JP2004217138A - Running control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve operability and the convenience of running control by automatically starting or finishing the control, in the running control such as following control or vehicle speed control. <P>SOLUTION: A running information processing section determines whether to start or finish running control using road information from a navigation 6 and antecedent vehicle information from a laser radar sensor 8, and outputs the result to a running control controller 1. When a driver turns on a main switch and intends to use the running control, the running control controller 1 automatically starts or finishes the running control using the result of the running information processing section 7, and informs the driver of the starting or finishing of the control through the navigation. The running control device can determine the starting or finishing of the control based on the road information and antecedent vehicle information with the running information processing section 7, so that these operations by the driver can be reduced and the operability and the convenience of the running control is improved. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a travel control device, and more particularly to a travel control device that starts or ends travel control based on a start condition or an end condition of travel control.
[0002]
[Prior art]
2. Description of the Related Art As a conventional traveling control device, there are those described in, for example, JP-A-7-47862 and JP-A-12-130205. In a conventional example, a preparation switch for enabling the travel control to be started and a start switch for executing the travel control are provided. When the start switch is turned on while the preparation switch is on, Start traveling control. At this time, if there is a preceding vehicle, the driving force or braking force of the own vehicle is controlled so as to follow the preceding vehicle while maintaining the target following distance according to the vehicle speed, and the following vehicle control is started. If the vehicle speed does not exist, the vehicle speed control is started by controlling the driving force or the braking force of the own vehicle so that the own vehicle speed matches the preset target speed. Further, an end switch for terminating the traveling control is provided, and if the end switch is turned on during the traveling control, the traveling control is terminated.
In addition to the end switch, when the preparation switch is turned off, when the driver performs the brake operation, "the driver's intention to decelerate is estimated," or when the wiper is activated, "it is estimated that it is raining. Is completed, or "the road is estimated to be a low μ road" from the detection result of the road surface condition, and the like, the traveling control is terminated. That is, the control may be canceled due to the driver's operation or may be canceled against the driver's intention.
[0003]
[Patent Document 1]
JP-A-7-47862 [Patent Document 2]
JP-A-12-130205
[Problems to be solved by the invention]
When the control is completed as described above, the driving control does not resume unless the driver turns on the start switch again. In particular, if the driver wants to continue using the travel control, but the travel control is terminated (when the driver does not operate), the driver immediately turns on the start switch and turns on the travel control. Likely to resume. Further, in a driving environment in which the driver frequently performs brake operations and control is frequently terminated, the start switch must be turned on each time, which is very troublesome. Furthermore, since the driver needs to pay attention to the operation of the start switch to turn on the start switch, the start switch is turned on in a driving environment in which the driver must concentrate on driving, such as a mountain road or a congested road. Difficult to use, and cannot use cruise control.
[0005]
Also, there is a significant difference between the vehicle behavior by the travel control and the vehicle behavior by the driver, and in a traveling environment where the driver feels uncomfortable using the travel control, the operation is not terminated each time by any operation. must not. For example, when the preceding vehicle changes lanes near the toll road tollgate and disappears from the front, it switches from inter-vehicle control to vehicle speed control and tries to continue running at a preset target vehicle speed. However, in this case, since it is necessary to decelerate clearly, the driver must end the control by a brake operation or the like, and sudden braking may be required if the driver is not used to the operation.
[0006]
Therefore, an object of the present invention is to automatically determine the start and end of control, to improve the operability of troublesome switch operation, and to improve the convenience of travel control.
[0007]
[Means for Solving the Problems]
In solving the above-described problems, the feature of the present invention is that when a preceding vehicle is detected based on the traveling speed of the own vehicle, the inter-vehicle distance to the preceding vehicle, and the relative speed of the own vehicle with respect to the preceding vehicle, the traveling speed of the own vehicle is reduced. The following operation is performed by the driver. In addition to the start and end of the vehicle, the start or end of the traveling control is determined and determined based on the traveling environment of the own vehicle or the preceding vehicle and the preceding vehicle information, or the traveling control is started / terminated accordingly. Is performed.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
The present invention provides a vehicle speed detecting means for detecting a physical amount corresponding to a traveling speed of a vehicle, a physical amount corresponding to an actual inter-vehicle distance between the vehicle and a preceding vehicle, and a physical amount corresponding to a relative speed between the vehicle and a preceding vehicle. Vehicle information detecting means for detecting the following vehicle, and controlling the driving force or braking force of the own vehicle so as to follow the preceding vehicle while maintaining the target inter-vehicle distance according to the vehicle speed when the preceding vehicle exists. Driving control means for controlling the driving force or braking force of the own vehicle to control the vehicle speed so that the own vehicle speed coincides with a preset target speed when there is no preceding vehicle; A driver's intention detecting means for detecting an intention to use the control, a driving environment detecting means for detecting a driving environment, and a driving environment or preceding vehicle information is analyzed, and a driving control start judgment or a driving control end judgment is performed based on the analysis result. Running Control start / end determination means, automatic start of travel control, and, notifying means for notifying the driver that the drive control is automatically ended, preceding vehicle information detected by the preceding vehicle information detecting means, and The driving environment detected by the driving environment detecting means is analyzed by the driving control start / end determining means, and the control start condition according to the preceding vehicle information and the driving environment is satisfied, and the driver intention detecting means A travel control device or a travel control method for starting travel control by the travel control means when a driver's intention to use travel control is recognized.
[0009]
When traveling control is in progress, the preceding vehicle information detected by the preceding vehicle information detecting means and the traveling environment detected by the traveling environment detecting means are analyzed by the traveling control start / end determining means, and the preceding vehicle information is analyzed. When the control termination condition according to the traveling environment is satisfied, the traveling control by the traveling control means is terminated. At this time, the driver is notified by the notification means that the control start and the control end are automatically performed.
[0010]
FIG. 1 is a schematic configuration of a travel control controller 1 to which the present invention is applied. The laser radar sensor 8 is an electronic circuit mainly composed of a distance measuring device using a laser and a microcomputer, and detects whether or not a preceding vehicle is detected by the distance measuring device, an inter-vehicle distance to the preceding vehicle, and a relative distance. It corresponds to a preceding vehicle information detecting unit or a preceding vehicle information detecting unit that transmits a speed or the like to the traveling controller 1. The traveling control controller 1 is an electronic circuit centered on a microcomputer, and is obtained from the presence / absence, inter-vehicle distance, and relative speed of the preceding vehicle transmitted from the laser radar sensor 8 and from the own vehicle detecting means. The driving force and the braking force are controlled by controlling the throttle actuator 2 and the brake actuator 3 based on data such as the vehicle speed signal 4 and the like, and corresponds to a traveling control unit or a traveling control unit for performing vehicle speed control or headway control. The brake pedal switch 5 detects a driver's braking operation, and the main switch 9 corresponds to a driver's intention detecting means for detecting the driver's intention to use the traveling control. It is equivalent to a traveling control detecting means because it detects whether or not it is. The navigation 6 provides the traveling information processing unit 7 with road information such as a general road and an expressway, and is also used for announcing the start / end of traveling control, and includes a traveling environment detecting unit and a notifying unit. The traveling information processing unit 7 determines the start / end of the traveling control based on the preceding vehicle information from the laser radar sensor 8 and the road information from the navigation 6, and transmits the traveling result to the traveling controller 1. -It corresponds to the termination means.
[0011]
Next, with reference to FIG. 2 and FIG. 3, a start / end process of the traveling control executed by the traveling information processing unit 7 and the traveling controller 1 will be specifically described.
[0012]
FIG. 2 is an example of a process executed by the traveling information processing unit. First, in the first step 10, it is determined whether or not the vehicle is a general road. If the road is a general road (10: Yes), it is determined whether there is a preceding vehicle ahead of the own lane. Here, when there is a preceding vehicle (20: Yes), it is determined that the traveling control has started (step 30), and when there is no preceding vehicle (20: No), it is determined that the traveling control has ended (step 40). On the other hand, if it is determined in step 10 that the vehicle is not an ordinary road (10: No), that is, if it is determined that the vehicle is a toll road or an expressway, there is no preceding vehicle near the tollgate (50: Yes,
Except for (60: Yes), a determination is made as to the start of traveling control (step 30). If the preceding vehicle has been lost near the tollgate (50: Yes, 60: Yes), it is determined that the running control has ended (step 70). The results determined by the traveling information processing unit are transmitted to the traveling control controller and processed.
[0013]
FIG. 3 is an example of a process executed by the traveling control controller. First, in the first step 15, it is determined whether or not the driver intends to use the traveling control. If the main switch is in the ON state (15: Yes), subsequently, it is determined whether or not the driver has performed a brake operation. . Here, when the brake operation is not performed (25: Yes), it is determined whether the travel control start is determined or whether the travel control end is determined depending on whether the travel control is being performed or not. It is determined whether or not to switch (step 35). On the other hand, when the main switch is in the OFF state (15: No) or when the brake is operated (25: No), the travel control is canceled (step 95). In step 35, it is determined that the travel control is not underway (35: No), and if the determination result in the travel information processing unit is OK (75: Yes), the process proceeds to step 55. On the other hand, even when the travel control is not being performed (35: No), if the determination result in the travel information processing unit is a start NG (75: No), the travel control is not started and the process proceeds to step 95. In addition, when the driving information processing unit determines that the driving information is to be ended during the driving control (35: Yes) (45: Yes), the driving control is canceled (step 95), and when the driving information processing unit does not determine the end. (45: No), the process proceeds to a step 55. When the process comes to the step 55, the travel control is used at that time, and when there is a preceding vehicle (55: Yes), the following distance control is performed (step 65), and the preceding vehicle is present. If not (55: No), vehicle speed control is performed (step 85).
[0014]
As described above, on a general road, traveling control (vehicle distance control) is automatically started only when there is a preceding vehicle ahead of the own lane, and traveling control is not automatically started when there is no preceding vehicle. Even if there is a preceding vehicle ahead of the current lane, the running control is automatically released if the preceding vehicle is lost due to a curve or lane change, and if the preceding vehicle is detected again, the running control is automatically performed again. Start with. As a result, it is possible to prevent inadvertent acceleration in a road environment where the preceding vehicle is easily lost. Further, the traveling control is performed as long as there is a preceding vehicle, so that even when the preceding vehicle suddenly brakes, the automatic brake is activated, and the impact at the time of collision is reduced. In addition, since the driver is notified when the traveling control ends, the control of the own vehicle speed after the termination of the traveling control can be smoothly delivered to the driver.
[0015]
In addition, on a toll road such as an expressway, the vehicle is driven using the travel control as long as the driver intends to use the travel control. However, when there is no preceding vehicle near the toll booth or when the driver operates the brake, the traveling control is interrupted. This prevents inadvertent acceleration when the preceding vehicle changes lanes near the tollgate, and ends the driver's braking operation even in frequent braking operations, such as traffic jams and continuous curves. Since the running control is automatically started at the time of the start, it is not necessary to operate the start switch every time the brake is operated.
[0016]
Here, in the above example, a laser radar sensor is taken as the preceding vehicle information detecting means, but instead, a millimeter wave radar, an image processing camera, or the like may be used, or a combination thereof may be used. Although the main switch is used as an example of the driver's intention detecting means, a voice input by the driver may be used instead, or a new range for using travel control may be provided in the shift range. Further, a portable terminal such as a portable telephone, a notebook personal computer, a PDA or the like may be used instead of the remote controller, and data may be input from the portable terminal. In addition, although navigation is taken up as a driving environment detecting means, an automatic toll collection system may be used to determine whether a road is a general road or a toll road, or data may be received from a roadside machine using road-to-vehicle communication. May be used. Furthermore, map data may be received using a portable terminal. Further, although the audio system of the navigation is taken up as the notification means, the notification may be made using the display image of the navigation system, or both the image and the sound may be used. Further, a buzzer may be used to change the frequency, the number of times of the sound, the rhythm, or the like, or the lamp may be turned on or blinked, or the color of the lamp may be changed for notification. In addition, although the traveling environment processing unit is separately provided as the traveling control start / end determination means, this processing may be performed by the traveling environment detection means, the preceding vehicle information detection means, or the traveling control controller. Further, in addition to the conditions described in the examples as the control start / end conditions, even when there is no preceding vehicle on a general road, the control may be automatically started when a straight road with good visibility continues. Even when the vehicle is on a toll road, when it is determined that it is better to leave the driving to the driver, for example, when a steep descent or turning continues, it may be better to end the traveling control.
[0017]
【The invention's effect】
Since the traveling control device of the present invention has the traveling information processing unit, the control start / end can be automatically determined from the road information and the preceding vehicle information, and the operation of starting and terminating control each time is reduced. Therefore, it is possible to improve the operability of troublesome switch operation and the convenience of traveling control.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a traveling control device to which the present invention is applied.
FIG. 2 is a flowchart illustrating an example of a process performed by a traveling information processing unit.
FIG. 3 is a flowchart illustrating an example of a process performed by a travel control controller.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... travel control controller, 2 ... throttle actuator, 3 ... brake actuator, 4 ... vehicle speed signal, 5 ... brake pedal switch, 6 ... navigation, 7 ... travel information processing unit, 8 ... laser radar sensor, 9 ... main switch.

Claims (7)

Own vehicle speed detecting means for detecting a physical quantity corresponding to a running speed of the own vehicle, a physical quantity corresponding to an actual inter-vehicle distance between the own vehicle and a preceding vehicle existing in front of the own vehicle, Preceding vehicle information detecting means for detecting preceding vehicle information including a physical quantity corresponding to a relative speed with respect to the preceding vehicle; and, when the preceding vehicle is present, the preceding vehicle at a target inter-vehicle distance corresponding to the traveling speed of the own vehicle. Inter-vehicle control for controlling the driving force or the braking force of the own vehicle so as to follow the vehicle, and when the preceding vehicle does not exist, the self-vehicle is controlled so that the running speed of the own vehicle matches a preset target speed. Traveling control means for performing traveling control for controlling vehicle speed by controlling the driving force or braking force of the vehicle, traveling control detecting means for detecting traveling control information as to whether or not to carry out the traveling control; A travel control apparatus having the a running environment detecting means for detecting a running environment of said preceding vehicle,
A travel control device comprising travel control start / end determination means for determining the start of the travel control or the end of the travel control based on the travel environment or the preceding vehicle information. The travel control device according to claim 1, wherein the start and end of the travel control are performed separately from the travel control information. 3. The travel control device according to claim 1, wherein in a range of a predetermined travel speed of the own vehicle, the presence of a preceding vehicle in front of the own vehicle is detected, and the travel control is started. A travel control device characterized by the above-mentioned. The travel control device according to claim 1 or 2, wherein, within a predetermined travel speed range of the own vehicle, detecting that a preceding vehicle existing in front of the own vehicle has disappeared, A travel control device that terminates travel control. In the travel control device according to claim 1 or 2, when the host vehicle is present in an area where the host vehicle stops, detecting that there is no preceding vehicle in front of the host vehicle, A travel control device, wherein the travel control is terminated. The travel control device according to any one of claims 1 to 6, which notifies that the travel control has started or has started, and that the travel control has ended or has ended. A travel control device comprising a notification unit. 7. The travel control device according to claim 6, wherein a notification is provided that the travel control has been automatically started and automatically terminated.

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