JP5109307B2 - Vehicle travel control device and vehicle travel control method - Google Patents

Description

  The present invention relates to a vehicle travel control device and a vehicle travel control method, and more particularly to a vehicle travel control device and a vehicle travel control method for starting a host vehicle from a stopped state.

  In conventional vehicles, as a means to reduce the driving operation of the host vehicle by the driver, constant speed traveling control for controlling the host vehicle to travel at a constant speed at a speed set by the driver, A vehicle traveling control device that performs vehicle traveling control that performs following traveling control so as to follow the vehicle, that is, adaptive cruise control (ACC), is mounted. In ACC, the target acceleration is calculated according to the traveling state of the host vehicle, such as acceleration for maintaining constant speed driving (including deceleration) and acceleration for following a preceding vehicle at a certain distance. The braking / driving force based on the target acceleration is applied to the vehicle by the braking / driving force generating means. The braking / driving force generating means includes an engine (including a transmission) and a brake device mounted on the vehicle.

For example, when the preceding vehicle stops when the follow-up traveling control is performed in the ACC, the vehicle traveling control device stops the own vehicle in order to maintain a predetermined inter-vehicle distance from the preceding vehicle. Here, the vehicle speed sensor that detects the vehicle speed of the host vehicle cannot detect an extremely low vehicle speed (for example, a vehicle speed of 1 km / h or less). In other words, when the host vehicle is at an extremely low vehicle speed, the vehicle travel control device stops the host vehicle even if the host vehicle is not actually stopped because the vehicle speed is not detected by the vehicle speed sensor. It will be judged.

  Therefore, when the host vehicle is at a very low vehicle speed, the vehicle travel control device performs stop / hold control that applies stop / hold braking force to the host vehicle mainly by the brake device. As this stop holding control, there is a conventional one as shown in Patent Document 1, for example. The vehicle travel control device (inter-vehicle distance control device) shown in Patent Literature 1 includes braking / driving force switching means for switching the target braking / driving force from the target braking / driving force to the target braking force and stopping the host vehicle when the target speed becomes a predetermined value or less. It is.

JP 2000-25487 A

  By the way, when the own vehicle is stopped by the stop holding control, for example, when the preceding vehicle starts from the stopped state, the vehicle travel control device cancels the stop holding control and switches to the follow running control. This switching is performed, for example, by a start operation such as operating an operation lever provided in the vehicle travel control device or a driver depressing an accelerator pedal. Although the host vehicle starts by this starting operation, if the increase in the vehicle speed of the host vehicle is slow, the extremely low vehicle speed period becomes longer immediately after the starting operation. Therefore, the vehicle travel control apparatus determines that the host vehicle is stopped, and there is a risk of switching from the follow-up travel control to the stop and hold control even though the host vehicle is starting.

  In addition, after the host vehicle is started by the start operation, vehicle travel control by the vehicle travel control device may be started by the driver's will. In the follow-up running control, if the preceding vehicle has already started when the control is started immediately after the host vehicle starts, the host vehicle tries to follow the host vehicle. However, if the host vehicle is at a very low vehicle speed immediately after starting, the vehicle travel control device determines that the host vehicle is stopped, and the following travel control is performed even though the host vehicle attempts to follow the preceding vehicle. There is a risk of switching from stop to hold control.

  The present invention has been made in view of the above, and provides a vehicle travel control device and a vehicle travel control method that can suppress applying a stop holding braking force to the host vehicle immediately after the host vehicle starts. For the purpose.

In order to solve the above-described problems and achieve the object, in the vehicle travel control device according to the present invention, braking / driving force generating means for applying braking / driving force to the host vehicle, and stop holding braking force by the braking / driving force generating means. Stop holding control means for performing stop holding control to the host vehicle, and starting to release the stop holding control and to apply a starting driving force to the host vehicle by the braking / driving force generating unit to start the host vehicle. Means for detecting the vehicle speed of the host vehicle, and a vehicle start control unit for detecting a start intention by the driver , wherein the stop holding control unit is the host vehicle. of when the vehicle speed of the host vehicle can no longer be detected by the vehicle speed detecting means immediately before stopping, performs the stop-holding control, the starting means, by starting intention by the driver, the stop-holding system The release to a accelerating means for performing the start of the vehicle, when for starting the vehicle in the stop-maintenance control, during a predetermined after release of the stop-maintenance control, prohibits the stop-holding control, the The predetermined period of time is a predetermined time after the start intention is not detected after the start intention is detected by the start intention detecting means.

Further, in the vehicle travel control method according to the present invention, the procedure for performing the stop holding control for applying the stop holding braking force to the host vehicle, and the start will be detected when the start intention detection means detects the start intention by the driver during the stop holding control. A procedure for releasing the stop holding control and a procedure for prohibiting the stop holding control for a predetermined period after the stop holding control is released when the driving force is applied to the host vehicle and the vehicle is started. The stop holding control is performed when the vehicle speed of the host vehicle cannot be detected by the vehicle speed detecting unit that detects the vehicle speed of the host vehicle immediately before the host vehicle stops . After the start intention by the driver is detected, it is a predetermined time after the start intention is no longer detected .

According to these inventions, when starting the own vehicle during the stop holding control, the vehicle travel control device prohibits the stop holding control by the stop holding control means for a predetermined period after the stop holding control is released. That is, the stop / hold control by the stop / hold control means is not performed for a predetermined period after the release of the stop / hold control. Therefore, even if the vehicle speed of the host vehicle cannot be detected immediately after the start of the host vehicle, for example, it is possible to suppress the stop / holding braking force from being applied to the host vehicle by the braking / driving force generating means.
Further, during the stop holding control, when the vehicle is started by the acceleration means due to the driver's intention to start, after the driver's intention to start is detected, the driving intention is not detected, and then the predetermined intention is reached. Stop and hold control by the stop and hold control means is prohibited. In other words, the stop and hold control by the stop and hold control means is performed for a predetermined period after the stop and hold control is canceled, for a predetermined time after the start of the start by the driver is detected. Absent. Therefore, immediately after the start of the host vehicle by the driver's intention to start using the acceleration means, for example, even if the vehicle speed of the host vehicle cannot be detected, the braking / driving force generating means gives the host vehicle a stop holding braking force. This can be suppressed.

According to the present invention, in the vehicle travel control device, the host vehicle is provided with a preceding vehicle detecting means for detecting a preceding vehicle and a follow braking / driving force for following the preceding vehicle detected by the braking / driving force generating means. Follow-up running control means for performing follow-up running control applied to the vehicle , wherein the stop holding control is performed while the follow-up running control is being performed .

In the present invention, the braking / driving force generating means for applying braking / driving force to the host vehicle, the braking / driving force control means for controlling braking / driving force for controlling the braking / driving force generating means, and the braking / driving force generating means Stop holding control means for performing stop holding control for applying stop holding braking force to the host vehicle, vehicle speed detecting means for detecting the vehicle speed of the host vehicle, and prohibited section setting means for setting a prohibited section for prohibiting the stop holding control. The stop holding control means performs the stop holding control when the vehicle speed detecting means cannot detect the vehicle speed immediately before the own vehicle stops. the at set disabled section prohibits the stop holding control, the blocking period setting means, that the vehicle stop state is set for a predetermined time from when starting state as the blocking period And features.

In the present invention, the vehicle travel control device further includes a start state detecting unit that detects the start state, and the prohibited section setting unit detects the start state of the host vehicle by the start state detecting unit. A predetermined time is set as the prohibited section.

Further, in this invention, in the vehicle travel control device, the calling proceeds state detector may be a brake operation detecting means for detecting a braking operation to provide the driver a braking force by the braking-driving force generating means, the brake operation The detection means detects the start state by detecting the release of the brake operation.

According to these inventions, the vehicle travel control device detects, for example, the release state of the host vehicle after detecting the release of the brake operation after the host vehicle in which the prohibited section setting unit is stopped is in the start state. Then, if the predetermined time is set as the prohibited section, the stop holding control by the set prohibited section and the stop holding control means is prohibited. In other words, the stop holding control by the stop holding control means is not performed in the predetermined section after the host vehicle in the stopped state has started, even if the braking / driving control is started during this predetermined time . Therefore, even if the vehicle speed of the host vehicle cannot be detected immediately after the start of the host vehicle, for example, it is possible to suppress the stop / holding braking force from being applied to the host vehicle by the braking / driving force generating means.

In the present invention, the braking / driving force generating means for applying braking / driving force to the host vehicle, the braking / driving force control means for controlling braking / driving force for controlling the braking / driving force generating means, and the braking / driving force generating means Stop holding control means for performing stop holding control for applying stop holding braking force to the host vehicle, vehicle speed detecting means for detecting the vehicle speed of the host vehicle, and prohibited section setting means for setting a prohibited section for prohibiting the stop holding control. The stop holding control means performs the stop holding control when the vehicle speed detecting means cannot detect the vehicle speed immediately before the own vehicle stops. in the set disabled section, the prohibited stop holding control, the blocking period setting means, before a predetermined time immediately after the start of the braking-driving force control from when the vehicle is starting state of standstill And sets as the blocking period.

According to the present invention, the stop holding control by the stop holding control means is not performed for a predetermined time immediately after the start of the braking / driving force control by the braking / driving force control means after the host vehicle in the stopped state starts. . Therefore, even if the vehicle speed of the host vehicle cannot be detected immediately after the start of the host vehicle, for example, it is possible to suppress the stop / hold braking force from being applied to the host vehicle by the stop / hold control means.

  In the vehicle travel control device and the vehicle travel control method according to the present invention, the stop and hold control by the stop and hold control means is not performed for a predetermined period after the release of the stop and hold control. It is possible to produce an effect that it is possible to suppress application of the stop holding braking force to the vehicle.

  Hereinafter, the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited by the following Example. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same. Further, the target acceleration in the following embodiment includes a positive acceleration and a negative acceleration (deceleration). The braking / driving force includes a positive driving force and a negative braking force.

  FIG. 1 is a diagram illustrating a configuration example of the vehicle travel control apparatus according to the first embodiment. As shown in the figure, the vehicle travel control device 1-1 is mounted on a vehicle (not shown) (hereinafter simply referred to as “own vehicle”), and reduces the driving operation of the vehicle by the driver. Vehicle travel control that can be performed, that is, ACC. The vehicle travel control device 1-1 includes a control device 2, a millimeter wave radar 3, an operation lever sensor 4, a vehicle speed sensor 5, an accelerator pedal 6, an accelerator pedal sensor 7, a brake device 8, and an engine 9. It is comprised by. Note that the ACC in the embodiment is an ACC that performs only the follow-up running control that causes the host vehicle to follow the preceding vehicle. However, the present invention is not limited to this, and the constant speed of running the host vehicle at the set speed is not limited. You may perform high-speed driving control.

  The control device 2 controls the entire vehicle travel control device 1-1. The control device 2 includes at least a follow-up travel control unit 21, a stop / hold control unit 22, a target acceleration calculation unit 23, and a braking / driving force control unit 24.

  The follow-up running control unit 21 is follow-up running control means, and follows running that gives the own vehicle a following braking / driving force for following the preceding vehicle by at least one of the brake device 8 or the engine 9 as the braking / driving force generating means. Control is performed. The follow-up running control unit 21 is a starting means, and the stop holding control by the stop holding control unit 22 is canceled, that is, the stop holding control is turned off, and the vehicle is started by at least one of the brake device 8 and the engine 9. A driving force (included in the following braking / driving force) is applied to the host vehicle to start the host vehicle. The follow-up travel control unit 21 is also a start control unit, detects start permission by the driver using the operation lever sensor 4, and the target acceleration calculated by the target acceleration calculation unit 23 is equal to or greater than a predetermined start acceleration S described later. Thus, the vehicle is started with the stop holding control turned off. The follow-up travel control unit 21 travels on the same lane as the lane in which the host vehicle is traveling in the traveling direction of the preceding vehicle, for example, the host vehicle (not shown), from the position data of the object detected by the millimeter wave radar 3. It recognizes the vehicle that is. The follow-up running control unit 21 is connected to the millimeter wave radar 3 and the follow-up target acceleration calculating unit 23 a of the target acceleration calculating unit 23. Therefore, the tracking data of the object detected by the millimeter wave radar 3 is input to the tracking control unit 21, the preceding vehicle is recognized from the input position data, and the recognized position data of the preceding vehicle is used for tracking. It outputs to the target acceleration calculation part 23a.

  The stop / hold control unit 22 is a stop / hold control unit, and performs a stop / hold control to give the host vehicle a stop / hold braking force by the brake device 8 which is a braking / driving force generating unit. The stop holding control unit 22 performs stop holding control when the vehicle speed V of the host vehicle cannot be detected by the vehicle speed sensor 5 that is a vehicle speed detecting unit immediately before the host vehicle stops. The stop holding control unit 22 is connected to the operation lever sensor 4, the vehicle speed sensor 5, the accelerator pedal sensor 7, and the stop holding target acceleration calculation unit 23 b of the target acceleration calculation unit 23. Therefore, the stop and hold control unit 22 detects ON / OFF of an operation lever (not shown) detected by the operation lever sensor 4, the vehicle speed V of the host vehicle detected by the vehicle speed sensor 5, and the accelerator pedal sensor 7. The accelerator pedal opening of the accelerator pedal 6 is input, and start / release of stop hold control is determined based on each input data, that is, ON / OFF is determined. This is output to the stop-holding target acceleration calculation unit 23b.

  The target acceleration calculation unit 23 is target acceleration calculation means. The target acceleration calculation unit 23 calculates the target acceleration of the host vehicle. The target acceleration calculation unit 23 calculates a target acceleration corresponding to the traveling control state of the host vehicle by the vehicle traveling control device 1-1, and in the first embodiment, the following traveling control and the stop holding control. The target acceleration calculation unit 23 includes a follow-up target acceleration calculation unit 23a, a stop / hold target acceleration calculation unit 23b, and an arbitration unit 23c.

  The tracking target acceleration calculation unit 23a applies tracking braking / driving force (including start driving force) to the host vehicle by at least one of the brake device 8 and the engine 9 when the vehicle traveling control device 1-1 performs tracking traveling control. The following target acceleration for giving is calculated. The following target acceleration calculating unit 23 a calculates a plurality of following target accelerations based on the position data of the preceding vehicle from the following traveling control unit 21. For example, the target acceleration calculation unit for tracking 23a does not operate the brake permission follow-up target acceleration calculated on the assumption that the brake device 8 may be operated (brake permission) or the brake device 8 is not operated (brake disapproval). ) Is calculated on the premise that the brake is not permitted. Here, the follow-up acceleration calculating unit 23a is connected to the follow-up running control unit 21 and the arbitrating unit 23c. Therefore, when the preceding vehicle is recognized by the following traveling control unit 21, the following target position calculation unit 23a receives the recognized position data of the preceding vehicle. Then, a plurality of tracking target accelerations are calculated based on the position data, and the plurality of tracking target accelerations are output to the arbitrating unit 23c.

  The stop / hold target acceleration calculation unit 23b calculates a stop / hold target acceleration for applying a stop / hold braking force to the host vehicle by the brake device 8 when the vehicle travel control device 1-1 performs stop / hold control. It is. The stop / hold target acceleration calculation unit 23b calculates a stop / hold target acceleration based on a control ON signal from the stop / hold control unit 22. Here, the target acceleration for stopping and holding is a negative acceleration that can apply to the own vehicle a stopping and holding braking force capable of maintaining the stopping state of the own vehicle (regardless of the gradient of the road surface or the like). Further, the stop-holding target acceleration is an acceleration smaller than any of the plurality of following target accelerations calculated by the following target acceleration calculating unit 23a. Here, the stop / hold target acceleration calculation unit 23b is connected to the stop / hold control unit 22 and the arbitration unit 23c. Therefore, when the stop / hold control unit 22 determines that the stop / hold control is ON, the stop / hold target acceleration calculation unit 23b receives a control ON signal. Then, the stop-holding target acceleration is calculated based on this control ON signal, and is output to the arbitration unit 23c.

  The arbitration unit 23c determines a target acceleration to be used when the vehicle travel control device 1-1 controls the travel of the host vehicle (not shown) from the target accelerations calculated by the calculation units. The arbitration unit 23c has the smallest target acceleration among the plurality of tracking target accelerations calculated by the tracking target acceleration calculation unit 23a and the stop-holding target acceleration calculated by the stop-holding target acceleration calculation unit 23b. Is selected and determined as the target acceleration. The arbitration unit 23 c is connected to the braking / driving force control unit 24 and outputs the determined target acceleration to the braking / driving force control unit 24.

  The braking / driving force control unit 24 calculates a braking / driving force to be given to the host vehicle based on the target acceleration calculated by the target acceleration calculating unit 23, and based on the calculated braking / driving force, a brake that is a braking / driving force generating unit. It is a braking / driving force control means for controlling at least one of the device 8 or the engine 9. The braking / driving force control unit 24 is connected to the brake device 8 and the engine 9 that constitute braking / driving force generating means. The braking / driving force control unit 24, for example, the target acceleration calculated by the target acceleration calculation unit 23, the mass of the host vehicle stored in advance in a storage unit (not shown) that is a storage unit, and the target acceleration and the mass of the host vehicle. The braking / driving force, that is, the following braking / driving force (starting driving force) or the stop / hold braking force is calculated from the braking / driving force map based on the above. The braking / driving force control unit 24 selects and controls at least one of the brake device 8 and the engine 9 in order to apply the calculated braking / driving force to the host vehicle. Here, the braking / driving force control unit 24 may acquire actual acceleration actually generated in the host vehicle detected by an acceleration sensor (not shown), and may control the braking / driving force generation means in consideration of the actual acceleration.

  The counter 25 measures the elapsed time from the count number N by counting. The counter 25 is connected to the stop / hold control unit 22. The counter 25 receives a count start or reset instruction from the stop holding control unit 22. In addition, the count number N of the counter 25 is output to the stop / hold control unit 22.

  Here, the control device 2 includes an input / output port (I / O) (not shown), a processing unit, and a storage unit as a storage unit. An input / output port (not shown) is connected to the various sensors and the various devices, and inputs data output from the various sensors to the control device 2, and outputs control signals from the control device 2 to the various devices. It is. A processing unit (not shown) includes a RAM (Random Access Memory) and a CPU (Central Processing Unit). This processing unit is realized by loading a program based on the vehicle travel control method into, for example, a RAM and executing the program. In addition, a storage unit (not shown) is configured by a ROM (Read Only Memory), a RAM, or a combination thereof. The storage unit includes, for example, various maps such as a braking / driving force map that can calculate the target acceleration calculated by the target acceleration calculating unit 23, the mass of the host vehicle, and the braking / driving force, and the mass of the host vehicle. Stores vehicle data.

  The millimeter wave radar 3 is a preceding vehicle detection means for detecting a preceding vehicle, and detects the position of an object existing in the traveling direction of the host vehicle. The millimeter wave radar 3 detects the position of the object by a detection method using millimeter waves, and the detected position data of the object is output to the follow-up travel control unit 21 of the control device 2. The millimeter wave radar 3 is attached to the center of the front portion of the host vehicle, for example, the front grill. Here, the millimeter wave radar 3 emits a millimeter wave, emits the millimeter wave from a front surface of the host vehicle in a predetermined range in the traveling direction, and receives the millimeter wave reflected by an object existing in the traveling direction of the host vehicle. . Then, the millimeter wave radar 3 calculates the distance from the millimeter wave radar 3 to the object existing in the traveling direction of the host vehicle by measuring the time from emission to reception. Further, the millimeter wave radar 3 can calculate the relative speed with the object by using the Doppler effect. In addition, the millimeter wave radar 3 detects the direction of the millimeter wave that is received with the strongest reflection among the received millimeter waves, and calculates the angle between the traveling direction of the host vehicle and the direction of the object from that direction. That is, when the position of the object is detected by the millimeter wave radar 3, the distance, relative speed, and angle to the object are input to the follow-up traveling control unit 21 of the control device 2 as detected object position data. It will be. Note that the preceding vehicle detection means for detecting the preceding vehicle is not limited to the millimeter wave radar 3, and for example, image data obtained by capturing the traveling direction of the own vehicle using a radar, a stereo camera, or the like using a laser or an infrared ray is used. An image recognition apparatus or the like may be used.

  The operation lever sensor 4 is a start permission detection unit that detects a start permission by the driver, and detects an operation of an operation lever (not shown) by the driver. Here, the operation lever causes the vehicle travel control device 1-1 to perform vehicle travel control, that is, ACC (following travel control). This operation lever can permit the start of the own vehicle by operating the driver when the preceding vehicle starts again after stopping at least during the follow-up traveling control by the vehicle traveling control device 1-1. is there. The operation lever is configured to return to the original position when operated by the driver. The operation lever sensor 4 can detect the start permission of the host vehicle when the driver operates the operation lever. When the operation lever sensor 4 detects the start permission by the driver, that is, when the operation lever is turned ON, a lever ON signal is output to the stop holding control unit 22 of the control device 2. The operation lever is also for setting an interval between the own vehicle and the preceding vehicle at the time of follow-up traveling control by the vehicle traveling control device 1-1.

  The vehicle speed sensor 5 detects the vehicle speed V of the host vehicle. The vehicle speed V detected by the vehicle speed sensor 5 is output to at least the stop / hold control unit 22 of the control device 2 and is used to determine the stop / hold control ON / OFF by the stop / hold control unit 22. Here, in the first embodiment, the vehicle speed sensor 5 is a wheel speed sensor attached to the wheel of the host vehicle, and cannot detect an extremely low vehicle speed (for example, 1 km / h). Accordingly, when the actual actual vehicle speed of the host vehicle is extremely low, the vehicle speed sensor 5 does not detect the vehicle speed V. Therefore, the stop holding control unit 22 determines the vehicle speed when the host vehicle is stopped, That is, it is determined that 0 km / h is detected. The vehicle speed V detected by the vehicle speed sensor 5 is also output to the target acceleration calculation unit 23 (not shown), and is also used when each calculation unit calculates each target acceleration.

  The accelerator pedal 6 is an accelerating means that transmits the driver's intention to accelerate the vehicle to the engine 9 and causes the engine 9 to generate a driving force. That is, when the driver depresses the accelerator pedal 6, the driving force of the engine 9 is increased and the host vehicle is accelerated. It should be noted that the driver's willingness to accelerate the host vehicle includes a starting intention when the host vehicle is stopped.

  The accelerator pedal sensor 7 is a start intention detecting means for detecting a start intention by the driver, and detects an operation amount of the accelerator pedal 6 by the driver, that is, an accelerator opening. The accelerator opening detected by the accelerator pedal sensor 7 is output to at least the stop / hold control unit 22 of the control device 2 and is used to determine whether the stop / hold control is ON / OFF by the stop / hold control unit 22. Here, the driver depresses the accelerator pedal 6 in order to transmit his / her intention to start to the engine 9 when starting the own vehicle when the own vehicle is stopped. Therefore, the accelerator pedal sensor 7 detects the intention to start by the driver by detecting the accelerator opening. The accelerator opening detected by the accelerator pedal sensor 7 is an ECU (not shown) that controls the operation of the engine 9 (if the travel control device 1 has a function as an ECU, the part having the function as an ECU). ) And used to calculate the amount of fuel supplied to the engine 9.

  The brake device 8 is one of braking / driving force generating means, which generates braking force, applies this braking force to the host vehicle, and decelerates the host vehicle. Although not shown, the brake device 8 includes a brake control device, a brake actuator, and a brake. The brake control device controls the operation of a braking system, for example, controls the operation of a brake actuator connected to the brake control device. The brake control device operates the brake actuator based on the depression amount of a brake pedal (not shown) by the driver and the traveling state of the host vehicle. The brake control device can also operate the brake actuator by a control signal from the braking / driving force control unit 24 of the control device 2. The brake actuator controls the supply of oil to a brake that is hydraulically operated. The brake applies braking force to the host vehicle based on the hydraulic pressure controlled by the brake actuator. Here, the brake is arranged to be paired with each wheel of the host vehicle. As this brake, for example, there is a hydraulic brake that operates by a hydraulic pressure such as a disc brake or a drum brake.

  Here, in the brake device 8, when the driver depresses the brake pedal, the brake actuator is operated by the brake control device, applies hydraulic pressure to the brake, assists the driver in generating braking force, and the driver's own vehicle Assist in slowing down. In the brake device 8, even if the driver does not depress the brake pedal, the brake actuator is operated by the brake control device according to the control signal from the braking / driving force control unit 24, and the brake is applied with hydraulic pressure, It is generated, the braking force is given to the own vehicle, and the own vehicle can be decelerated. In other words, the brake device 8 applies a follow-up braking / driving force (follow-up braking force) based on the follow-up target acceleration to the own vehicle during follow-up running control, and a stop-hold braking force based on the stop-hold target acceleration during stop-hold control. To your vehicle. The brake control device includes an input / output port (not shown), a processing unit, a storage unit, and the like, similar to the control device 2.

  The engine 9 is one of braking / driving force generating means, and generates braking / driving force, mainly driving force, and applies the braking / driving force to the own vehicle to accelerate or decelerate the own vehicle. The braking / driving force of the engine 9 is controlled by controlling the amount of intake air taken into the engine 9 by a throttle device (not shown). This throttle device includes a throttle actuator and a throttle valve. The throttle actuator is operated by a control signal output from the ECU based on the accelerator opening of the accelerator pedal 6 by the driver. The throttle actuator is also activated by a control signal from the braking / driving force control unit 24 of the control device 2. The throttle valve has an opening degree controlled by the operation of a throttle actuator, and adjusts the intake air amount according to the opening degree. Here, in the throttle device, when the driver depresses the accelerator pedal 6, the throttle actuator is operated by the ECU, the opening degree of the throttle valve is controlled, and the amount of intake air taken into the engine 9 is adjusted. To generate a driving force or a braking force. Further, in the throttle device, even if the driver does not depress the accelerator pedal 6, the throttle actuator is operated by the control signal from the braking / driving force control unit 24 to control the opening of the throttle valve, and the engine 9 is inhaled. The amount of intake air to be adjusted is adjusted and braking / driving force is applied by the engine 9 to accelerate or decelerate the host vehicle. That is, the engine 9 gives the vehicle following tracking braking / driving force (following driving force, tracking braking force) based on the target acceleration for tracking during the tracking traveling control.

  The components of the vehicle travel control device 1-1 are not limited to those described above, and a brake sensor that detects whether a driver has depressed a brake pedal (not shown), that is, whether the driver has a braking intention, Also, a shift position sensor for detecting the shift position may be included.

  Further, the braking / driving force generating means is not limited to the brake device 8 and the engine 9, and may include a transmission that is not shown. The engine 9 is connected to a transmission that transmits the output of the engine 9, that is, the braking / driving force to each wheel (not shown). The transmission device controls the transmission. The transmission is composed of a valve body and a transmission. The valve body is operated by a control signal output from the ECU based on an operation of a shift lever (not shown) by the driver or an accelerator opening of an accelerator pedal 6 (not shown) by the driver. The valve body is also activated by a control signal from the braking / driving force control unit 24 of the control device 2. The transmission changes the gear ratio between the engine 9 and each wheel (not shown) by operating the valve body, and changes, that is, adjusts the driving force or braking force generated by the engine 9. Here, in the transmission, when the driver operates the shift lever or the driver steps on the accelerator pedal 6, the valve body is operated by the ECU, the transmission ratio is changed by the transmission, and the driving force generated by the engine 9 is generated. Alternatively, the braking force is adjusted. In addition, the transmission operates the valve body by the control signal from the braking / driving force control unit 24 even when the driver does not operate the shift lever or depresses the accelerator pedal 6, and the transmission changes the gear ratio. The braking / driving force can be generated by changing and adjusting the driving force or braking force generated by the engine 9.

  Next, a vehicle travel control method using the vehicle travel control apparatus 1-1 according to the present invention will be described. FIG. 2 is a flowchart showing an example of the operation of the vehicle travel control device according to the present invention. FIG. 3 is an operation explanatory diagram of the vehicle travel control device according to the present invention. The vehicle travel control by the vehicle travel control device 1-1 is performed every control cycle of the vehicle travel control device 1-1.

  First, as shown in FIG. 2, the control device 2 determines whether or not the vehicle traveling control is being performed (step ST101). Here, the vehicle travel control device 1-1 determines whether or not the ACC that is the vehicle travel control, in this first embodiment, the follow-up travel control is being performed. The control device 2 repeats until it is determined that the vehicle traveling control is being performed.

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the accelerator pedal 6 is ON (step ST102). Here, the stop holding control unit 22 determines whether or not the driver's intention to start is detected. When the accelerator pedal 6 is depressed by the driver, the accelerator opening is detected by the accelerator pedal sensor 7. Therefore, the stop holding control unit 22 determines whether or not the accelerator pedal 6 is ON by determining whether or not the accelerator opening detected by the accelerator pedal sensor 7 has been acquired.

  Here, when the vehicle traveling control is being performed, that is, when the following traveling control is performed by the following traveling control unit 21, the driver does not depress the accelerator pedal 6. Therefore, the stop holding control unit 22 determines that the accelerator pedal 6 is OFF in step ST102 shown in FIG. That is, it is determined that the driver's intention to start is not detected.

  Next, when it is determined that the accelerator pedal 6 is OFF, the stop / hold control unit 22 of the control device 2 causes the counter 25 to count (step ST103).

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the count number N of the counter 25 is less than a predetermined value N1 (step ST104). Here, the predetermined value N1 means that after the accelerator pedal 6 is determined to have changed from ON to OFF, that is, after the driver's intention to start is detected by the accelerator pedal sensor 7, the intention to start is no longer detected. , A value at which a predetermined time (for example, about 2 seconds) elapses. The predetermined value N1 (predetermined time after the drive intention is not detected) may be changed based on the inter-vehicle distance from the preceding vehicle. For example, when the inter-vehicle distance with the preceding vehicle is short, the predetermined value N1 may be made smaller than the normal inter-vehicle distance.

  Here, when the vehicle travel control is being performed, that is, when the follow-up travel control is being performed by the follow-up travel control unit 21, the driver does not depress the accelerator pedal 6. The counter 25 counts every control cycle of 1-1. Therefore, when the vehicle traveling control is being performed, that is, when the tracking traveling control unit 21 performs the tracking traveling control, the count number N of the counter 25 is larger than the predetermined value N1. Thereby, the stop holding control unit 22 determines that the count number N of the counter 25 is equal to or greater than the predetermined value N1 in step ST104 shown in FIG.

  Next, when it is determined that the count number N of the counter 25 is greater than or equal to the predetermined value N1, the stop / hold control unit 22 of the control device 2 acquires the vehicle speed V of the host vehicle (step ST105). Here, the stop holding control unit 22 acquires the vehicle speed V of the host vehicle detected by the vehicle speed sensor 5.

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the acquired vehicle speed V is 0 (step ST106). Here, when the preceding vehicle is traveling at a speed at which the actual vehicle speed of the host vehicle is not less than or equal to the extremely low vehicle speed V1 during the follow-up traveling control, the vehicle speed sensor 5 can detect the vehicle speed V of the host vehicle. Therefore, in this case, the stop holding control unit 22 of the control device 2 determines that the acquired vehicle speed V is other than 0 in step ST106 shown in FIG.

  Next, the stop and hold control unit 22 cancels the stop and hold control, that is, turns off the stop and hold control (step ST107). Here, the stop holding control unit 22 stops outputting the control ON signal to the stop holding target acceleration calculating unit 23b of the target acceleration calculating unit 23, or does not output this control ON signal. Here, when the vehicle traveling control is being performed, the follow-up traveling control unit 21 recognizes the preceding vehicle from the position data of the object input from the millimeter wave radar 3, and uses the recognized preceding vehicle position data as the target acceleration calculating unit. The follow-up target acceleration calculation unit 23a outputs to 23. The tracking target acceleration calculation unit 23a calculates a plurality of tracking target accelerations based on the input position data of the preceding vehicle, and outputs it to the arbitration unit 23c. At this time, as described above, since the stop / hold control unit 22 turns off the stop / hold control, the stop / hold target acceleration is not calculated by the stop / hold target acceleration calculation unit 23b. Accordingly, the arbitration unit 23 c receives only a plurality of tracking target accelerations, and therefore determines the target acceleration from the plurality of tracking target accelerations and outputs the target acceleration to the braking / driving force control unit 24. The braking / driving force control unit 24 calculates the braking / driving force, here the following braking / driving force, based on the inputted target acceleration, and in order to give this following braking / driving force to the host vehicle, At least one of them is selected and controlled. As a result, the host vehicle follows the preceding vehicle recognized by the following traveling control unit 21. Note that when the stop holding control unit 22 turns off the stop holding control, the operation of the vehicle travel control device 1-1 according to the present invention in one control cycle is completed, and the next control cycle is started.

  Here, if the preceding vehicle stops during the follow-up running control, the host vehicle that follows the preceding vehicle also stops. That is, the actual vehicle speed of the host vehicle is 0 km / h (A1 portion shown in FIG. 3). At this time, the vehicle speed sensor 5 cannot detect the vehicle speed V when the actual vehicle speed of the host vehicle is less than or equal to the extremely low vehicle speed V1. Accordingly, in this case, the stop holding control unit 22 of the control device 2 determines that the acquired vehicle speed V is 0 in step ST106 shown in FIG. Here, the acquired vehicle speed V is 0 before the actual vehicle speed of the host vehicle is 0 km / h (B1 portion shown in FIG. 3). Therefore, even if the acquired vehicle speed V becomes 0, the host vehicle is not actually stopped. In addition, when the vehicle speed V acquired for each control cycle of the vehicle travel control device 1-1 maintains 0 for a certain period, it may be determined that the acquired vehicle speed V is 0. Further, when the wheel speed sensor which is the vehicle speed sensor 5 is attached to all the wheels, it is determined that the acquired vehicle speed V is 0 when the vehicle speed V is no longer detected by all the vehicle speed sensors 5. Also good.

  Next, as shown in FIG. 2, when it is determined that the acquired vehicle speed V is 0, the stop holding control unit 22 of the control device 2 starts the stop holding control, that is, turns on the stop holding control ( Step ST108). Here, the stop holding control unit 22 outputs a control ON signal to the stop holding target acceleration calculation unit 23b of the target acceleration calculation unit 23 (E1 portion shown in FIG. 3). The stop / hold target acceleration calculation unit 23b calculates the stop / hold target acceleration by inputting the control ON signal, and outputs it to the arbitration unit 23c. Here, a plurality of follow-up target accelerations and stop-hold target accelerations are input to the arbitration unit 23c. As described above, this stop-hold target acceleration is smaller than any of the follow-up target accelerations. It is. Therefore, the arbitrating unit 23 c determines the input target acceleration for stop holding as the target acceleration and outputs the target acceleration to the braking / driving force control unit 24. The braking / driving force control unit 24 calculates the braking / driving force, here, the stop holding braking force based on the input target acceleration, selects the brake device 8 in order to give this stop holding braking force to the host vehicle, Control. As a result, the host vehicle, which has an extremely low vehicle speed, is stopped by the stop / hold braking force given when the stop / hold control is turned on by the stop / hold control unit 22, and the stop state is maintained. Note that when the stop and hold control unit 22 turns on the stop and hold control, the operation of the vehicle travel control device 1-1 according to the present invention in one control cycle is completed, and the next control cycle is started. Further, when it is determined that the accelerator pedal 6 is turned on, the follow-up travel control by the follow-up travel control unit 21 is interrupted, but the vehicle travel control device 1-1 maintains a state in which the vehicle travel control is performed.

  Here, when the driver starts the vehicle again using the accelerator pedal 6 that is the acceleration means from the stopped state, that is, the state where the stop holding control by the stop holding control unit 22 is performed, The accelerator pedal 6 is depressed (C1 portion shown in FIG. 3). Therefore, in this case, the stop holding control unit 22 of the control device 2 determines that the accelerator pedal 6 is ON in step ST102 shown in FIG.

  Next, when it is determined that the accelerator pedal 6 is ON, the stop holding control unit 22 sets the count number N of the counter 25 to 0 (step ST109). Here, when the accelerator pedal 6 is depressed by the driver, the stop holding control unit 22 outputs a reset instruction to the counter 25 and sets the count number N of the counter 25 to zero. At this time, the host vehicle shifts from the stop state to the start state when the accelerator pedal 6 is turned on. Therefore, the actual vehicle speed of the host vehicle starts increasing from 0 km / h (A2 portion shown in FIG. 3). Even when the host vehicle is in a starting state, when the actual vehicle speed of the host vehicle is very low vehicle speed V1 or less, vehicle speed V is not detected by vehicle speed sensor 5 (part up to B2 shown in FIG. 3). The vehicle speed V remains zero.

  Next, as shown in FIG. 2, the stop / hold control unit 22 cancels the stop / hold control, that is, turns off the stop / hold control (step ST107). Here, when it is determined that the accelerator pedal 6 is turned on, the stop holding control unit 22 stops the output of the control ON signal to the stop holding target acceleration calculating unit 23b of the target acceleration calculating unit 23 (E2 shown in FIG. 3). portion). That is, the stop / hold control unit 22 releases the stop / hold control. Accordingly, the host vehicle starts by the starting driving force applied by the engine 9 based on the accelerator opening of the accelerator pedal 6 that is acceleration means by the driver. When it is determined that the accelerator pedal 6 is turned on, the follow-up running control by the follow-up running control unit 21 is interrupted, but the vehicle running control device 1-1 maintains a state in which the vehicle running control is performed.

  Here, if the driver continues to step on the accelerator pedal 6, the stop holding control unit 22 of the control device 2 determines again that the accelerator pedal 6 is ON in step ST102 shown in FIG. 2, and the step shown in FIG. In ST109, the count number N of the counter 25 is set to 0 again, and the stop holding control is turned off in step ST107 shown in FIG. That is, when the driver continues to depress the accelerator pedal 6, the stop holding control by the stop holding control unit 22 is not performed.

  Here, the driver stops stepping on the accelerator pedal 6 (part C2 shown in FIG. 3), that is, the accelerator pedal sensor 7 shifts to a state where the accelerator opening is not detected, and a creep phenomenon, etc. May increase the vehicle speed of the vehicle. In this case, the stop holding control unit 22 determines that the accelerator pedal 6 is OFF in step ST102 shown in FIG. 2, and starts counting to the counter 25 that has become 0 in step ST103 (D shown in FIG. 3). portion). That is, the stop holding control unit 22 starts counting in the counter 25 when the intention to start is no longer detected.

  As described above, immediately after the driver stops stepping on the accelerator pedal 6, that is, after the driver's intention to start is detected by the accelerator pedal sensor 7, the predetermined time after the start intention is not detected is the counter 25. The count number N is less than a predetermined value N1. Accordingly, the stop and hold control unit 22 repeats turning off the stop and hold control in step ST107 shown in FIG. 2 until the count number N of the counter 25 becomes equal to or greater than the predetermined value N1 in step ST104 shown in FIG. That is, the stop holding control unit 22 performs the stop holding control even when the accelerator pedal 6 is changed from ON to OFF, that is, after the driver's intention to start is detected by the accelerator pedal sensor 7, the starting intention is not detected. Not performed. In the conventional vehicle travel control device, the stop holding control unit turns the stop holding control from OFF to ON when it is determined that the accelerator pedal 6 has changed from ON to OFF (E3 portion shown in FIG. 3). However, in the vehicle travel control device 1-1 according to the present invention, even if the accelerator pedal 6 changes from ON to OFF, after the driver's intention to start is detected by the accelerator pedal sensor 7, this intention to start is not detected. For a predetermined time, the state in which the stop holding control is turned off is maintained, that is, the stop holding control is prohibited.

  As described above, the vehicle travel control device 1-1 according to the present invention has the intention to start by the driver when the driver starts the vehicle with the accelerator pedal 6 serving as the acceleration means. Is detected, the stop holding control by the stop holding control unit 22 is prohibited for a predetermined time after the driving intention is no longer detected. That is, when the host vehicle is started during the stop holding control by the stop holding control unit 22, the stop holding control by the stop holding control unit 22 is prohibited for a predetermined period after the stop holding control is released. During the predetermined period after the release, the stop / hold control by the stop / hold control unit 22 is not performed. Accordingly, immediately after the start of the own vehicle, for example, when the vehicle speed V of the own vehicle cannot be detected by the vehicle speed sensor 5, the predetermined value is obtained after the stop / hold control is canceled, compared to the conventional vehicle travel control device that performs the stop / hold control. During this time (the range of the alternate long and short dash line shown in FIG. 3), stop holding control is performed, and it is possible to prevent the braking device 8 serving as braking / driving force generating means from applying stop holding braking force to the host vehicle. As a result, even if the actual vehicle speed of the host vehicle is extremely low immediately after the start, the host vehicle is not decelerated and stopped because no stop holding braking force is applied to the host vehicle (see FIG. 3). 2), it is possible to prevent the vehicle from becoming different from the behavior according to the driver's intention to start. In addition, it is possible to suppress the driver's uncomfortable feeling immediately after starting.

  In the above-described embodiment, the stop holding control unit 22 performs the stop holding control ON / OFF depending on whether the accelerator pedal 6 is turned ON / OFF, that is, whether the driver's intention to start is detected. Is not limited to this. For example, the stop holding control may be turned ON / OFF depending on whether or not the start permission by the driver is detected.

Figure 4 is a flow diagram illustrating the operation of the vehicle travel control device according to a reference example. Figure 5 is an operation explanatory diagram of a vehicle travel control device according to a reference example. Of the operation of the vehicle travel control device 1-1 according to the reference example shown in FIG. 4, operation of the same portion of a vehicle travel control apparatus 11 according to the first embodiment shown in FIG. 2 is a simplified description To do.

  First, as shown in FIG. 4, the control device 2 determines whether or not the vehicle traveling control is being performed (step ST201). Note that when the following traveling control is being performed, the host vehicle performs the following traveling with respect to the preceding vehicle recognized by the following traveling control unit 21.

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the operation lever is turned on (step ST202). Here, it is determined whether or not the start permission by the driver is detected by the stop holding control unit 22. When the operation lever is operated by the driver, the operation lever sensor 4 detects ON of the operation lever. Accordingly, the stop holding control unit 22 determines whether or not the driver has permitted the start by determining whether or not the operation lever is turned on by the operation lever sensor 4.

  Here, when the vehicle traveling control is being performed, that is, when the following traveling control is being performed by the following traveling control unit 21, the driver does not turn on the operation lever. Therefore, the stop holding control unit 22 determines that the operation lever is OFF in step ST202 shown in FIG.

  Next, when it is determined that the operation lever is OFF, the stop holding control unit 22 of the control device 2 determines whether or not the start flag is ON (step ST203). Here, it is determined whether or not the start permission by the driver has been detected by determining whether or not the start flag that is turned ON when the operation lever is turned ON.

  Here, when the vehicle travel control is being performed, that is, when the follow-up travel control is performed by the follow-up travel control unit 21, the driver does not turn on the operation lever, so the start flag is not turned on. Therefore, the stop holding control unit 22 determines that the start flag is OFF in step ST203 shown in FIG.

  Next, when it is determined that the start flag is OFF, the stop holding control unit 22 of the control device 2 acquires the vehicle speed V of the host vehicle (step ST207).

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the acquired vehicle speed V is 0 (step ST208). Here, when the preceding vehicle is traveling at a speed at which the actual vehicle speed of the host vehicle is not less than or equal to the extremely low vehicle speed V1 during the follow-up traveling control, the vehicle speed sensor 5 can detect the vehicle speed V of the host vehicle. Therefore, in this case, the stop holding control unit 22 of the control device 2 determines that the acquired vehicle speed V is other than 0 in step ST208 shown in FIG.

Next, the stop / hold control unit 22 releases the stop / hold control, that is, turns off the stop / hold control (step ST209). The own vehicle has a tracking control based on the target acceleration S calculated by the target acceleration calculation unit 23 (here, any one of a plurality of tracking target accelerations) with respect to the preceding vehicle recognized by the tracking traveling control unit 21. Driving force is applied and follow-up running is performed (see FIG. 5). Note that when the stop and hold control unit 22 turns off the stop and hold control, the operation in one control cycle of the vehicle travel control device 1-1 according to the reference example is completed, and the process proceeds to the next control cycle.

  If the preceding vehicle stops during the follow-up running control, the host vehicle that follows the preceding vehicle also stops. That is, the actual vehicle speed of the host vehicle is 0 km / h (A3 portion shown in FIG. 5). At this time, the vehicle speed sensor 5 cannot detect the vehicle speed V when the actual vehicle speed of the host vehicle is less than or equal to the extremely low vehicle speed V1. Therefore, in this case, the stop holding control unit 22 of the control device 2 determines that the acquired vehicle speed V is 0 in step ST208 shown in FIG. Here, the acquired vehicle speed V becomes 0 before the actual vehicle speed of the host vehicle becomes 0 km / h (part B3 shown in FIG. 5).

  Next, as shown in FIG. 4, when the acquired vehicle speed V is determined to be 0, the stop holding control unit 22 of the control device 2 starts the stop holding control, that is, turns on the stop holding control ( Step ST210). Here, the stop holding control unit 22 outputs a control ON signal to the stop holding target acceleration calculating unit 23b of the target acceleration calculating unit 23 (E4 portion shown in FIG. 5). Accordingly, the host vehicle having the extremely low vehicle speed is turned on by the stop / hold control unit 22 and the target acceleration S (here, the target acceleration for stop / hold) calculated by the target acceleration calculation unit 23 is turned on. A stop holding braking force based on the above is applied, and the vehicle stops and holds this stop state (see FIG. 5).

Here, when the driver starts the host vehicle again by the vehicle travel control from the stopped state, that is, the state in which the stop holding control unit 22 performs the stop holding control, the driver uses the reference example. The operation lever is operated to give the vehicle travel control device 1-1 permission to start the host vehicle (part F shown in FIG. 5). Therefore, in this case, the stop holding control unit 22 of the control device 2 determines that the operation lever is ON in step ST202 shown in FIG. Here, in order to give the start permission of the host vehicle to the vehicle travel control device 1-1 according to the reference example , the driver can operate the operation lever because the target acceleration calculated by the target acceleration calculation unit 23 S is limited to the case where the host vehicle can start with a predetermined start acceleration, which is zero or more in the reference example . For example, when following control is performed on a preceding vehicle by starting the host vehicle, the distance between the preceding vehicle and the preceding vehicle is not sufficiently separated or the distance between the preceding vehicle is not sufficiently separated. However, in a state where the vehicle speed of the preceding vehicle is equal to or higher than a certain vehicle speed, the driver can operate the operation lever, and can give the vehicle travel control device 1-1 according to the reference example permission to start the host vehicle. .

  Next, when it is determined that the operation lever is ON, the stop / hold control unit 22 of the control device 2 sets the start flag to ON (step ST211). Here, when the stop holding control unit 22 detects the start permission by the driver using the operation lever sensor 4, the stop holding control unit 22 simultaneously sets the start flag to ON (part G 1 shown in FIG. 5).

  Next, as shown in FIG. 4, the stop / hold control unit 22 cancels the stop / hold control, that is, turns off the stop / hold control (step ST209). Here, when determining that the operation lever has been turned ON, the stop / hold control unit 22 stops the output of the control ON signal to the stop / hold target acceleration calculation unit 23b of the target acceleration calculation unit 23 (E5 portion shown in FIG. 5). ). That is, the stop / hold control unit 22 releases the stop / hold control. At this time, the target acceleration S calculated by the target acceleration calculation unit 23 is determined from the plurality of target accelerations for tracking calculated by the target acceleration calculation unit 23a for tracking, but the driver is permitted to start as described above. Since it is a case where it detects, it becomes the positive acceleration which the own vehicle can start (H1 part shown in FIG. 5). Therefore, the host vehicle starts by being given the following braking / driving force calculated based on the calculated target acceleration S, that is, the start driving force. That is, the follow-up running control unit 22 that is a starting means detects the start permission by the driver by the operation lever sensor 4 that is a start permission detecting means, and stops when the calculated target acceleration S becomes equal to or greater than the predetermined start acceleration. The stop holding control by the holding control unit 22 is canceled and the host vehicle is started.

The own vehicle shifts from the stop state to the start state when the operation lever is turned on. Therefore, the actual vehicle speed of the host vehicle starts to increase from 0 km / h (A4 portion shown in FIG. 5). Even when the host vehicle is in a starting state, when the actual vehicle speed of the host vehicle is very low vehicle speed V1 or less, vehicle speed V is not detected by vehicle speed sensor 5 (part up to B4 shown in FIG. 5). The vehicle speed V remains zero. In addition, when it is determined that the accelerator pedal 6 is turned on, the follow-up running control by the follow-up running control unit 21 is interrupted, but the vehicle running control device 1-1 according to the reference example is in a state of performing the vehicle running control. To maintain.

  Here, when the driver stops operating the operation lever, the operation lever returns to the original position. Therefore, the stop holding control unit 22 determines that the operation lever is OFF in step ST202 shown in FIG. 4, but when it is determined that the operation lever is ON as described above, the start flag is set to ON. In step ST203, it is determined that the start flag is ON. That is, the stop holding control unit 22 determines that the start permission by the driver has been detected when the start flag is turned ON.

  Next, when it is determined that the start flag is ON, the stop holding control unit 22 of the control device 2 acquires the calculated target acceleration S (step ST204). Here, the target acceleration S calculated by the target acceleration calculation unit 23 is acquired.

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the calculated target acceleration S is 0 or more (step ST205). Here, it is determined whether or not the target acceleration S calculated by the target acceleration calculation unit 23 is less than the predetermined stop acceleration, which is 0 in the first embodiment.

  As described above, the target acceleration calculated by the target acceleration calculation unit 23 immediately after the operation lever is operated by the driver, that is, after the start flag is turned ON and the stop holding control by the stop holding control unit 22 is released. S is equal to or greater than the predetermined acceleration for starting, that is, equal to or greater than 0. Therefore, the stop / hold control unit 22 turns off the stop / hold control in step ST209 shown in FIG. 5 until the target acceleration S calculated in step ST205 shown in FIG. repeat. That is, the stop holding control unit 22 immediately after the operating lever is operated by the driver, that is, after the start flag is turned ON and the stop holding control by the stop holding control unit 22 is released, the target acceleration S is less than the predetermined stop acceleration. Until this occurs (H2 shown in FIG. 5), stop holding control is not performed. For example, since the preceding vehicle in which the host vehicle is following is decelerated, and the calculated target acceleration S is less than the predetermined stop acceleration, the stop holding control unit 22 calculates in step ST205 shown in FIG. The determined target acceleration S is determined to be less than 0, and the start flag is turned OFF (step ST206).

In the conventional vehicle travel control device, the stop holding control unit 22 switches the stop holding control from OFF to ON if the vehicle speed V is not detected by the vehicle speed sensor 5 even if the start permission by the driver is detected. . However, in the vehicle travel control device 1-1 according to the reference example, after the start permission by the driver is detected and the stop holding control by the stop holding control unit 22 is released, the target acceleration calculated by the target acceleration calculating unit 23 is detected. Until the acceleration S becomes less than the predetermined stop acceleration, the state in which the stop holding control is turned off is maintained, that is, the stop holding control is prohibited (part G2 shown in FIG. 5).

As described above , the vehicle travel control apparatus 1-1 according to the reference example starts when the driver's start permission is detected and the calculated target acceleration S is equal to or higher than the predetermined start acceleration, and zero in the reference example. The stop holding control by the stop holding control unit 22 is prohibited until the target acceleration calculated by the target acceleration calculation unit 23 is less than the predetermined stop acceleration, which is 0 in the reference example . That is, when the host vehicle is started during the stop holding control by the stop holding control unit 22, the stop holding control by the stop holding control unit 22 is prohibited for a predetermined period after the stop holding control is released. During the predetermined period after the release, the stop / hold control by the stop / hold control unit 22 is not performed. Accordingly, immediately after the start of the own vehicle, for example, when the vehicle speed V of the own vehicle cannot be detected by the vehicle speed sensor 5, the predetermined value is obtained after the stop / hold control is canceled, compared to the conventional vehicle travel control device that performs the stop / hold control. During this time, the stop holding control is performed, and it is possible to suppress the stop and holding braking force from being applied to the host vehicle by the brake device 8 serving as the braking / driving force generating means. As a result, even if the actual vehicle speed of the host vehicle is very low immediately after starting, the host vehicle is not decelerated and stopped because the host vehicle is not provided with the stop holding braking force. It is possible to suppress the behavior different from the behavior according to the driver's intention to start. In addition, it is possible to suppress the driver's uncomfortable feeling immediately after starting.

  Further, when the preceding vehicle starts again after stopping, until the start permission by the driver is detected for a predetermined period after the stop holding control is canceled, and until the calculated target acceleration S becomes less than the predetermined stop acceleration, Stop holding control by the stop holding control unit 22 is not performed. Therefore, when the preceding vehicle starts again after being stopped and the follow-up running control is performed, it is possible to suppress the brake device 8 serving as the braking / driving force generating means from applying the stop holding braking force to the own vehicle. . As a result, the host vehicle can smoothly follow the vehicle after the preceding vehicle starts.

Further, only one of the operation of the vehicle travel control device 1-1 according to the present invention shown in FIG. 2 and the operation of the vehicle travel control device 1-1 according to the reference example shown in FIG. You may do both at the same time.

  Next, the vehicle travel control device 1-2 according to the second embodiment will be described. FIG. 6 is a diagram illustrating a configuration example of the vehicle travel control apparatus according to the second embodiment. The vehicle travel control device 1-2 according to the second embodiment shown in the figure is different from the vehicle travel control device according to the first embodiment shown in FIG. 1 in that the braking / driving force control is performed. In the state where the follow-up running control by 21 is not performed, the stop holding control unit 22 prohibits the stop holding control for a predetermined period after the host vehicle in the stopped state enters the starting state, in this embodiment 2, for a predetermined period. . Here, the basic configuration of the vehicle travel control device 1-2 according to the second embodiment shown in FIG. 6 is the same as the basic configuration of the vehicle travel control device 1-1 according to the first embodiment shown in FIG. The description is omitted.

  The follow-up running control unit 21 uses the brake device 8 or the engine 9 serving as a braking / driving force generating means to follow the running-drive control that gives the own vehicle a following braking / driving force for following the preceding vehicle, that is, braking / driving force control. This is a braking / driving force control means. Further, the stop holding control unit 22 is a stop holding control unit and also a prohibited section setting unit. The stop holding control unit 22 prohibits the stop holding control for a predetermined period after the stopped state of the own vehicle is started, and in this embodiment 2, for a predetermined period after the stopped state of the own vehicle starts. This is set as a section. In addition, the stop holding control unit 22 prohibits the stop holding control for a predetermined period after the prohibited section, that is, the host vehicle in the stopped state starts.

  The brake pedal sensor 11 detects a brake operation by the driver, and detects an operation amount of the brake pedal 10 by the driver, that is, a brake depression amount. The brake depression amount detected by the brake pedal sensor 11 is output to at least the stop / hold control unit 22 of the control device 2, and the ON / OFF of the hold prohibit flag for determining whether the stop / hold control by the stop / hold control unit 22 is permitted or prohibited. Used for OFF. Here, when the driver stops the host vehicle, the driver depresses the brake pedal 10 in order to transmit his / her intention to stop to the brake device 8 to put the host vehicle in a stopped state. Then, when the driver starts the stopped vehicle, the driver releases the brake operation by releasing the brake pedal 10 that has been depressed. Thereby, the own vehicle starts by the output which the engine 9 generate | occur | produces, and will be in the start state. In other words, the brake pedal sensor 11 is a start state detection unit that detects the start state of the host vehicle by detecting the release of the brake operation. Note that the depression amount detected by the brake pedal sensor 11 is output to a brake control device (not shown) of the brake device 8, and the operation of the brake actuator is used for control.

  Next, operation | movement of the vehicle travel control apparatus 1-2 concerning Example 2 is demonstrated. FIG. 7 is a flowchart illustrating another example of the operation of the vehicle travel control apparatus according to the second embodiment. FIG. 8 is another operation explanatory diagram of the vehicle travel control apparatus according to the second embodiment. Of the operations of the vehicle travel control device 1-2 according to the second embodiment shown in FIG. 7, the same parts as the operations of the vehicle travel control device 1-1 according to the first embodiment shown in FIG. To do. The vehicle travel control by the vehicle travel control device 1-2 is performed every control cycle of the vehicle travel control device 1-2.

  First, as shown in FIG. 7, the stop holding control unit 22 of the control device 2 determines whether or not the brake operation is released (step ST301). Here, for example, the stop holding control unit 22 determines whether or not the brake pedal sensor 11 is released from the state where the brake pedal 10 is depressed by the driver, that is, whether or not the amount of depression of the brake pedal 10 has become zero. . The driver depresses the brake pedal 10 in order to put the host vehicle in a stopped state. Then, by continuing to depress the brake pedal 10, the actual vehicle speed is set to 0 km / h, and the host vehicle is stopped (see FIG. 8). At this time, the vehicle speed sensor 5 cannot detect the vehicle speed V when the actual vehicle speed of the host vehicle is less than or equal to the extremely low vehicle speed V1. Therefore, when the host vehicle is in a stopped state, the vehicle speed V cannot be detected by the vehicle speed sensor 5, and the acquired vehicle speed V becomes 0 (see FIG. 8). That is, the stop holding control unit 22 determines whether or not the host vehicle has changed from the stopped state to the started state by detecting the release of the brake operation, that is, detecting the started state.

  Next, when it is determined that the brake operation has been released, the stop / hold control unit 22 of the control device 2 causes the counter 25 to count (step ST302).

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the count number N of the counter 25 is less than a predetermined value N2 (step ST303). Here, the predetermined value N2 is a predetermined section after the host vehicle in a stopped state starts, and in this embodiment 2, a predetermined period (for example, about 2 seconds) after it is determined that the brake operation is released. Elapsed value. The predetermined value N2 (predetermined time after the start state is detected) may be changed based on the inter-vehicle distance from the preceding vehicle. For example, when the inter-vehicle distance with the preceding vehicle is short, the predetermined value N2 may be made smaller than the normal inter-vehicle distance.

  Next, when it is determined that the count number N of the counter 25 is less than the predetermined value N2, the stop / hold control unit 22 of the control device 2 sets the hold prohibition flag to ON (step ST304). Here, when the brake pedal 10 is released (I portion shown in FIG. 8), the stop holding control unit 22 sets the holding prohibition flag to ON because the count number N of the counter 25 is less than the predetermined value N2 ( K1 portion shown in FIG. 8). Then, the stop hold control unit 22 maintains the hold prohibition flag ON until the count number N of the counter 25 counted for each control cycle becomes equal to or greater than a predetermined value N2 (part K2 shown in FIG. 8). Here, when the holding prohibition flag is ON, the stop holding control unit 22 does not start the stop holding control even if the acquired vehicle speed V is 0 in the stop holding control start condition, in the second embodiment. . In other words, the stop and hold control unit 22 prohibits the stop and hold control from being prohibited for a predetermined period after detecting the start state by detecting the release of the brake operation by detecting the release of the brake operation after the stopped own vehicle has started. This is set as a section, and in this prohibited section, the holding prohibition flag is turned ON.

  Next, as shown in FIG. 7, control device 2 determines whether or not vehicle travel control has been started (step ST305). Here, the vehicle travel control device 1-2 determines whether braking / driving force control, that is, ACC which is vehicle travel control, in this second embodiment, follow-up travel control is performed.

  Here, in order to perform vehicle travel control after releasing the brake operation and the host vehicle is in a start state, the driver permits the vehicle travel control device 1-2 to start the host vehicle, that is, to permit control start. Therefore, the operating lever is operated (F portion shown in FIG. 8). Therefore, in this case, when the operation lever is turned ON, the stop holding control unit 22 of the control device 2 determines that the follow-up travel control that is the vehicle travel control is started in step ST305 shown in FIG. Will be.

  Next, when it is determined that the vehicle travel control is started, the stop holding control unit 22 of the control device 2 acquires the vehicle speed V of the host vehicle (step ST306). Here, the stop holding control unit 22 acquires the vehicle speed V of the host vehicle detected by the vehicle speed sensor 5.

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the acquired vehicle speed V is 0 km / h and the holding prohibition flag is OFF (step ST307). Here, the stop / hold control unit 22 determines whether or not the vehicle speed V = 0, which is the start condition of the stop / hold control, and the hold prohibition flag is OFF, that is, whether the stop / hold control is not prohibited.

  Here, a predetermined period after the stopped vehicle enters the start state, that is, a predetermined period after detecting the release of the brake operation and detecting the start state is set as a prohibition section for prohibiting the stop holding control. In the prohibited section, the holding prohibition flag is turned ON. Therefore, the stop holding control unit 22 of the control device 2 is acquired in step ST307 even if the vehicle speed V = 0 for a predetermined period after detecting the start of the prohibited section, that is, the release of the brake operation. The vehicle speed V is 0 km / h, but it is determined that the holding prohibition flag is not OFF.

  Next, when it is determined that the acquired vehicle speed V is not 0 km / h or the holding prohibition flag is not OFF, the following traveling control unit 21 of the control device 2 maintains the vehicle traveling control (step ST311). Here, the stop / hold control unit 22 prohibits the stop / hold control (the one-dot chain line portion in FIG. 8) from being performed even when the acquired vehicle speed V, which is the start condition of the stop / hold control, is 0 km / h. The vehicle traveling control, that is, the following traveling control is maintained. Therefore, if the preceding vehicle has started immediately after the start of the host vehicle, the vehicle travel control device 1-2 causes the host vehicle to follow the preceding vehicle.

  Further, when it is determined that the count number N of the counter 25 is equal to or greater than the predetermined value N2, the stop / hold control unit 22 of the control device 2 determines whether stop / hold control is prohibited (step ST309). Here, the stop holding control unit 22 determines whether or not the holding prohibition flag is ON.

  Next, when it is determined that the stop holding control is prohibited, the stop holding control unit 22 of the control device 2 sets the holding prohibition flag to OFF (step ST310). Here, the stop holding control unit 22 detects that the predetermined period has elapsed since the start of the brake pedal 10 by detecting the release of the brake pedal 10 after the parked vehicle has started, and the prohibited section If it is determined that the holding prohibition flag is ON, the holding prohibition flag that was ON is turned OFF (part K2 shown in FIG. 8).

  Next, as shown in FIG. 7, when it is determined in step ST309 that the stop holding control is not prohibited, or the holding prohibition flag is turned off in step ST310, the control device 2 determines whether the vehicle travel control has started. Is again determined (step ST305).

  Next, as described above, the stop and hold control unit 22 of the control device 2 performs the follow-up travel control, which is the vehicle travel control, when the driver is permitted to start the control of the vehicle travel control device 1-2. It is determined that the vehicle has started, and the vehicle speed V of the host vehicle is acquired (step ST306).

  Next, the stop holding control unit 22 of the control device 2 determines whether or not the acquired vehicle speed V is 0 km / h and the holding prohibition flag is OFF (step ST307).

  Here, a predetermined section after the stopped vehicle enters the start state, that is, when the release period is detected by detecting the release of the brake operation and the predetermined period elapses, and the prohibition section ends and the ON state is maintained. The prohibition flag is turned off. Accordingly, the stop holding control unit 22 of the control device 2 detects the prohibited section, that is, the release state of the brake operation to detect the start state, and when a predetermined period has elapsed and the vehicle speed V = 0, the acquisition is performed in step ST307. The determined vehicle speed V is 0 km / h, and it is determined that the holding prohibition flag is OFF.

  Next, when it is determined that the acquired vehicle speed V is 0 km / h and the holding prohibition flag is OFF, the follow-up running control unit 21 of the control device 2 starts stop holding control (step ST308). . Here, when the acquired vehicle speed V, which is the start condition of the stop holding control, is 0 km / h, the stop holding control unit 22 performs the stop holding control even if the vehicle running control, that is, the follow running control, The own vehicle is brought to a stop state by stop holding control.

  As described above, the vehicle travel control device 1-2 according to the present invention detects the start state of the host vehicle after the stop holding control unit 22 serving as the prohibited section setting means detects the release of the brake operation. If the predetermined section is set as a prohibited section after the host vehicle in a stopped state is started, the stop holding control by the stop holding control means is performed in the set prohibited section (while the count number N is less than the predetermined value N2). Is prohibited. That is, the predetermined section after the stopped vehicle is in the starting state is stopped and held by the stop and hold control unit 22 that is the stop and hold control means even if the braking / driving control, that is, the vehicle traveling control is started during the predetermined section. There is no control. Therefore, immediately after the start of the host vehicle, for example, when the vehicle speed V of the host vehicle cannot be detected by the vehicle speed sensor 5, it is compared with a conventional vehicle travel control device that performs stop holding control in a predetermined section set as a prohibited section. Stop holding control is performed for a predetermined period after the host vehicle in a certain stop state is in a starting state, and the brake device 8 serving as braking / driving force generation means is prevented from being given stop holding braking force to the host vehicle. be able to. As a result, even if the actual vehicle speed of the host vehicle is very low immediately after the host vehicle starts, no stop holding braking force is applied to the host vehicle. It can suppress that a vehicle becomes a behavior different from the behavior according to a driver | operator's starting intention. In addition, it is possible to suppress the driver's uncomfortable feeling immediately after starting.

  In the second embodiment, the set prohibited section is a predetermined section after the stopped vehicle is started, that is, when the brake pedal sensor 11 detects release of the brake operation by the driver, It is not limited to a predetermined period after the state is detected. For example, a predetermined section immediately after the start of braking / driving force control may be set as a prohibited section. In other words, the predetermined period may be set as the prohibited section immediately after the host vehicle in the stopped state enters the starting state and starts the vehicle travel control, that is, the follow-up travel control. In this case, the stop and hold control by the stop and hold control unit 22 is not performed for a predetermined period immediately after the start of the follow-up running control that is the braking / driving force control by the follow-up running control unit 21 that is the braking / driving force control means. Therefore, even if the vehicle speed V of the host vehicle cannot be detected immediately after the host vehicle starts, for example, the stop / hold control unit 22 can prevent the stop / hold braking force from being applied to the host vehicle.

Further, either the operation of the vehicle travel control device 1-2 according to the second embodiment shown in FIG. 7 or the operation of the vehicle travel control device 1-1 according to the first embodiment or the reference example shown in FIG. 2 or FIG. May be performed alone, or both may be performed simultaneously.

  As described above, the vehicle travel control device and the vehicle travel control method according to the present invention are useful for the vehicle travel control device and the vehicle travel control method for starting the host vehicle from the stop state, and particularly immediately after the host vehicle is started. It is suitable for suppressing the host vehicle from being given a stop-holding braking force.

It is a figure which shows the structural example of the vehicle travel control apparatus concerning Example 1. FIG. It is a flowchart which shows an example of operation | movement of the vehicle travel control apparatus concerning Example 1. FIG. It is operation | movement explanatory drawing of the vehicle travel control apparatus concerning Example 1. FIG. Is a flow diagram illustrating the operation of the vehicle travel control device according to a reference example. It is an operation explanatory diagram of a vehicle travel control device according to a reference example. It is a figure which shows the structural example of the vehicle travel control apparatus concerning Example 2. FIG. FIG. 10 is a flowchart illustrating an example of an operation of the vehicle travel control apparatus according to the second embodiment. It is operation | movement explanatory drawing of the vehicle travel control apparatus concerning Example 2. FIG.

Explanation of symbols

1-1 to 1-2 Vehicle travel control device 2 Control device 21 Follow-up travel control unit (follow-up travel control means, start control means, start means)
22 Stop / hold control unit (stop / hold control means)
23 Target acceleration calculation unit (target acceleration calculation means)
23a tracking target acceleration calculation unit 23b stop holding target acceleration calculation unit 23c arbitration unit 24 braking / driving force control unit (braking / driving force control means)
3 Millimeter wave radar (leading vehicle detection means)
4 Operation lever sensor (start permission detection means)
5 Vehicle speed sensor (vehicle speed detection means)
6 Accelerator pedal (acceleration means, starting means)
7 Accelerator pedal sensor (starting will detection means)
8 Brake device (braking / driving force generating means)
9 Engine (braking / braking force generating means)
10 Brake pedal 11 Brake pedal sensor (brake release detection means, start state detection means)

Claims (7)

Braking / driving force generating means for applying braking / driving force to the own vehicle;
Stop holding control means for carrying out stop holding control for applying stop holding braking force to the host vehicle by the braking / driving force generating means;
Starting means for releasing the stop holding control, applying a starting driving force to the host vehicle by the braking / driving force generating unit, and starting the host vehicle;
Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
A starting intention detection means for detecting a starting intention by the driver;
A vehicle travel control device comprising:
The stop holding control means performs the stop holding control when the vehicle speed detection means cannot detect the vehicle speed of the host vehicle immediately before the host vehicle stops.
The starting means is an accelerating means for releasing the stop holding control and starting the host vehicle according to the intention to start by the driver.
When starting the host vehicle during the stop holding control, the stop holding control is prohibited for a predetermined period after the stop holding control is released,
The predetermined period is a predetermined time after the start intention by the driver is detected by the start intention detecting means and after the start intention is not detected. Preceding vehicle detection means for detecting the preceding vehicle;
Follow-up running control means for carrying out follow-up running control for giving the following braking / driving force to the host vehicle for following up the detected preceding vehicle by the braking / driving force generating means;
Further comprising
The vehicle travel control apparatus according to claim 1, wherein the stop holding control is performed while the follow-up travel control is being performed. A procedure for performing stop / hold control for applying stop / hold braking force to the vehicle;
During the stop holding control, when starting intention detection means detects a starting intention by the driver, a starting driving force is given to the host vehicle, and the stop holding control is released when starting the host vehicle;
A procedure for prohibiting the stop holding control for a predetermined time after the release of the stop holding control;
Including
The stop holding control is performed when the vehicle speed of the host vehicle cannot be detected by the vehicle speed detecting unit that detects the vehicle speed of the host vehicle immediately before the host vehicle stops.
The predetermined period of time is a vehicle travel control method characterized by a predetermined time after the start intention is not detected after the driver's start intention is detected. Braking / driving force generating means for applying braking / driving force to the own vehicle;
Braking / driving force control means for controlling braking / driving force for controlling the braking / driving force generating means;
Stop holding control means for carrying out stop holding control for applying stop holding braking force to the host vehicle by the braking / driving force generating means;
Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
Prohibited section setting means for setting a prohibited section for prohibiting the stop holding control;
A vehicle travel control device comprising:
The stop holding control unit performs the stop holding control when the vehicle speed detecting unit cannot detect the vehicle speed of the host vehicle immediately before the host vehicle stops, and the stop holding control is performed in the set prohibited section. Prohibit control,
The prohibition section setting means sets a predetermined time as the prohibition section after the host vehicle in a stopped state has started. It further comprises a starting state detecting means for detecting the starting state,
5. The vehicle travel control device according to claim 4, wherein the prohibition section setting unit sets a predetermined time as the prohibition section after the start state of the host vehicle is detected by the start state detection unit. The start state detecting means is a brake operation detecting means for detecting a brake operation that a driver gives a braking force by the braking / driving force generating means,
6. The vehicle travel control device according to claim 5 , wherein the brake operation detection means detects the start state by detecting release of the brake operation. Braking / driving force generating means for applying braking / driving force to the own vehicle;
Braking / driving force control means for controlling braking / driving force for controlling the braking / driving force generating means;
Stop holding control means for carrying out stop holding control for applying stop holding braking force to the host vehicle by the braking / driving force generating means;
Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
Prohibited section setting means for setting a prohibited section for prohibiting the stop holding control;
A vehicle travel control device comprising:
The stop holding control unit performs the stop holding control when the vehicle speed detecting unit cannot detect the vehicle speed of the host vehicle immediately before the host vehicle stops, and the stop holding control is performed in the set prohibited section. Prohibit control,
The prohibition section setting means sets a predetermined time immediately after the start of the braking / driving force control after the host vehicle in a stopped state is in a starting state as the prohibition section.

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