JP2004216964A - Inter-vehicle distance control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a driver to easily set a required inter-vehicle distance. <P>SOLUTION: The inter-vehicle distance control devices stops inter-vehicle distance control when a brake operation sensor detects starting of brake operation. The inter-vehicle distance control device restarts the inter-vehicle distance control when the brake operation sensor detects finishing of the brake operation. Restarting of the inter-vehicle distance control is carried out when the brake operation is specified operation, and a set inter-vehicle distance at the time of restarting is made to be an inter-vehicle distance at the time of finishing of the brake operation (a step 1, and a step S4 to a step S8). <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an inter-vehicle distance control device that makes the inter-vehicle distance between a host vehicle and a preceding vehicle equal to a desired inter-vehicle distance.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as an inter-vehicle distance control device, there is an inter-vehicle distance control device that enables the inter-vehicle distance to be set stepwise (stepwise) and controls the vehicle speed so that the actual inter-vehicle distance matches the set inter-vehicle distance (for example, Patent Document 1). Thereby, the driver can easily set the desired inter-vehicle distance. In particular, it is convenient when the inter-vehicle distance needs to be largely changed.
[0003]
[Patent Document 1]
JP 2001-1789 A
[0004]
[Problems to be solved by the invention]
In the case of a configuration in which the inter-vehicle distance is set stepwise, fine adjustment of the inter-vehicle distance setting cannot be performed. For example, the driver may set the inter-vehicle distance at a certain stage but want to further fine-tune the inter-vehicle distance according to the traveling scene. However, conventionally, fine adjustment of the setting of the inter-vehicle distance cannot be performed, so that the inter-vehicle distance desired by the driver cannot be set. On the other hand, if the inter-vehicle distance can be set in a stepless (analog-like) manner, it becomes inconvenient if the inter-vehicle distance needs to be largely changed.
[0005]
Further, if the brake operation is performed during the following distance control, the following distance control is released, and it is necessary to reset the control again, which results in a result unfit for the driver.
The present invention has been made in view of the above-described circumstances, and has as its object to provide an inter-vehicle distance control device that allows a driver to easily set a desired inter-vehicle distance.
[0006]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, an inter-vehicle distance control device according to the first aspect of the present invention matches the inter-vehicle distance between a host vehicle and a preceding vehicle with a set inter-vehicle distance when a driver starts a brake operation. The inter-vehicle distance control is stopped, and after the driver's braking operation is completed, the inter-vehicle distance control is restored.
[0007]
An inter-vehicle distance control device according to a fourth aspect of the present invention includes an inter-vehicle distance detection unit that detects an inter-vehicle distance between the host vehicle and a preceding vehicle, an inter-vehicle distance setting unit that sets a set inter-vehicle distance, and the inter-vehicle distance detection. A braking / driving force control means for controlling a braking / driving force of the own vehicle such that the inter-vehicle distance detected by the means matches the inter-vehicle distance set by the inter-vehicle distance setting means. The inter-vehicle distance control device according to the invention according to claim 4, wherein the brake operation by the driver is detected by the brake operation detection means, and when the brake operation detection operation means detects the start of the brake operation, the braking control is performed. When the control of the braking / driving force by the driving force control means is stopped and the inter-vehicle distance control is stopped, and the braking operation detecting means detects the end of the braking operation, the control of the braking / driving force by the braking / driving force control means is performed. Is resumed and the inter-vehicle distance control is restored by the inter-vehicle distance control restoring means.
[0008]
As described above, the inter-vehicle distance control device according to the present invention performs inter-vehicle distance control that matches the inter-vehicle distance between the own vehicle and the preceding vehicle with the set inter-vehicle distance, and when the driver starts the brake operation, The inter-vehicle distance control is stopped, and after the driver's braking operation is completed, the inter-vehicle distance control that has been so stopped is restored. For example, this makes the inter-vehicle distance longer due to the braking force during the brake operation, and becomes the inter-vehicle distance that matches the original set inter-vehicle distance after the end of the brake operation.
In the inter-vehicle distance control according to the second and fifth aspects of the present invention, the inter-vehicle distance when the inter-vehicle distance control is restored is set as the set inter-vehicle distance.
[0009]
【The invention's effect】
According to the present invention, by performing the brake operation, the relative positional relationship with the preceding vehicle that matches the driver's intention can be obtained, and after the brake operation is completed, the vehicle returns to the inter-vehicle distance control. Convenience can be secured.
[0010]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention, in which 1FL and 1FR are front wheels as driven wheels, and 1RL and 1RR are rear wheels as driving wheels. The driving force is transmitted via the automatic transmission 3, the propeller shaft 4, the final reduction gear 5, and the axle 6, and is driven to rotate. FIG. 2 shows a travel control controller 30 for controlling each component of the vehicle and each component controlled by the travel control controller 30.
[0011]
As shown in FIG. 1, the front wheels 1FL, 1FR and the rear wheels 1RL, 1RR are provided with disc brakes 7 for generating a braking force, respectively, and the braking oil pressure of these disc brakes 7 is controlled by a braking control device 8. Is done.
The brake control device 8 is configured to generate a brake hydraulic pressure based on a detection result from a brake operation sensor 18 that detects depression of the brake pedal 15 and supply the generated brake hydraulic pressure to the disc brake 7. Further, the braking control device 8 controls the braking pressure command value P supplied from the traveling control controller 30._BDIs configured to generate a braking oil pressure according to the magnitude of the brake force and supply the generated braking oil pressure to the disc brake 7.
[0012]
Further, the engine 2 is provided with an engine output control device 9 for controlling the output. The operation state of the accelerator pedal 14 is detected by the accelerator sensor 17, and the engine output control device 9 controls the output of the engine 2 based on the detection of the accelerator sensor 17. Here, as a method of controlling the engine output, there are a method of controlling the engine speed by adjusting the opening of the throttle valve and a method of controlling the idle speed of the engine 2 by adjusting the opening of the idle control valve. It is conceivable that the embodiment adopts, for example, a method of adjusting the opening of the throttle valve.
[0013]
On the other hand, the lower part of the vehicle body on the front side of the vehicle has an inter-vehicle distance L with respect to the preceding vehicle._psIs provided with an inter-vehicle distance sensor 12 constituted by a radar device for detecting the distance. For example, the inter-vehicle distance sensor 12 sweeps the laser beam forward and receives the reflected light from the preceding vehicle, so that the inter-vehicle distance L between the preceding vehicle and the own vehicle is obtained._psDistance between vehicles using a radar device that measures_psIs a distance sensor that measures.
[0014]
The vehicle detects the rotation speed of an output shaft disposed on the output side of the automatic transmission 3 so that the vehicle speed V_SIs provided.
The travel control controller 30 calculates the following distance L detected by the following distance sensor 12._psAnd the own vehicle speed V detected by the vehicle speed sensor 13_SBy controlling the braking control device 8 and the engine output control device 9 on the basis of the above, the following distance control (ACC control, in the following description, the following And a constant speed traveling control (ASCD control) for traveling at a constant vehicle speed. Here, the inter-vehicle distance control is to adjust the traveling speed of the own vehicle based on the inter-vehicle distance to control the relative positional relationship between the own vehicle and the preceding vehicle. Here, the set inter-vehicle distance, which is the target value of the inter-vehicle distance control, is specifically based on the inter-vehicle time. The inter-vehicle time is a value obtained by dividing the inter-vehicle distance by the own vehicle speed. The constant speed traveling control is to control the traveling speed of the own vehicle so as to reach the target vehicle speed. In such control, the traveling speed is controlled so as to be a set vehicle speed set by the driver, and in some cases, a set vehicle speed set as a control limit value. For example, as the setting of the set speed based on the control limit value, the vehicle has been running at the set vehicle speed set by the driver, but since the inter-vehicle distance with the preceding vehicle has been shortened, the set vehicle speed set by the driver is changed to the set vehicle speed. May be reset to a limit value lower than the set vehicle speed.
[0015]
FIG. 2 shows the details of the configuration of the travel control controller 30 and the parts connected to the travel control controller 30. As shown in FIG. 2, the vehicle includes a vehicle speed detecting unit 19, a headway detecting unit 20, a control return determining unit 41, and an operation and setting unit 42.
The vehicle speed detector 19 detects the vehicle speed V based on the detection result of the vehicle speed sensor 13._SIs configured to obtain For example, the vehicle speed sensor 13 outputs a pulse in accordance with the vehicle speed, and the vehicle speed detection unit 19 measures the period of the pulse from the vehicle speed sensor 13 and outputs the pulse._SIs calculated. The vehicle speed detector 19 calculates the calculated vehicle speed V_SIs output to the travel control controller 30.
[0016]
The inter-vehicle detecting unit 20 calculates the inter-vehicle distance L based on the detection result of the inter-vehicle distance sensor 12._psIs configured to be detected. For example, the inter-vehicle detecting unit 20 measures the time from when the inter-vehicle distance sensor 12 sweeps the laser beam to when the inter-vehicle distance sensor 12 receives the reflected light of the preceding vehicle, and determines the inter-vehicle distance L between the own vehicle and the preceding vehicle._psIs calculated.
Further, the following distance detection unit 20 calculates the vehicle speed V of the preceding vehicle._{S_P}, And own vehicle speed V_SAnd vehicle speed V of the preceding vehicle_{S_P}Is also configured to detect a relative speed ΔV, which is a difference from. The inter-vehicle detection unit 20 is configured to detect the relative speed ΔV._ps, For example, is provided with a band-pass filter. Then, the following distance control unit 15 calculates the relative speed ΔV detected by the vehicle and the own vehicle speed V detected by the vehicle speed detection unit 19._SVehicle speed V of the preceding vehicle based on_{S_P}Is calculated. The inter-vehicle detecting unit 20 calculates the calculated inter-vehicle distance L_ps, Relative speed ΔV and vehicle speed V of the preceding vehicle_{S_P}Is output to the travel control controller 30, the control return determination unit 41, and the operation and setting unit 42 as appropriate.
[0017]
The control return determination unit 41 determines whether to cancel the follow-up running control or stop and return according to the brake operation. FIG. 3 shows the processing procedure.
First, in step S1, the control return determination unit 41 determines whether a brake operation has been performed. For example, the control return determination unit 41 determines that a brake operation has been performed when the brake operation signal Br from the brake operation sensor 18 is turned on (input start) and then turned off (input end). Here, when the brake operation is performed, the control return determination unit 41 proceeds to step S2.
[0018]
In step S2, the control return determination unit 41 determines an inter-vehicle distance (hereinafter, referred to as a current inter-vehicle distance) L between the preceding vehicle and the host vehicle._psIs calculated. Since this step S2 is performed after the brake operation is completed, the current inter-vehicle distance L calculated here is calculated._psIs larger than the inter-vehicle distance before the brake operation because the vehicle is decelerated by the brake operation by the driver.
[0019]
Subsequently, in step S3, the control return determination unit 41 determines that the current inter-vehicle distance L_psIs possible contact distance L_thIt is determined whether it is greater than or equal to. For example, the contact possibility inter-vehicle distance L_thIs determined according to the relative vehicle speed ΔV. Specifically, as shown in FIG. 4, when the relative speed ΔV is a large value, the contact possibility inter-vehicle distance L_thIs a large value. For example, the control return determination unit 41 has a characteristic diagram as shown in FIG. 4 as a table, and based on the table, the contact possibility inter-vehicle distance L corresponding to the relative speed ΔV._thGet.
[0020]
Here, the control return determination unit 41 determines the current inter-vehicle distance L_psIs possible contact distance L_thIf it is larger than the current distance, the process proceeds to step S4, where_psIs possible contact distance L_thIn the following cases, the process proceeds to step S9.
In step S9, the control return determination unit 41 performs a process of canceling the following travel control, and ends the process illustrated in FIG. Specifically, the travel control controller 30 suspends the following travel control (stops the traction control) when the brake operation is performed, and the control return determination unit 41 performs the process of releasing the following travel control. The control release command is issued to the traveling control controller 30 directly or via the operation and setting unit 42. Thereby, the travel control controller 30 shifts from the suspension state of the following travel control to the release state in response to the input of the control release command.
[0021]
In step S4, the control return determination unit 41 determines that the brake operation amount (brake depression amount) Ba is the operation amount (depression amount) specified value Ba._thIt is determined whether it is less than. For example, the manipulated variable prescribed value Ba_thIs the current inter-vehicle distance L_psIs determined according to Specifically, as shown in FIG._thIs the current distance L_psIs determined according to In this example, the current inter-vehicle distance L_psIs smaller, the current inter-vehicle distance L_psBecomes larger, the manipulated variable prescribed value Ba_thBecomes larger, and at an inter-vehicle distance equal to or more than the inter-vehicle distance α where the possibility of contact is high, the manipulated variable prescribed value Ba_thBecomes a constant value. For example, the control return determination unit 41 has a characteristic diagram as shown in FIG. 5 as a table, and based on this table, the current inter-vehicle distance L_psManipulated variable prescribed value Ba corresponding to_thTo obtain the manipulated variable prescribed value Ba._thAnd the brake operation amount Ba are compared.
[0022]
Here, the control return determination unit 41 determines that the brake operation amount Ba is equal to the operation amount specified value Ba._thIf it is less than the predetermined value, the process proceeds to step S5, where the brake operation amount Ba is set to the operation amount specified value Ba._thIn the above case, the process proceeds to step S9.
In step S5, the control return determination unit 41 determines that the brake operation time (brake depression time) Bt is equal to the operation time (depression time) specified value Bt._thIt is determined whether it is less than. For example, the operation time prescribed value Bt_thIs the current inter-vehicle distance L_psIs determined according to Specifically, as shown in FIG._thIs the current distance L_psIs determined according to In this example, the current inter-vehicle distance L_psIs smaller, the current inter-vehicle distance L_psBecomes larger, the operation time prescribed value Bt_thBecomes larger, and at an inter-vehicle distance equal to or more than the inter-vehicle distance α where the possibility of contact is high, the operation time prescribed value Bt_thBecomes a constant value. For example, the control return determination unit 41 has a characteristic diagram as shown in FIG. 6 as a table, and based on the table, the current inter-vehicle distance L_psOperation time specified value Bt corresponding to_thAnd the operation time prescribed value Bt_thAnd the brake operation time Bt are compared.
[0023]
Here, the control return determination unit 41 determines that the brake operation time Bt is equal to the operation time specified value Bt._thIf it is less than the predetermined time, the process proceeds to step S6, where the brake operation time Bt is set to the specified operation time value Bt._thIn the above case, the process proceeds to step S9.
In step S6, the control return determination unit 41 determines that the brake operation speed (brake depression speed) Bv is equal to the operation speed (brake depression speed) specified value Bv._thIt is determined whether it is less than. For example, the operation speed regulation value Bv_thIs the current inter-vehicle distance L_psIs determined according to Specifically, as shown in FIG._thIs the current distance L_psIs determined according to In this example, the current inter-vehicle distance L_psIs smaller, the current inter-vehicle distance L_psBecomes larger, the operation speed prescribed value Bv_thBecomes larger, and at an inter-vehicle distance equal to or more than the inter-vehicle distance α where the possibility of contact is high, the operation speed prescribed value Bv_thBecomes a constant value. For example, the control return determination unit 41 has a characteristic diagram as shown in FIG. 7 as a table, and based on this table, the current inter-vehicle distance L_psOperation speed specified value Bv corresponding to_thAnd the operation speed prescribed value Bv_thAnd the brake operation speed Bv.
[0024]
Here, the control return determination unit 41 determines that the brake operation speed Bv is equal to the specified operation speed value Bv._thIf it is less than the predetermined value, the process proceeds to step S7, and the brake operation speed Bv_thIn the above case, the process proceeds to step S9.
In step S7, the control return determination unit 41 determines that the current inter-vehicle distance L_psInter-vehicle time T corresponding to_AThe inter-vehicle distance (set inter-vehicle distance) is set based on. That is, the control return determination unit 41 sets the target following distance so as to have a predetermined following distance characteristic. Specifically, the control return determination unit 41 determines the current inter-vehicle distance L at the end of the brake operation._psAnd own vehicle speed V_SAnd the following time T_AIs calculated, and the inter-vehicle time initially used is calculated as the calculated inter-vehicle time T._AChange to
[0025]
Inter-vehicle time T_A= Current inter-vehicle distance L_ps/ Vehicle speed V_S
Then, the control return determination unit 41 determines the inter-vehicle time T thus changed._AAnd own vehicle speed V_SIs set based on the following equation.
Set inter-vehicle distance = inter-vehicle time T after update_A× own vehicle speed V_S
Then, in the subsequent step S8, the control return determination unit 41 performs a process of restarting or returning the following travel control so as to have the inter-vehicle distance thus determined (set inter-vehicle distance). Specifically, the travel control controller 30 suspends the following travel control (specifically, the braking force control for the following travel control) when the brake operation is performed, and the control return determination unit 41 As a process of restarting or returning the following travel control, a control restart (return) command is issued to the travel control controller 30 directly or via the operation and setting unit 42. As a result, the traveling control controller 30 resumes the following traveling control from the suspended state by inputting the control restart (return) command.
[0026]
As described above, the control return determination unit 41 performs the processing of releasing, stopping, and returning the following travel control in accordance with the brake operation.
The operation and setting unit 42 includes various operation units and sensors, and is configured to acquire information on the various operation units and sensors. That is, the operation and setting unit 42 includes switches for controlling the vehicle speed in response to a driver's instruction, and includes a coast / set (COAST / SET) switch, a cancel (CANCEL) switch, and a resume / accelerator (RESUME / ACCELERATE). A switch and an inter-vehicle distance setting switch are provided.
[0027]
Here, the coast / set switch is a switch that enables the driver to start setting of the traveling speed control (set function) and enables the driver to set the deceleration during the traveling speed control (coast function). The cancel (CANCEL) switch is a switch for stopping the traveling speed control by the driver. The resume / accelerator switch is a switch that enables the driver to resume the traveling speed control (resume function) and enables the driver to set an acceleration during the traveling speed control (accelerator function). The inter-vehicle distance setting switch is a switch that enables the driver to set the inter-vehicle distance with the preceding vehicle.
[0028]
In the setting of the inter-vehicle distance, stepwise setting by a push operation, for example, three steps of long, medium, and short can be set. Specifically, the inter-vehicle distance that can be set in three stages of long, medium, and short is determined based on the inter-vehicle time. For example, the "intermediate" inter-vehicle distance is set to about 2 seconds, and the "long" and "short" inter-vehicle distances are set to "long" and "long" respectively based on the inter-vehicle time corresponding to the "intermediate" inter-vehicle time. The "short" inter-vehicle distance is determined.
[0029]
The operation and setting unit 42 outputs various signals input by such a switch operation to the traveling control controller 30. For example, the operation and setting unit 42 sends the inter-vehicle distance set by operating the inter-vehicle distance setting switch or the inter-vehicle distance at the time of the return of the following travel control determined by the control return determination unit 41 to the travel control controller 30. Output. Alternatively, when a command for canceling or restarting (returning) the follow-up running control is input from the control return determination unit 41 to the operation and setting unit 42, the operation and setting unit 42 outputs the command to the controller for running control. Output to 30.
[0030]
As shown in FIG. 2, the travel control controller 30 includes a headway control unit 31, a vehicle speed command value selection unit 32, and a vehicle speed control unit 33.
The inter-vehicle control unit 31 is configured to execute the traveling speed control so as to follow the preceding vehicle while maintaining an appropriate inter-vehicle distance between the host vehicle and the preceding vehicle. The inter-vehicle control unit 31 performs a process for follow-up traveling control as follows.
[0031]
The inter-vehicle control unit 31 calculates the input inter-vehicle distance L_psIs the target inter-vehicle distance L^*Target vehicle speed V^*Is calculated. This inter-vehicle control unit 31 sets the set inter-vehicle distance input from the operation and setting unit 42 to the target inter-vehicle distance L.^*And this target inter-vehicle distance L^*Target vehicle speed V^*Is calculated.
Here, the set inter-vehicle distance is the inter-vehicle distance set by operating the inter-vehicle distance setting switch, or the inter-vehicle distance at the time of return of the follow-up running control determined by the control return determination unit 41. That is, when a restart (return) command of the following travel control is input from the control return determination unit 41 or the operation and setting unit 42, the following distance control unit 31 determines the set following distance determined by the control return determination unit 41. Target inter-vehicle distance L^*And this target inter-vehicle distance L^*Target vehicle speed V^*Is calculated.
[0032]
The vehicle speed command value selection unit 32 is configured to select the own vehicle speed.
The running speed control can be selected between an inter-vehicle distance control mode in which running speed control is performed with the inter-vehicle distance as a target value and a constant speed running control mode in which running speed control is performed with a constant speed as a target speed. . The vehicle speed command value selecting unit 32 sets a vehicle speed command value for realizing the following distance control or the constant speed traveling control based on the selection information of the inter-vehicle distance control mode or the constant speed traveling control mode from the operation and setting unit 32. It is configured as a part to select. When a tap-down operation by the coast / set switch or a tap-up operation by the resume / accelerator switch 43 is performed, the vehicle speed command value selection unit 32 automatically determines the set vehicle speed based on the tap-down operation or the tap-up operation. Select as the vehicle speed (target vehicle speed).
[0033]
The vehicle speed control unit 33 calculates the target vehicle speed V^*Target driving / driving force F for matching own vehicle speed Vs^*Is calculated. Specifically, the vehicle speed control unit 33 controls the own vehicle speed according to the selection made by the vehicle speed command value selection unit 32. That is, when the inter-vehicle distance control mode is selected, the target vehicle speed V^*Is the target vehicle speed V obtained by the headway controller 31.^*When the constant-speed traveling control mode is selected, the target vehicle speed V is set to the set vehicle speed set by the tap-down operation by the coast / set switch or the tap-up operation by the resume / accelerator switch 43.^*To Then, the vehicle speed control unit 33 determines, for each mode, the target vehicle speed V in that mode.^*Vehicle speed V_SSo that the target braking / driving force F^*Is calculated. For example, the vehicle speed control unit 33 outputs the target vehicle speed V^*Target driving / driving force F for matching own vehicle speed Vs^*Is calculated as a vehicle speed servo system.
[0034]
The vehicle speed controller 33 calculates the calculated target braking / driving force F^*, And outputs the calculated engine torque command value and target brake fluid pressure command value to the engine output control device 9 and the brake control device 8, respectively.
The engine output control device 9 controls the engine 2 to output a predetermined driving force based on the engine torque command value, and the braking control device 8 controls each of the wheels 1FL, 1FR based on the target brake fluid pressure command value. , 1RL and 1RR to output a predetermined braking force. As a result, the vehicle travels at a speed for follow-up traveling or constant speed traveling.
[0035]
The traveling control controller 30 performs the following processing as processing corresponding to the brake operation during the following traveling control. When a brake operation is performed during the following travel control, the travel control controller 30 stops the braking / driving force control and waits for a control return instruction or a control release instruction from the control return determination unit 41 or the operation and setting unit 42. Then, in a standby state, the traveling control controller 30 releases the following control when receiving the control release command, and restarts the following traveling control when receiving the control return command. When starting the follow-up traveling control, the traveling control controller 30 controls each unit so that the inter-vehicle distance is determined by the control return determination unit 41.
[0036]
Next, the operation will be described.
In the following travel control, the inter-vehicle distance L detected from the inter-vehicle distance sensor 12 is set to be the inter-vehicle distance corresponding to the inter-vehicle distance setting set by the inter-vehicle distance setting switch._psVehicle speed V detected from the vehicle speed sensor 13_SThe braking control device 8 and the engine output control device 9 are controlled based on the above. When the inter-vehicle distance setting switch is operated and the inter-vehicle distance setting value is changed, the braking control device 8 and the engine output control device 9 are controlled so that the inter-vehicle distance corresponds to the changed inter-vehicle distance setting. I do. With such follow-up running control, the own vehicle follows up while maintaining an appropriate inter-vehicle distance with the preceding vehicle.
[0037]
In the constant speed traveling control (ASCD control), the own vehicle speed V detected from the vehicle speed sensor 13 is set to the set vehicle speed._SThe braking control device 8 and the engine output control device 9 are controlled based on the above. When a tap-down operation using the coast / set switch or a tap-up operation using the resume / accelerator switch is performed, the brake control device 8 and the engine output control device 9 are controlled in accordance with the operation. By such a constant speed traveling control, the own vehicle travels while maintaining an appropriate vehicle speed.
[0038]
Next, an operation when a brake operation is performed during the follow-up traveling control will be described. FIG. 8 is a time chart showing the operation.
(A) in FIG. 8 shows a case in which the following traveling control is shifted from the suspension state to the restart based on the brake operation result, and (B), (C), and (D) in FIG. 8 show the case based on the brake operation result. This shows a case in which the follow-up running control is canceled. Hereinafter, a specific description will be given.
[0039]
First, a description will be given with reference to FIG. When a brake operation is performed, the brake operation flag is turned ON. Then, while the brake operation flag is ON, the brake operation amount Ba, the brake operation time Bt, and the brake operation speed Bv are measured. When the brake operation is completed, that is, when the brake operation flag is turned off (step S1), the current inter-vehicle distance L_psIs possible contact distance L_thOn the condition that the brake operation is larger than the above (Steps S2 and S3), it is determined what kind of brake operation was based on the brake operation amount Ba, the brake operation time Bt, and the brake operation speed Bv measured so far. .
[0040]
That is, the brake operation amount Ba and the operation amount specified value Ba_thAnd the brake operation time Bt and the operation time prescribed value Bt are compared._thAnd the brake operation speed Bv and the operation speed specified value Bv_th(Steps S4, S5, and S6). At this time, the manipulated variable prescribed value Ba_th, Operation time prescribed value Bt_thAnd operation speed regulation value Bv_thIs the current inter-vehicle distance L at the end of the braking operation._psIs determined based on In this way, the comparison between the measured value and the specified value for the brake operation is performed by comparing the measured value with the specified value and looking at the control cancel flag that is turned ON or OFF.
[0041]
Then, as shown in FIG. 8A, the brake operation amount Ba is changed to the operation amount specified value Ba._thAnd the brake operation time Bt is less than the specified operation time value Bt._thAnd the brake operation speed Bv is equal to or less than the specified operation speed value Bv._thIn other words, when the brake operation amount Ba, the brake operation time Bt, and the brake operation speed Bv are all smaller than the specified values (when the control cancel flag is not ON), the current inter-vehicle distance L_psInter-vehicle time T corresponding to_AThen, the inter-vehicle distance (set inter-vehicle distance) is set (step S7), and the following cruise control is restarted so as to reach the set inter-vehicle distance (step S8).
[0042]
Thus, for example, if a brake operation is performed after the inter-vehicle distance setting switch is operated by the driver, the current inter-vehicle distance L at the end of the brake operation_psInter-vehicle time T corresponding to_AThe following cruise control is restarted so that the inter-vehicle distance set in (i.e., the set inter-vehicle distance) is reached. In other words, before the brake operation, the following cruise control is performed so that the inter-vehicle distance setting (inter-vehicle time) set by the driver operating the inter-vehicle distance setting switch is performed. The following travel control is performed so as to be the following distance (specifically, the following time corresponding to the following distance).
[0043]
Next, a description will be given using (B), (C) and (D) in FIG. As shown in FIG. 8B, the brake operation amount Ba is changed to the operation amount specified value Ba._thIn the above case and as shown in FIG. 8C, the brake operation time Bt is equal to the operation time specified value Bt._thIn the above case or as shown in FIG. 8D, the brake operation speed Bv is changed to the operation speed specified value Bv._thIn the above case, that is, when any of the brake operation amount Ba, the brake operation time Bt, or the brake operation speed Bv is equal to or more than a specified value (when the control cancellation is ON), the follow-up traveling control by the brake operation is performed. Is canceled from the state in which is stopped.
[0044]
In this embodiment, as shown in FIG. 8A, conventionally, when a brake operation is performed, the control cancel flag is set to ON.
Next, the effects will be described.
As described above, when the driver performs the brake operation, the following travel control is stopped, and when the brake operation is finished, the following travel control is restarted. As a result, the driver operates the brake to increase the inter-vehicle distance, so that the relative positional relationship between the host vehicle and the preceding vehicle can be made to match the driver's intention, and the driver can follow the vehicle after the brake operation ends. By restarting the travel control, it is possible to ensure the convenience of the follow-up travel control.
[0045]
In the follow-up running control after the end of the brake operation, the control is performed based on the following distance set based on the following distance at the end of the braking operation. As a result, the inter-vehicle distance can be set according to the driver's intention by the driver's brake operation.
In the setting of the inter-vehicle distance by the inter-vehicle distance setting switch, the configuration is such that the setting is performed stepwise, for example, in three stages of long, medium and short. On the other hand, the inter-vehicle distance set by the inter-vehicle distance setting switch is changed to a value based on the inter-vehicle distance at the end of the brake operation after the brake operation. With this, the driver can operate the inter-vehicle distance setting switch to set the inter-vehicle distance in a step-by-step manner, so that the setting can be facilitated. The thus set inter-vehicle distance can be changed. Thereby, the driver operates the inter-vehicle distance setting switch, sets the inter-vehicle distance at a certain stage, and then performs a brake operation, so that the inter-vehicle distance at that stage can be finely adjusted according to the actual driving scene or the like. Can be changed. That is, the driver can easily and finely set the set distance.
[0046]
Further, based on the operation amount, the operation time, and the operation speed indicating the brake operation state, it is determined whether to resume or cancel the following traveling control after the brake operation is completed. That is, the driver's intention to stop control or intention to release control is detected based on the brake operation state such as the brake operation amount, the brake operation time, and the brake operation speed, and the following is performed based on the detection result (driver's intention). The running control is restarted or released. As a result, resumption or cancellation of the follow-up traveling control reflecting the driver's intention is realized.
[0047]
The embodiment of the invention has been described. However, the present invention is not limited to being realized as the above-described embodiment.
That is, in the above-described embodiment, the target inter-vehicle distance is set based on the inter-vehicle time. However, the present invention is not limited to this. For example, the inter-vehicle distance may be set as the inter-vehicle distance itself without reference to the inter-vehicle time.
[0048]
Further, in the above-described embodiment, the control return determination unit 41 determines release, suspension, or return of the following travel control based on the brake operation. However, it is not limited to this. For example, instead of the control return determination unit 41, the travel control controller 30 may cancel, stop, or return the follow-up travel control.
[0049]
In the above-described embodiment, the characteristic diagram or the table for determining the following distance or the brake operation state has been described with reference to FIGS. 4 to 7. However, the present invention is not limited to this, and another characteristic diagram or table may be used to determine the following distance or the brake operation state. Further, whether or not the brake operation state is a predetermined operation may be determined using another criterion.
[0050]
Further, in the above-described embodiment, in the follow-up running control after the end of the brake operation, the control is performed based on the following distance set based on the following distance at the end of the braking operation. However, it is not limited to this. In the follow-up running control after the brake operation is completed, the control may be performed based on the originally set inter-vehicle distance. Even in this case, by performing the brake operation by the driver, the relative positional relationship between the host vehicle and the preceding vehicle can be made to match the driver's intention, and the following cruise control can be resumed after the brake operation is completed. Therefore, it is possible to ensure the convenience of the follow-up traveling control.
[0051]
In the description of the above-described embodiment, the step S2 shown in FIG. 3 by the following distance sensor 12, the following distance detecting unit 20, and the control return determining unit 41 is performed to detect the following distance between the own vehicle and the preceding vehicle. The setting and operation unit 20 (specifically, the inter-vehicle distance setting switch) realizes inter-vehicle distance setting means for setting a set inter-vehicle distance, and the traveling control controller 30 includes the inter-vehicle distance. The braking operation sensor 18 controls the braking / driving force of the own vehicle so that the inter-vehicle distance detected by the detecting means matches the inter-vehicle distance set by the inter-vehicle distance setting means. A brake operation detecting means for detecting a driver's brake operation is realized, and the driving control controller 30 suspends the braking control and recovers the control when the brake is operated. Step S1, Step S4, Step S5, Step S6, Step S7 and Step S8 shown in FIG. 3 by the setting unit 41 are executed when the braking operation detecting means detects the start of the braking operation. The control of the braking / driving force is stopped to stop the inter-vehicle distance control, and when the brake operation detecting means detects the end of the brake operation, the control of the braking / driving force by the braking / driving force control means is restarted. An inter-vehicle distance control restoring means for restoring the inter-vehicle distance control is realized.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing an embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration including a travel control controller and the like of the embodiment.
FIG. 3 is a flowchart showing a processing procedure of a process of canceling or stopping and returning the follow-up running control in accordance with a brake operation.
FIG. 4 shows a contact possibility inter-vehicle distance L corresponding to a relative speed ΔV._thFIG. 6 is a characteristic diagram used for explanation for obtaining the above.
FIG. 5: Current inter-vehicle distance L_psManipulated variable prescribed value Ba corresponding to_thFIG. 6 is a characteristic diagram used for explanation for obtaining the above.
FIG. 6: Current vehicle distance L_psOperation time specified value Bt corresponding to_thFIG. 6 is a characteristic diagram used for explanation for obtaining the above.
FIG. 7: Current inter-vehicle distance L_psOperation speed specified value Bv corresponding to_thFIG. 6 is a characteristic diagram used for explanation for obtaining the above.
FIG. 8 is a diagram showing an operation time chart used for explaining the operation.
[Explanation of symbols]
2 Engine
3 automatic transmission
7 Disc brake
8 Brake control device
9 Engine output control device
12 Inter-vehicle distance sensor
13 Vehicle speed sensor
14 accelerator pedal
15 Brake pedal
17 Accelerator sensor
18 Brake operation sensor
19 Vehicle speed detector
20 Inter-vehicle detector
30 Travel control controller
31 Inter-vehicle control unit
32 Vehicle speed command value selector
33 Vehicle speed control unit
41 Control return determination unit
42 Operation and setting unit

Claims (10)

When the driver starts the braking operation, the inter-vehicle distance control for matching the inter-vehicle distance between the host vehicle and the preceding vehicle to the set inter-vehicle distance is stopped, and after the braking operation by the driver is completed, the inter-vehicle distance control is performed. An inter-vehicle distance control device characterized by returning. The inter-vehicle distance control device according to claim 1, wherein after the inter-vehicle distance control is returned, the inter-vehicle distance control is performed using the inter-vehicle distance at the time of the return as the set inter-vehicle distance. 3. The inter-vehicle distance control device according to claim 1, wherein the set inter-vehicle distance before the braking operation is an inter-vehicle distance input stepwise by a driver. 4. An inter-vehicle distance detecting means for detecting an inter-vehicle distance between the own vehicle and the preceding vehicle,
An inter-vehicle distance setting means for setting a set inter-vehicle distance;
Driving force control means for controlling the braking / driving force of the own vehicle, such that the inter-vehicle distance detected by the inter-vehicle distance detection means matches the set inter-vehicle distance set by the inter-vehicle distance setting means,
Brake operation detecting means for detecting a brake operation by a driver;
When the brake operation detecting means detects the start of the brake operation, the control of the braking / driving force by the braking / driving force control means is stopped to stop the inter-vehicle distance control. When detecting the end, an inter-vehicle distance control returning unit that restarts the control of the braking and driving force by the braking and driving force control unit and returns the inter-vehicle distance control,
An inter-vehicle distance control device comprising: 5. The inter-vehicle distance control device according to claim 4, wherein the inter-vehicle distance setting unit sets the inter-vehicle distance at the time of return after the inter-vehicle distance control returns as the set inter-vehicle distance. The vehicle further includes an inter-vehicle distance input means for inputting the inter-vehicle distance step by step,
6. The inter-vehicle distance control device according to claim 4, wherein the inter-vehicle distance setting unit sets an inter-vehicle distance input from the inter-vehicle distance input unit before a brake operation as the set inter-vehicle distance. 7. The inter-vehicle distance control device according to any one of claims 1 to 6, wherein when the brake operation is a predetermined operation, the inter-vehicle distance control is restored. The inter-vehicle distance control device according to claim 7, wherein the predetermined operation is determined based on at least one of an operation amount, an operation time, and an operation speed of a brake. 9. The inter-vehicle distance control device according to claim 1, wherein the inter-vehicle distance control is resumed when the inter-vehicle distance at the end of the brake operation is greater than a predetermined inter-vehicle distance. The inter-vehicle distance control device according to any one of claims 1 to 9, wherein the set inter-vehicle distance and the inter-vehicle distance are inter-vehicle times obtained by dividing the inter-vehicle distance by the own vehicle.

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