vehicle and the preceding vehicle using the first inter-vehicle distance set by a setting means;

And a means for controlling the speed of the host vehicle in accordance with the target inter-vehicle distance set by the target inter-vehicle distance setting means.

2. It further comprises second inter-vehicle distance setting means for setting a second inter-vehicle distance according to the preference of the driver driving the host vehicle,

The target inter-vehicle distance setting means includes the target inter-vehicle distance based on the first inter-vehicle distance set by the first inter-vehicle distance setting means and the second inter-vehicle distance set by the second inter-vehicle distance setting means. The tracking control device according to claim 1, wherein a distance is set.

3. The inter-vehicle distance detection means detects an inter-vehicle distance between the host vehicle and a following vehicle traveling behind the host vehicle,

3. The tracking control device according to claim 1, wherein the first inter-vehicle distance setting means sets the first inter-vehicle distance based on an inter-vehicle distance between the host vehicle and the following vehicle.

4. It further comprises lane type detection means for detecting the lane type including the driving lane and the overtaking lane,

The first inter-vehicle distance setting means, when the lane type detection means detects that the own vehicle is traveling in the overtaking lane, the own vehicle and the following vehicle 4. The follow-up control device according to claim 3, wherein the first inter-vehicle distance is not set based on the inter-vehicle distance.

5. The inter-vehicle distance detection means detects an inter-vehicle distance between the surrounding vehicles traveling in a lane adjacent to the lane in which the host vehicle is traveling,

5. The tracking control device according to claim 1, wherein the first inter-vehicle distance setting unit sets the first inter-vehicle distance based on an inter-vehicle distance between the surrounding vehicles.

6. The follow-up control device according to any one of claims 1 to 5, wherein the first inter-vehicle distance setting means sets the first inter-vehicle distance for each lane in which the host vehicle is traveling. .