JP2002120592A - Auto-cruise device - Google Patents
Auto-cruise deviceInfo
- Publication number
- JP2002120592A JP2002120592A JP2000311742A JP2000311742A JP2002120592A JP 2002120592 A JP2002120592 A JP 2002120592A JP 2000311742 A JP2000311742 A JP 2000311742A JP 2000311742 A JP2000311742 A JP 2000311742A JP 2002120592 A JP2002120592 A JP 2002120592A
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- Prior art keywords
- vehicle
- vehicle speed
- following
- distance
- lower limit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、先行車が存在しな
いときに予め設定した車速で定速走行を行い、先行車が
存在するときに予め設定した車間距離を保って追従走行
を行うＡＣＣシステム（Ａｄａｐｔｉｖｅ Ｃｒｕｉｓ
ｅ Ｃｏｎｔｒｏｌ Ｓｙｓｔｅｍ）に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ACC system in which a vehicle travels at a constant speed at a preset vehicle speed when a preceding vehicle does not exist, and performs a follow-up traveling while maintaining a preset inter-vehicle distance when a preceding vehicle exists. (Adaptive Cruis
e Control System).
【０００２】[0002]
【従来の技術】かかるＡＣＣシステムにおいて、先行車
との間に予め設定した車間距離を保って追従走行を行っ
ているときに、先行車車速が低下したために自車速が４
０ｋｍ／ｈ未満になるとＡＣＣシステムの作動を自動的
に解除するものが、特開平９−２９０６６５号公報によ
り公知である。2. Description of the Related Art In such an ACC system, when the vehicle is following the vehicle while maintaining a predetermined inter-vehicle distance between the vehicle and the preceding vehicle, the vehicle speed of the preceding vehicle decreases by 4 due to a decrease in the vehicle speed of the preceding vehicle.
A system in which the operation of the ACC system is automatically released when the speed becomes less than 0 km / h is known from Japanese Patent Application Laid-Open No. 9-290665.
【０００３】ＡＣＣシステムによる追従走行中の車間距
離（追従車間距離）は、「自車が現在の車速で走行した
場合に、現在の先行車の位置に何秒後に到達するか」で
定義される車頭時間で表される。通常のＡＣＣシステム
では、前記車頭時間が１．０ｓｅｃ〜３．０ｓｅｃの間
の任意の値に設定される。そして実際の追従車間距離
は、車速と車頭時間との積で与えられる。例えば、車速
が７２ｋｍ／ｈ＝２０ｍ／ｓｅｃ、車頭時間が２．０ｓ
ｅｃとすると、実際の追従車間距離は２０ｍ／ｓｅｃ×
２．０ｓｅｃ＝４０ｍとなる。[0003] The inter-vehicle distance (following inter-vehicle distance) during follow-up running by the ACC system is defined by "how many seconds later the vehicle reaches the current position of the preceding vehicle when the own vehicle runs at the current vehicle speed". Expressed in headway time. In a normal ACC system, the headway time is set to an arbitrary value between 1.0 sec and 3.0 sec. The actual following inter-vehicle distance is given by the product of the vehicle speed and the headway time. For example, the vehicle speed is 72 km / h = 20 m / sec, and the headway time is 2.0 s
ec, the actual following distance between the following vehicles is 20 m / sec ×
2.0 sec = 40 m.
【０００４】[0004]
【発明が解決しようとする課題】ところで、特開平９−
２９０６６５号公報に記載されたＡＣＣシステムのよう
に、追従走行中に自車速が下限車速を下回るとＡＣＣシ
ステムの作動が自動的に解除されるものでは、先行車が
前記下限車速の近傍の車速で加減速すると、ＡＣＣ制御
が頻繁に解除されて連続したＡＣＣ制御ができなくなる
問題がある。このような状況では、先行車速が低下して
ＡＣＣシステムの作動が解除される度に、ドライバーは
アクセルペダルを踏んでセット可能車速以上の車速まで
加速した後に、改めてＡＣＣシステムのセットスイッチ
を操作する必要があり、ＡＣＣシステムの利便性が損な
われる要因となっていた。SUMMARY OF THE INVENTION Incidentally, Japanese Patent Application Laid-Open No.
As in the ACC system described in Japanese Patent No. 290665, when the own vehicle speed falls below the lower limit vehicle speed during follow-up running, the operation of the ACC system is automatically released, and the preceding vehicle operates at a vehicle speed near the lower limit vehicle speed. When the vehicle is accelerated or decelerated, there is a problem that the ACC control is frequently released and continuous ACC control cannot be performed. In such a situation, every time the preceding vehicle speed decreases and the operation of the ACC system is released, the driver depresses the accelerator pedal to accelerate to a vehicle speed equal to or higher than the settable vehicle speed and then operates the set switch of the ACC system again. This has been a necessity, and has been a factor that impairs the convenience of the ACC system.
【０００５】図９には、このような状況における先行車
速、自車速、車間距離および目標車間距離の変化の一例
が、〔１〕〜〔１０〕の時間領域に別けて示されてい
る。ここで、ＡＣＣシステムのセット可能車速は１１．
５ｍ／ｓｅｃ＝４１．４ｋｍ／ｈに設定されており、ま
たＡＣＣシステムが作動する下限車速は１０．０ｍ／ｓ
ｅｃ＝３６．０ｋｍ／ｈに設定されている。 〔１〕ＡＣＣシステムが作動し、自動的に車速および車
間距離を調整する。 〔２〕下限車速未満になってＡＣＣシステムの作動が解
除され、スロットルＯＦＦで減速する。 〔３〕ドライバーがアクセルペダルを踏んでＡＣＣセッ
ト可能車速以上に加速する。 〔４〕ドライバーがＡＣＣセットスイッチを押してＡＣ
Ｃシステムを作動させ、自動的に車速および車間距離を
調整する。 〔５〕下限車速未満になってＡＣＣシステムの作動が解
除され、スロットルＯＦＦで減速する。 〔６〕ドライバーがアクセルペダルを踏んでＡＣＣセッ
ト可能車速以上に加速する。 〔７〕ドライバーがＡＣＣセットスイッチを押してＡＣ
Ｃシステムを作動させ、自動的に車速および車間距離を
調整する。 〔８〕下限車速未満になってＡＣＣシステムの作動が解
除され、スロットルＯＦＦで減速する。FIG. 9 shows an example of changes in the preceding vehicle speed, own vehicle speed, inter-vehicle distance, and target inter-vehicle distance in such a situation, separately for time ranges [1] to [10]. Here, the settable vehicle speed of the ACC system is 11.
5m / sec = 41.4km / h, and the lower limit vehicle speed at which the ACC system operates is 10.0m / s
ec = 36.0 km / h. [1] The ACC system operates to automatically adjust the vehicle speed and the following distance. [2] When the vehicle speed falls below the lower limit vehicle speed, the operation of the ACC system is released, and the vehicle is decelerated by turning off the throttle. [3] The driver depresses the accelerator pedal to accelerate above the ACC setting vehicle speed. [4] The driver presses the ACC set switch to activate AC
Activate the C system to automatically adjust the vehicle speed and the following distance. [5] When the vehicle speed falls below the lower limit vehicle speed, the operation of the ACC system is released, and the vehicle is decelerated by turning off the throttle. [6] The driver depresses the accelerator pedal to accelerate above the ACC setting vehicle speed. [7] The driver presses the ACC set switch to activate AC
Activate the C system to automatically adjust the vehicle speed and the following distance. [8] When the vehicle speed falls below the lower limit vehicle speed, the operation of the ACC system is released, and the throttle is turned off to decelerate.
〔９〕ドライバーがアクセルペダルを踏んでＡＣＣセッ
ト可能車速以上に加速する。 〔１０〕ドライバーがＡＣＣセットスイッチを押してＡ
ＣＣシステムを作動させ、自動的に車速および車間距離
を調整する。[9] The driver depresses the accelerator pedal to accelerate above the ACC setting vehicle speed. [10] The driver presses the ACC set switch and
Activate the CC system to automatically adjust the vehicle speed and distance.
【０００６】尚、〔２〕，〔３〕，〔５〕，〔６〕，
〔８〕，Incidentally, [2], [3], [5], [6],
[8],
〔９〕の領域ではＡＣＣシステムの作動が解除
されているため、目標車間距離は存在しない。In the region [9], the target inter-vehicle distance does not exist because the operation of the ACC system has been released.
【０００７】以上のように、〔２〕，〔５〕，〔８〕の
３つ領域でＡＣＣシステムの作動が解除され、〔３〕，
〔６〕，As described above, the operation of the ACC system is canceled in the three areas [2], [5], and [8].
[6],
〔９〕の３つ領域でＡＣＣシステムの再セット
が必要になるため、ドライバーの操作負担が大きなもの
となる。Since the ACC system needs to be reset in the three areas [9], the operation burden on the driver becomes large.
【０００８】本発明は前述の事情に鑑みてなされたもの
で、先行車速が低下したときにＡＣＣシステムの作動が
解除され難くし、ドライバーがＡＣＣシステムを再セッ
トする負担を軽減することを目的とする。The present invention has been made in view of the above circumstances, and has as its object to reduce the burden on the driver to reset the ACC system by making it difficult to release the operation of the ACC system when the preceding vehicle speed decreases. I do.
【０００９】[0009]
【課題を解決するための手段】本発明は、図８のクレー
ム対応図に示す構成によって上記目的を達成している。The present invention achieves the above object by the structure shown in the claim correspondence diagram of FIG.
【００１０】即ち、請求項１に記載された発明によれ
ば、先行車に対する自車の追従車間距離を設定する追従
車間距離設定手段と、実際の追従車間距離が追従車間距
離設定手段により設定された追従車間距離に一致するよ
うに自車を加速あるいは減速する追従走行制御手段と、
追従走行制御手段により追従走行を行う下限車速を設定
する下限車速設定手段とを備えたオートクルーズ装置に
おいて、自車速が下限車速の近傍の下限近傍車速領域に
あることを判定する車速領域判定手段と、自車速が下限
近傍車速領域にあることが判定されたとき、自車速が下
限車速を下回らないように追従走行制御手段を制御する
下限車速維持制御手段とを備えたことを特徴とするオー
トクルーズ装置が提案される。That is, according to the first aspect of the present invention, the following inter-vehicle distance setting means for setting the following inter-vehicle distance with respect to the preceding vehicle and the actual following inter-vehicle distance are set by the following inter-vehicle distance setting means. Following running control means for accelerating or decelerating the own vehicle so as to match the following inter-vehicle distance,
A vehicle speed region determining means for determining that the own vehicle speed is in a vehicle speed region near a lower limit near the lower limit vehicle speed in an auto cruise device comprising: a lower limit vehicle speed setting device for setting a lower limit vehicle speed at which the following driving is performed by the following driving control device. And a lower limit vehicle speed maintaining control means for controlling the following travel control means so that the own vehicle speed does not fall below the lower limit vehicle speed when it is determined that the own vehicle speed is in the lower limit vehicle speed region. An apparatus is proposed.
【００１１】上記構成によれば、車速領域判定手段が自
車速が下限車速の近傍の下限近傍車速領域にあることを
判定すると、下限車速維持制御手段が自車速が下限車速
を下回らないように追従走行制御手段を制御するので、
先行車速が下限車速の近傍で増減する場合でも、自車速
が下限車速を下回り難くして自動追従制御が頻繁に解除
されるのを防止することができる。According to the above construction, when the vehicle speed region determining means determines that the own vehicle speed is in the vehicle speed region near the lower limit near the lower limit vehicle speed, the lower limit vehicle speed maintaining control means follows so that the own vehicle speed does not fall below the lower limit vehicle speed. Because it controls the travel control means,
Even when the preceding vehicle speed increases or decreases near the lower limit vehicle speed, it is possible to prevent the own vehicle speed from falling below the lower limit vehicle speed, and prevent the automatic following control from being released frequently.
【００１２】また請求項２に記載された発明によれば、
請求項１の構成に加えて、下限近傍車速領域での追従走
行中に、追従車間距離設定手段により設定された追従車
間距離を所定量長く修正する追従車間距離修正手段を備
えたことを特徴とする、請求項１に記載のオートクルー
ズ装置が提案される。According to the second aspect of the present invention,
In addition to the configuration according to claim 1, further comprising a following inter-vehicle distance correcting means for correcting the following inter-vehicle distance set by the following inter-vehicle distance setting means to be longer by a predetermined amount during the following traveling in the vehicle speed region near the lower limit. An automatic cruise device according to claim 1 is proposed.
【００１３】上記構成によれば、下限近傍車速領域での
追従走行中に、追従車間距離修正手段が追従車間距離を
所定量長く修正するので、先行車の加減速による追従車
間距離の増減を吸収し易くすることができる。According to the above configuration, the following inter-vehicle distance correcting means corrects the following inter-vehicle distance to be longer by a predetermined amount during the following running in the vehicle speed region near the lower limit, thereby absorbing the increase or decrease in the following inter-vehicle distance due to acceleration and deceleration of the preceding vehicle. Can be made easier.
【００１４】また請求項３に記載された発明によれば、
請求項２の構成に加えて、追従車間距離修正手段は、先
行車の相対速度が正であり、かつ実際の追従車間距離が
所定値以上のときに追従車間距離を修正することを特徴
とするオートクルーズ装置が提案される。According to the third aspect of the present invention,
In addition to the configuration of claim 2, the following inter-vehicle distance correcting means corrects the following inter-vehicle distance when the relative speed of the preceding vehicle is positive and the actual following inter-vehicle distance is a predetermined value or more. An auto cruise device is proposed.
【００１５】上記構成によれば、先行車が自車から離れ
て行き、かつ実際の追従車間距離が所定値以上のとき
に、追従車間距離修正手段が追従車間距離を修正するの
で、先行車の加減速による追従車間距離の増減を吸収し
易くすることができる。According to the above construction, when the preceding vehicle moves away from the own vehicle and the actual following distance is equal to or greater than the predetermined value, the following distance correcting means corrects the following distance. An increase or decrease in the following inter-vehicle distance due to acceleration / deceleration can be easily absorbed.
【００１６】また請求項４に記載された発明によれば、
請求項３の構成に加えて、前記所定値は、追従車間距離
設定手段により設定された追従車間距離よりも短く設定
されることを特徴とするオートクルーズ装置が提案され
る。According to the fourth aspect of the present invention,
In addition to the configuration of the third aspect, there is proposed an auto cruise device, wherein the predetermined value is set shorter than a following inter-vehicle distance set by a following inter-vehicle distance setting unit.
【００１７】上記構成によれば、前記所定値が追従車間
距離設定手段により設定された追従車間距離よりも短く
設定されるので、自車速の低下を抑制して下限車速を下
回り難くすることができる。According to the above configuration, the predetermined value is set to be shorter than the following distance set by the following distance setting means, so that it is possible to suppress a decrease in the own vehicle speed and make it difficult to fall below the lower limit vehicle speed. .
【００１８】また請求項５に記載された発明によれば、
請求項１の構成に加えて、下限車速維持制御手段は、自
車速を下限近傍車速から下限車速まで減速させるように
追従走行制御手段を制御することを特徴とするオートク
ルーズ装置が提案される。According to the invention described in claim 5,
In addition to the configuration of the first aspect, there is proposed an auto cruise device, wherein the lower limit vehicle speed maintaining control means controls the following traveling control means so as to reduce the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed.
【００１９】上記構成によれば、下限車速維持制御手段
が追従走行制御手段を制御して自車速を下限近傍車速か
ら下限車速まで減速させるので、追従車間距離をできる
だけ確保して自車速が下限車速未満になり難くし、自動
追従制御が解除されるのを抑制することができる。According to the above configuration, the lower limit vehicle speed maintaining control means controls the following traveling control means to reduce the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed. And it is possible to prevent the automatic following control from being released.
【００２０】また請求項６に記載された発明によれば、
請求項５の構成に加えて、追従走行制御手段は、先行車
の相対速度が負であるときに自車速を下限近傍車速から
下限車速まで減速させることを特徴とするオートクルー
ズ装置が提案される。According to the invention described in claim 6,
In addition to the configuration of claim 5, there is proposed an auto cruise system, wherein the following cruise control means reduces the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed when the relative speed of the preceding vehicle is negative. .
【００２１】上記構成によれば、先行車が自車に近づく
ときに追従走行制御手段が自車速を下限近傍車速から下
限車速まで減速させるので、追従車間距離をできるだけ
確保して自車速が下限車速未満になり難くし、自動追従
制御が解除されるのを抑制することができる。According to the above configuration, when the preceding vehicle approaches the own vehicle, the following running control means reduces the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed. And it is possible to prevent the automatic following control from being released.
【００２２】また請求項７に記載された発明によれば、
請求項５の構成に加えて、追従走行制御手段は、先行車
の相対速度が正であり、かつ実際の追従車間距離が所定
値未満のときに自車速を下限近傍車速から下限車速まで
減速させることを特徴とするオートクルーズ装置が提案
される。According to the seventh aspect of the present invention,
In addition to the configuration of claim 5, the following running control means reduces the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed when the relative speed of the preceding vehicle is positive and the actual following distance between the following vehicles is less than a predetermined value. An auto cruise device characterized by the above is proposed.
【００２３】上記構成によれば、先行車が自車から離れ
て行き、かつ実際の追従車間距離が所定値未満のときに
追従走行制御手段が自車速を下限近傍車速から下限車速
まで減速させるので、追従車間距離をできるだけ確保し
て自車速が下限車速未満になり難くし、自動追従制御が
解除されるのを抑制することができる。According to the above configuration, when the preceding vehicle moves away from the own vehicle and the actual following distance between the following vehicles is less than the predetermined value, the following driving control means reduces the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed. In addition, it is possible to secure the distance between the following vehicles as much as possible, so that the own vehicle speed does not easily fall below the lower limit vehicle speed, and it is possible to suppress the automatic following control from being released.
【００２４】また請求項８に記載された発明によれば、
請求項７の構成に加えて、前記所定値が、追従車間距離
設定手段により設定された追従車間距離よりも短く設定
されることを特徴とするオートクルーズ装置が提案され
る。According to the invention described in claim 8,
In addition to the configuration of claim 7, there is proposed an automatic cruise system wherein the predetermined value is set shorter than a following distance set by the following distance setting means.
【００２５】上記構成によれば、前記所定値が追従車間
距離設定手段により設定された追従車間距離よりも短く
設定されるので、自車速の低下を抑制して下限車速を下
回り難くすることができる。According to the above configuration, the predetermined value is set to be shorter than the following distance set by the following distance setting means, so that it is possible to suppress a decrease in the own vehicle speed and make it difficult to fall below the lower limit vehicle speed. .
【００２６】また請求項９に記載された発明によれば、
請求項１の構成に加えて、自車速が下限車速と等しく、
実際の追従車間距離が最小追従車間距離以上であり、か
つ先行車の相対速度が負であるとき、下限車速維持制御
手段は、下限車速を維持するように追従走行制御手段を
制御することを特徴とするオートクルーズ装置が提案さ
れる。According to the ninth aspect of the present invention,
In addition to the configuration of claim 1, the own vehicle speed is equal to the lower limit vehicle speed,
When the actual following inter-vehicle distance is greater than or equal to the minimum following inter-vehicle distance and the relative speed of the preceding vehicle is negative, the lower limit vehicle speed maintaining control means controls the following traveling control means to maintain the lower limit vehicle speed. Is proposed.
【００２７】上記構成によれば、自車速が下限車速と等
しく、実際の追従車間距離が最小追従車間距離以上であ
り、かつ先行車が自車に接近するとき、下限車速維持制
御手段が下限車速を維持するように追従走行制御手段を
制御するので、自車速が下限車速未満になり難くして自
動追従制御が解除されるのを抑制することができる。According to the above configuration, when the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance between the following vehicles is equal to or more than the minimum following vehicle distance, and when the preceding vehicle approaches the own vehicle, the lower limit vehicle speed maintaining control means sets the lower limit vehicle speed. Is controlled so as to maintain the vehicle speed, it is possible to prevent the vehicle speed from being less than the lower limit vehicle speed and canceling the automatic following control.
【００２８】また請求項１０に記載された発明によれ
ば、請求項１の構成に加えて、自車速が下限車速と等し
く、実際の追従車間距離が最小追従車間距離以上であ
り、先行車の相対速度が正であり、かつ追従車間距離が
所定値未満のときに、下限車速維持制御手段は、下限車
速を維持するように追従走行制御手段を制御することを
特徴とするオートクルーズ装置が提案される。According to the tenth aspect of the present invention, in addition to the configuration of the first aspect, the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance between the following vehicles is equal to or greater than the minimum following vehicle distance, and When the relative speed is positive and the following inter-vehicle distance is less than a predetermined value, the lower limit vehicle speed maintenance control means controls the following traveling control means so as to maintain the lower limit vehicle speed. Is done.
【００２９】上記構成によれば、自車速が下限車速と等
しく、実際の追従車間距離が最小追従車間距離以上であ
り、先行車が自車から離れて行き、かつ追従車間距離が
所定値未満のときに、下限車速維持制御手段が下限車速
を維持するように追従走行制御手段を制御するので、自
車速が下限車速未満になり難くして自動追従制御が解除
されるのを抑制することができる。According to the above structure, the own vehicle speed is equal to the lower limit vehicle speed, the actual following vehicle distance is equal to or greater than the minimum following vehicle distance, the preceding vehicle goes away from the own vehicle, and the following vehicle distance is less than the predetermined value. At this time, since the lower limit vehicle speed maintenance control means controls the follow-up traveling control means so as to maintain the lower limit vehicle speed, it is possible to suppress the self-vehicle speed from becoming less than the lower limit vehicle speed and canceling the automatic following control. .
【００３０】また請求項１１に記載された発明によれ
ば、請求項１の構成に加えて、自車速が下限車速と等し
く、実際の追従車間距離が最小追従車間距離以上であ
り、先行車の相対速度が正であり、かつ追従車間距離が
所定値以上のときに、追従車間距離設定手段により設定
された追従車間距離を所定量長く修正する追従車間距離
修正手段を備えたことを特徴とするオートクルーズ装置
が提案される。According to the eleventh aspect of the invention, in addition to the configuration of the first aspect, the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance between the following vehicles is equal to or greater than the minimum following vehicle distance, and When the relative speed is positive and the following inter-vehicle distance is equal to or more than a predetermined value, the vehicle further comprises following inter-vehicle distance correcting means for correcting the following inter-vehicle distance set by the following inter-vehicle distance setting means to be longer by a predetermined amount. An auto cruise device is proposed.
【００３１】上記構成によれば、自車速が下限車速と等
しく、実際の追従車間距離が最小追従車間距離以上であ
り、先行車が自車から離れて行き、かつ追従車間距離が
所定値以上のときに、追従車間距離修正手段が追従車間
距離設定手段により設定された追従車間距離を所定量長
く修正するので、先行車の加減速により追従車間距離の
増減を吸収し易くすることができる。According to the above configuration, the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance is equal to or greater than the minimum following distance, the preceding vehicle is separated from the own vehicle, and the following distance is equal to or greater than the predetermined value. At this time, since the following inter-vehicle distance correcting unit corrects the following inter-vehicle distance set by the following inter-vehicle distance setting unit to be longer by a predetermined amount, it is possible to easily absorb an increase or decrease in the following inter-vehicle distance due to acceleration and deceleration of the preceding vehicle.
【００３２】また請求項１２に記載された発明によれ
ば、請求項１０または請求項１１の構成に加えて、前記
所定値が、追従車間距離設定手段（Ｍ１）により設定さ
れた追従車間距離よりも短く設定されることを特徴とす
るオートクルーズ装置が提案される。According to the twelfth aspect of the present invention, in addition to the configuration of the tenth or eleventh aspect, the predetermined value is set to be smaller than the following distance set by the following distance setting means (M1). An auto cruise device is proposed in which the speed is also set to be short.
【００３３】上記構成によれば、前記所定値が追従車間
距離設定手段により設定された追従車間距離よりも短く
設定されるので、自車速の低下を抑制して下限車速を下
回り難くすることができる。According to the above configuration, the predetermined value is set to be shorter than the following distance set by the following distance setting means, so that it is possible to suppress a decrease in the vehicle speed and make it difficult to fall below the lower limit vehicle speed. .
【００３４】また請求項１３に記載された発明によれ
ば、請求項１の構成に加えて、自車速が下限車速と等し
く、かつ実際の追従車間距離が最小追従車間距離未満で
あるとき、追従走行制御手段による追従走行を解除する
ことを特徴とするオートクルーズ装置が提案される。According to a thirteenth aspect of the present invention, in addition to the configuration of the first aspect, when the own vehicle speed is equal to the lower limit vehicle speed and the actual following distance is less than the minimum following distance, An auto cruise system is proposed, which cancels the follow-up running by the running control means.
【００３５】上記構成によれば、自車速が下限車速と等
しく、実際の追従車間距離が最小追従車間距離未満であ
るとき、追従走行制御手段による追従走行を解除するの
で、追従車間距離が短くなり過ぎるのを防止することが
できる。According to the above configuration, when the own vehicle speed is equal to the lower limit vehicle speed and the actual following distance between the following vehicles is less than the minimum following vehicle distance, the following traveling by the following traveling control means is canceled, so that the following following distance becomes shorter. It can be prevented from passing too far.
【００３６】尚、前記所定量は実施例では２０％に設定
され、前記所定値は実施例では設定車間距離の８０％に
設定され、前記最小追従車間距離は実施例では車頭距離
で１．３ｓｅｃに対応する距離に設定されているが、そ
れに限定されるものではない。The predetermined amount is set to 20% in the embodiment, the predetermined value is set to 80% of the set inter-vehicle distance in the embodiment, and the minimum following inter-vehicle distance is 1.3 sec. , But is not limited thereto.
【００３７】[0037]
【発明の実施の形態】以下、本発明の実施の形態を、添
付図面に示した本発明の実施例に基づいて説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described based on embodiments of the present invention shown in the accompanying drawings.
【００３８】図１〜図８は本発明の一実施例を示すもの
で、図１は物体検知装置のブロック図、図２は物体検知
装置の斜視図、図３はメインルーチンのフローチャー
ト、図４は追従制御ルーチンのフローチャート、図５は
下限車速維持ルーチンのフローチャート、図６は車速制
御ルーチンのフローチャート、図７は本実施例の先行車
速、自車速、車間距離および目標車間距離の変化を示す
タイムチャート、図８はクレーム対応図である。1 to 8 show an embodiment of the present invention. FIG. 1 is a block diagram of an object detecting device, FIG. 2 is a perspective view of the object detecting device, FIG. 3 is a flowchart of a main routine, and FIG. 5 is a flowchart of a follow-up control routine, FIG. 5 is a flowchart of a lower limit vehicle speed maintenance routine, FIG. 6 is a flowchart of a vehicle speed control routine, and FIG. 7 is a time chart showing changes in the preceding vehicle speed, own vehicle speed, inter-vehicle distance, and target inter-vehicle distance. FIG. 8 is a chart corresponding to the claims.
【００３９】図１および図２に示すように、自車前方の
物体の距離および方向を検知するための物体検知装置Ｓ
ｔはレーザーレーダー装置を備えるもので、送光部１
と、送光走査部２と、受光部３と、受光走査部４と、距
離計測処理部５とから構成される。送光部１は、送光レ
ンズを一体に備えたレーザーダイオード１１と、レーザ
ーダイオード１１を駆動するレーザーダイオード駆動回
路１２とを備える。送光走査部２は、レーザーダイオー
ド１１が出力したレーザーを反射させる送光ミラー１３
と、送光ミラー１３を上下軸１４回りに往復回動させる
モータ１５と、モータ１５の駆動を制御するモータ駆動
回路１６とを備える。送光ミラー１３から出る送光ビー
ムは左右幅が制限されて上下方向に細長いパターンを持
ち、それが所定周期で左右方向に往復移動して物体を走
査する。As shown in FIGS. 1 and 2, an object detection device S for detecting the distance and direction of an object in front of the host vehicle.
t is provided with a laser radar device, and the light transmitting unit 1
, A light transmission scanning unit 2, a light receiving unit 3, a light receiving scanning unit 4, and a distance measurement processing unit 5. The light transmitting unit 1 includes a laser diode 11 integrally provided with a light transmitting lens, and a laser diode driving circuit 12 for driving the laser diode 11. The light transmitting scanning unit 2 includes a light transmitting mirror 13 that reflects the laser output from the laser diode 11.
A motor 15 for reciprocating the light transmitting mirror 13 about the vertical axis 14; and a motor drive circuit 16 for controlling the driving of the motor 15. The light beam emitted from the light-sending mirror 13 has an elongated pattern in the vertical direction with a limited left-right width, which reciprocates in the left-right direction at a predetermined cycle to scan an object.
【００４０】受光部３は、受光レンズ１７と、受光レン
ズ１７で収束させた反射波を受けて電気信号に変換する
フォトダイオード１８と、フォトダイオード１８の出力
信号を増幅する受光アンプ回路１９とを備える。受光走
査部４は、物体からの反射波を反射させて前記フォトダ
イオード１８に導く受光ミラー２０と、受光ミラー２０
を左右軸２１回りに往復回動させるモータ２２と、モー
タ２２の駆動を制御するモータ駆動回路２３とを備え
る。上下幅が制限されて左右方向に細長いパターンを持
つ受光エリアは、受光ミラー２０によって所定周期で上
下方向に往復移動して物体を走査する。The light receiving section 3 includes a light receiving lens 17, a photodiode 18 for receiving a reflected wave converged by the light receiving lens 17 and converting the reflected wave into an electric signal, and a light receiving amplifier circuit 19 for amplifying an output signal of the photodiode 18. Prepare. The light receiving scanning unit 4 includes a light receiving mirror 20 that reflects a reflected wave from an object and guides the reflected wave to the photodiode 18.
And a motor drive circuit 23 for controlling the driving of the motor 22. The light receiving area, which has an elongated pattern in the left-right direction with a limited vertical width, is reciprocated in the vertical direction by the light receiving mirror 20 in a predetermined cycle to scan the object.
【００４１】距離計測処理部５は、前記レーザーダイオ
ード駆動回路１２やモータ駆動回路１６，２３を制御す
る制御回路２４と、アダプティブクルーズコントロール
装置を制御する電子制御ユニット２５との間で通信を行
う通信回路２６と、レーザーの送光から受光までの時間
をカウントするカウンタ回路２７と、物体までの距離お
よび物体の方向を算出する中央演算処理装置２８とを備
える。The distance measurement processing unit 5 communicates between the control circuit 24 for controlling the laser diode drive circuit 12 and the motor drive circuits 16 and 23 and the electronic control unit 25 for controlling the adaptive cruise control device. It comprises a circuit 26, a counter circuit 27 for counting the time from the transmission of the laser to the reception of the laser, and a central processing unit 28 for calculating the distance to the object and the direction of the object.
【００４２】而して、上下方向に細長い送光ビームと左
右方向に細長い受光エリアとが交わる部分が瞬間的な検
知エリアになり、この検知エリアは、送光ビームの左右
走査幅と等しい左右幅を持ち、受光エリアの上下走査幅
と等しい上下幅を持つ検知領域の全域をジグザグに移動
して物体を走査する。そして送光ビームが送光されてか
ら、該送光ビームが物体に反射された反射波が受光され
るまでの時間に基づいて物体までの距離が検知され、そ
のときの瞬間的な検知エリアの方向に基づいて物体の方
向が検知される。Thus, a portion where the vertically elongated light transmitting beam intersects the horizontally elongated light receiving area becomes an instantaneous detection area, and this detection area has a horizontal width equal to the horizontal scanning width of the light transmission beam. And scans the object by moving in a zigzag the entire detection area having a vertical width equal to the vertical scanning width of the light receiving area. Then, the distance to the object is detected based on the time from when the light transmission beam is transmitted until the reflected wave reflected by the object is received, and the instantaneous detection area at that time is detected. The direction of the object is detected based on the direction.
【００４３】本実施例のＡＣＣシステムの仕様は、作動
が許可される下限車速が１０ｍ／ｓｅｃ＝３６ｋｍ／ｈ
であり、作動が許可される上限車速が３０．６ｍ／ｓｅ
ｃ＝１１０ｋｍ／ｈであり、ＡＣＣシステムのセットが
可能なセット可能車速が１１．５ｍ／ｓｅｃ＝４１．４
ｋｍ／ｈである。また車頭時間で表される設定車間距離
は「遠」、「中」、「近」の３段階に切り換え可能であ
り、「遠」が２．３ｓｅｃ、「中」が２．０ｓｅｃ、
「近」が１．７ｓｅｃである。The specification of the ACC system of the present embodiment is such that the lower limit vehicle speed at which operation is permitted is 10 m / sec = 36 km / h
And the upper limit vehicle speed at which operation is permitted is 30.6 m / sec.
c = 110 km / h, and the settable vehicle speed at which the ACC system can be set is 11.5 m / sec = 41.4.
km / h. Further, the set inter-vehicle distance represented by the headway time can be switched to three steps of “far”, “medium”, and “near”, “far” is 2.3 sec, “medium” is 2.0 sec,
“Near” is 1.7 sec.
【００４４】下限車速とセット可能車速とが別個に設定
される理由は、ＡＣＣシステムのセット直後の微妙な減
速で車速が下限車速を下回り、ＡＣＣシステムが解除さ
れるのを防止するためである。また本発明の特徴となる
制御が行われる車速領域は、下限車速から、それよりも
２．５ｍ／ｓｅｃ高い車速（１２．５ｍ／ｓｅｃ＝４５
ｋｍ／ｈ）までの範囲である。本明細書では、下限車速
よりも２．５ｍ／ｓｅｃ高い車速を「下限近傍車速」と
定義し、下限車速と下限近傍車速との間の車速領域を
「下限近傍車速領域」と定義する。尚、以下に説明する
実施例では、設定車間距離が「中」に設定されているも
のとする。The reason why the lower limit vehicle speed and the settable vehicle speed are set separately is to prevent the vehicle speed from dropping below the lower limit vehicle speed due to a slight deceleration immediately after the setting of the ACC system, thereby preventing the ACC system from being released. The vehicle speed range in which the control that is a feature of the present invention is performed is a vehicle speed 2.5 m / sec higher than the lower limit vehicle speed (12.5 m / sec = 45).
km / h). In this specification, a vehicle speed higher than the lower limit vehicle speed by 2.5 m / sec is defined as “lower limit vehicle speed”, and a vehicle speed region between the lower limit vehicle speed and the lower limit vehicle speed is defined as “lower limit lower vehicle speed region”. In the embodiment described below, it is assumed that the set inter-vehicle distance is set to “medium”.
【００４５】図３のメインルーチンのフローチャートに
おいて、先ずステップＳ１で物体検知装置Ｓｔにより検
知エリア内のターゲットを全て検知してターゲットメモ
リに記憶し、ステップＳ２で自車速およびヨーレート
（または舵角）から自車の将来の走行軌跡を算出する。
続くステップＳ３で前回のターゲットメモリのデータと
今回のターゲットメモリのデータとを比較してデータの
引き継ぎを行い、ステップＳ４で自車の走行軌跡とター
ゲット位置とを比較して先行車を判定する。その結果、
ステップＳ５で先行車が存在すればステップＳ６に移行
して追従走行モジュールを実行し、ステップＳ５で先行
車が存在しなければステップＳ７〜Ｓ１０で定速走行制
御を実行する。定速走行制御は、ステップＳ７で自車速
がセット車速を越えていればステップＳ８で減速制御を
実行し、ステップＳ７で自車速がセット車速に一致して
いればステップＳ９で定速制御を実行し、ステップＳ７
で自車速がセット車速未満であればステップＳ１０で増
速制御を実行し、これにより自車速をセット車速に一致
させるものである。In the flowchart of the main routine shown in FIG. 3, first, in step S1, all targets in the detection area are detected by the object detection device St and stored in the target memory, and in step S2, the target vehicle speed and the yaw rate (or steering angle) are calculated. Calculate the future running locus of the vehicle.
In the following step S3, the data in the previous target memory is compared with the data in the current target memory to carry over the data, and in step S4, the traveling locus of the own vehicle is compared with the target position to determine the preceding vehicle. as a result,
If there is a preceding vehicle in step S5, the process proceeds to step S6 to execute the following traveling module, and if there is no preceding vehicle in step S5, constant speed traveling control is executed in steps S7 to S10. In the constant speed running control, if the own vehicle speed exceeds the set vehicle speed in step S7, the deceleration control is executed in step S8. If the own vehicle speed matches the set vehicle speed in step S7, the constant speed control is executed in step S9. And step S7
If the own vehicle speed is lower than the set vehicle speed, the speed increasing control is executed in step S10, thereby making the own vehicle speed coincide with the set vehicle speed.
【００４６】次に、前記ステップＳ６の追従走行モジュ
ールの内容を、図４のフローチャートに基づいて説明す
る。Next, the contents of the following traveling module in step S6 will be described with reference to the flowchart of FIG.
【００４７】先ず、ステップＳ２１で自車速と下限近傍
車速（下限車速＋２．５ｍ／ｓｅｃ）とを比較し、自車
速が下限近傍車速以上であれば、ステップＳ２４で目標
車間距離を予め設定された設定車間距離（本実施例では
「中」）にして、ステップＳ３１で車速制御モジュール
を実行する。また前記ステップＳ２１で自車速が下限近
傍車速未満のとき、ステップＳ２２で先行車速と下限近
傍車速とを比較し、先行車速が下限近傍車速以上であれ
ば、前記ステップＳ２４，Ｓ３１に移行して設定車間距
離による車速制御モジュールを実行する。また前記ステ
ップＳ２２で先行車速が下限近傍車速未満のとき、ステ
ップＳ２３で先行車速との車間距離を、「遠」の車頭時
間である２．３ｓｅｃよりも更に長い３．０ｓｅｃ相当
の車間距離と比較し、車間距離が３．０ｓｅｃ相当の車
間距離よりも長ければ、前記ステップＳ２４，Ｓ３１に
移行して設定車間距離による車速制御モジュールを実行
する。First, in step S21, the own vehicle speed is compared with the vehicle speed near the lower limit (lower limit vehicle speed + 2.5 m / sec). If the vehicle speed is equal to or higher than the vehicle speed near the lower limit, the target inter-vehicle distance is set in advance in step S24. With the set inter-vehicle distance ("medium" in this embodiment), the vehicle speed control module is executed in step S31. When the vehicle speed is lower than the lower limit vehicle speed in step S21, the preceding vehicle speed is compared with the lower limit vehicle speed in step S22. If the preceding vehicle speed is equal to or higher than the lower limit vehicle speed, the process proceeds to steps S24 and S31. Execute the vehicle speed control module based on the following distance. When the preceding vehicle speed is lower than the vehicle speed in the vicinity of the lower limit in step S22, the inter-vehicle distance with the preceding vehicle speed is compared in step S23 with the inter-vehicle distance of 3.0 sec, which is longer than the "far" headway time of 2.3 sec. If the inter-vehicle distance is longer than the inter-vehicle distance corresponding to 3.0 sec, the process shifts to steps S24 and S31 to execute the vehicle speed control module based on the set inter-vehicle distance.
【００４８】下限近傍車速領域での追従中はできるだけ
車速を上げないように制御をしている。このため、先行
車との車間距離が設定車間距離「中」より大きくなって
も加速を行わないが、車間距離があまりにも大きくなる
と追従走行にならないので、前記ステップＳ２３で車間
距離が３．０ｓｅｃ相当の車間距離よりも長くなったと
きに、ステップＳ２４，Ｓ３１で設定車間距離による車
速制御モジュールを実行するようにしている。During following in the vehicle speed region near the lower limit, control is performed so as not to increase the vehicle speed as much as possible. For this reason, even if the inter-vehicle distance to the preceding vehicle becomes larger than the set inter-vehicle distance "medium", no acceleration is performed. However, if the inter-vehicle distance becomes too large, the vehicle will not follow, so that the inter-vehicle distance is 3.0 seconds in step S23. When it becomes longer than the considerable inter-vehicle distance, the vehicle speed control module based on the set inter-vehicle distance is executed in steps S24 and S31.
【００４９】前記ステップＳ３１の車速制御モジュール
の詳細は図６に示される。即ち、ステップＳ１２１で車
間距離が目標車間距離を越えていればステップＳ１２２
で加速制御を実行し、ステップＳ１２１で車間距離が目
標車間距離に一致していればステップＳ１２３で定速制
御を実行し、ステップＳ１２１で車間距離が目標車間距
離未満であればステップＳ１２４で減速制御を実行し、
これにより車間距離を目標車間距離に一致させるもので
ある。The details of the vehicle speed control module in step S31 are shown in FIG. That is, if the inter-vehicle distance exceeds the target inter-vehicle distance in step S121, step S122.
To execute the acceleration control. If the inter-vehicle distance matches the target inter-vehicle distance in step S121, the constant speed control is executed in step S123. If the inter-vehicle distance is less than the target inter-vehicle distance in step S121, the deceleration control is performed in step S124. Run
Thereby, the inter-vehicle distance is made to coincide with the target inter-vehicle distance.
【００５０】図４のフローチャートに戻り、前記ステッ
プＳ２３で車間距離が３．０ｓｅｃ相当の車間距離より
も短いとき、ステップＳ２５で自車速と下限車速とを比
較し、自車速が下限車速に一致していれば、ステップＳ
２６で下限車速維持モジュールを実行する。下限車速維
持モジュールの内容は、後から図５のフローチャートに
基づいて説明する。Returning to the flowchart of FIG. 4, when the inter-vehicle distance is shorter than the 3.0-sec equivalent distance in step S23, the own vehicle speed is compared with the lower limit vehicle speed in step S25, and if the own vehicle speed matches the lower limit vehicle speed. If so, step S
At 26, the lower limit vehicle speed maintenance module is executed. The contents of the lower limit vehicle speed maintenance module will be described later based on the flowchart of FIG.
【００５１】前記ステップＳ２５で自車速が下限車速を
越えていれば、ステップＳ２７で先行車との相対速度を
０ｋｍ／ｈと比較し、相対速度が負であれば（つまり車
間距離が減少していれば）、ステップＳ２９で自車速を
下限車速まで減速する。また前記ステップＳ２７で相対
速度が非負であれば（つまり車間距離が一定であるか、
あるいは増加していれば）、ステップＳ２８で車間距離
を設定車間距離の８０％と比較し、車間距離が設定車間
距離の８０％未満であれば、前記ステップＳ２９で自車
速を下限車速まで減速する。このように、先行車が下限
車速の近傍で自車から離れていくとき、車間距離が短け
れば、先行車に追従して加速することなく、自車速を下
限車速まで減速することにより、先行車が減速したとき
に車間距離が短くなり過ぎるのを防止することができ
る。If the own vehicle speed exceeds the lower limit vehicle speed in step S25, the relative speed with respect to the preceding vehicle is compared with 0 km / h in step S27. If the relative speed is negative (that is, the inter-vehicle distance is reduced). If it is, the vehicle speed is reduced to the lower limit vehicle speed in step S29. If the relative speed is non-negative in step S27 (that is, whether the inter-vehicle distance is constant,
If the inter-vehicle distance is less than 80% of the set inter-vehicle distance in step S28, and if the inter-vehicle distance is less than 80% of the set inter-vehicle distance, the own vehicle speed is reduced to the lower limit vehicle speed in step S29. . As described above, when the preceding vehicle moves away from the own vehicle in the vicinity of the lower limit vehicle speed, if the inter-vehicle distance is short, the own vehicle speed is reduced to the lower limit vehicle speed without accelerating following the preceding vehicle. When the vehicle decelerates, the inter-vehicle distance can be prevented from becoming too short.
【００５２】前記ステップＳ２８で車間距離が設定車間
距離の８０％以上であれば、ステップＳ３０で目標車間
距離を設定車間距離の１２０％に設定し、ステップＳ３
１で図６の車速制御モジュールを実行する。本実施例で
は車頭時間が「中」の２．０ｓｅｃに設定されているた
め、その１２０％の車頭時間は２．４ｓｅｃとなる。こ
のように、先行車が下限車速の近傍で自車から離れてい
くとき、車間距離が設定車間距離の８０％以上であれ
ば、設定車間距離の１２０％を目標車間距離として緩や
かに車間距離調整を行う。目標車間距離を設定車間距離
の１２０％として長めに設定することにより、先行車が
減速したときに車間距離が短くなり過ぎるのを防止する
ことができる。If the inter-vehicle distance is 80% or more of the set inter-vehicle distance in step S28, the target inter-vehicle distance is set to 120% of the set inter-vehicle distance in step S30, and step S3 is performed.
At 1, the vehicle speed control module of FIG. 6 is executed. In this embodiment, since the headway time is set to “medium” 2.0 sec, the 120% headway time is 2.4 sec. As described above, when the preceding vehicle leaves the own vehicle near the lower limit vehicle speed, if the inter-vehicle distance is 80% or more of the set inter-vehicle distance, 120% of the set inter-vehicle distance is gently adjusted as the target inter-vehicle distance. I do. By setting the target inter-vehicle distance to be longer than 120% of the set inter-vehicle distance, it is possible to prevent the inter-vehicle distance from becoming too short when the preceding vehicle decelerates.
【００５３】次に、図４のフローチャートのステップＳ
２６の下限車速維持モジュールの内容を図５のフローチ
ャートに基づいて説明する。Next, step S in the flowchart of FIG.
The contents of the lower limit vehicle speed maintenance module 26 will be described with reference to the flowchart of FIG.
【００５４】ステップＳ１０１で先行車との車間距離を
車頭時間で１．３ｓｅｃ相当の車間距離（最小追従車間
距離）と比較し、車間距離が車頭時間で１．３ｓｅｃ相
当の車間距離未満であれば、自車が先行車に接近しすぎ
る可能性があるため、ステップＳ１０２でＡＣＣ制御を
自動的にキャンセルする。本実施例では自車速が下限車
速未満に減速することがないので、先行車の減速度が大
きいと安全な車間距離を維持できなくなるため、ＡＣＣ
制御を自動的にキャンセルしてドライバーの自発的な減
速により安全な車間距離を維持することができる。下限
車速においては、車頭時間で１．３ｓｅｃ相当の車間距
離は１０ｍ／ｓｅｃ×１．３ｓｅｃ＝１３ｍとなる。In step S101, the inter-vehicle distance with the preceding vehicle is compared with the inter-vehicle distance of 1.3 seconds equivalent to the headway time (minimum following inter-vehicle distance), and if the inter-vehicle distance is less than the inter-vehicle distance of 1.3 seconds equivalent to headway time. Since the own vehicle may approach the preceding vehicle too much, the ACC control is automatically canceled in step S102. In this embodiment, since the own vehicle speed does not decrease below the lower limit vehicle speed, if the deceleration of the preceding vehicle is large, a safe inter-vehicle distance cannot be maintained.
Control can be automatically canceled to maintain a safe inter-vehicle distance by the driver's spontaneous deceleration. At the lower limit vehicle speed, an inter-vehicle distance equivalent to 1.3 sec in headway time is 10 m / sec × 1.3 sec = 13 m.
【００５５】前記ステップＳ１０１で車間距離が車頭時
間で１．３ｓｅｃ相当の車間距離以上であれば、ステッ
プＳ１０３で先行車の相対速度を０ｋｍ／ｈと比較し、
相対速度が負であれば（つまり車間距離が減少していれ
ば）、ステップＳ１０５で下限車速を維持する。また前
記ステップＳ１０３で相対速度が非負であれば（つまり
車間距離が一定であるか、あるいは増加していれば）、
ステップＳ１０４で車間距離を設定車間距離の８０％と
比較し、車間距離が設定車間距離の８０％未満であれ
ば、前記ステップＳ１０５で自車速を下限車速に維持す
る。このように、先行車が下限車速の近傍で自車から離
れていくとき、先行車に追従して加速することなく、自
車速を下限車速に維持することにより、先行車が減速し
たときに車間距離が短くなり過ぎるのを防止することが
できる。If the inter-vehicle distance is equal to or more than 1.3 sec. Equivalent to the headway time in step S101, the relative speed of the preceding vehicle is compared with 0 km / h in step S103.
If the relative speed is negative (that is, if the inter-vehicle distance has decreased), the lower limit vehicle speed is maintained in step S105. If the relative speed is non-negative in step S103 (that is, if the inter-vehicle distance is constant or increases),
In step S104, the inter-vehicle distance is compared with 80% of the set inter-vehicle distance. If the inter-vehicle distance is less than 80% of the set inter-vehicle distance, the own vehicle speed is maintained at the lower limit vehicle speed in step S105. As described above, when the preceding vehicle moves away from the own vehicle near the lower limit vehicle speed, the own vehicle speed is maintained at the lower limit vehicle speed without accelerating following the preceding vehicle. It is possible to prevent the distance from becoming too short.
【００５６】前記ステップＳ１０４で車間距離が設定車
間距離の８０％以上であれば、ステップＳ１０６で目標
車間距離を設定車間距離の１２０％に設定し、ステップ
Ｓ３１で図６の車速制御モジュールを実行する。このよ
うに、先行車が下限車速の近傍で自車から離れていくと
き、車間距離が設定車間距離の８０％以上であれば、設
定車間距離の１２０％を目標車間距離として緩やかに車
間距離調整を行うことにより、先行車が減速したときに
車間距離が短くなり過ぎるのを防止することができる。If the inter-vehicle distance is equal to or more than 80% of the set inter-vehicle distance in step S104, the target inter-vehicle distance is set to 120% of the set inter-vehicle distance in step S106, and the vehicle speed control module shown in FIG. 6 is executed in step S31. . As described above, when the preceding vehicle leaves the own vehicle near the lower limit vehicle speed, if the inter-vehicle distance is 80% or more of the set inter-vehicle distance, 120% of the set inter-vehicle distance is gently adjusted as the target inter-vehicle distance. Is performed, it is possible to prevent the inter-vehicle distance from becoming too short when the preceding vehicle decelerates.
【００５７】[0057]
【表１】 [Table 1]
【００５８】表１には、自車速、先行車速、先行車相対
速度および車間距離の各項目に応じて、 目標車間距離＝設定車間距離とする従来の追従モー
ド 目標車間距離＝設定車間距離の１２０％とする追従
モード 目標車速＝下限車速とする追従モード 下限車速での追従時に車頭時間が１．３ｓｅｃ未満
になった場合のキャンセルモード の何れが採用されるかが、ＮＯ．１〜ＮＯ．１４の１４
通りに場合分けして示されている。Table 1 shows a conventional following mode in which the target inter-vehicle distance is equal to the set inter-vehicle distance according to the respective items of the own vehicle speed, the preceding vehicle speed, the preceding vehicle relative speed, and the inter-vehicle distance. % In which the target vehicle speed is equal to the lower limit vehicle speed. If the headway time becomes less than 1.3 sec when following the lower limit vehicle speed, whichever of the cancel modes is adopted, it is determined whether NO. 1 to NO. 14 of 14
The cases are shown as follows.
【００５９】尚、表１における「ＭＩＮ」は下限車速を
示し、「＊」はその項目が任意であることを示してい
る。In Table 1, "MIN" indicates the lower limit vehicle speed, and "*" indicates that the item is optional.
【００６０】の目標車間距離＝設定車間距離とする従
来の追従モードは、ＮＯ．１，ＮＯ．２およびＮＯ．３
において実行され、ＮＯ．１は図４のフローチャートの
ステップＳ２１で自車速≧下限近傍車速が成立する場合
に対応し、ＮＯ．２は図４のフローチャートのステップ
Ｓ２２で先行車速≧下限近傍車速が成立する場合に対応
し、ＮＯ．３は図４のフローチャートのステップＳ２３
で車間距離≧車頭時間で３．０ｓｅｃ相当の車間距離が
成立する場合に対応する。The conventional following mode in which the target inter-vehicle distance = set inter-vehicle distance is set to NO. 1, NO. 2 and NO. 3
Is executed at NO. No. 1 corresponds to the case where the vehicle speed ≧ the lower limit vehicle speed is satisfied in step S21 of the flowchart of FIG. No. 2 corresponds to the case where the preceding vehicle speed ≧ the vehicle speed near the lower limit is satisfied in step S22 of the flowchart of FIG. 3 is step S23 in the flowchart of FIG.
This corresponds to the case where the following distance is established in 3.0 seconds in the following equation.
【００６１】の目標車間距離＝設定車間距離の１２０
％とする追従モードは、ＮＯ．４およびＮＯ．８におい
て実行され、ＮＯ．４は図４のフローチャートのステッ
プＳ２８で車間距離≧設定車間距離の８０％が成立する
場合に対応し、ＮＯ．８は図５のフローチャートのステ
ップＳ１０４で車間距離≧設定車間距離の８０％が成立
する場合に対応する。Target inter-vehicle distance = 120 of set inter-vehicle distance
% In the following mode. 4 and NO. No. 8; No. 4 corresponds to the case where the following formula is satisfied in step S28 of the flowchart in FIG. 8 corresponds to the case where the following formula is satisfied in step S104 of the flowchart of FIG. 5: inter-vehicle distance ≧ 80% of the set inter-vehicle distance.
【００６２】の目標車速＝下限車速とする追従モード
は、ＮＯ．５〜ＮＯ．７，ＮＯ．９，ＮＯ．１１および
ＮＯ．１３において実行され、ＮＯ．５は図４のフロー
チャートのステップＳ２８で車間距離＜設定車間距離の
８０％が成立する場合に対応し、ＮＯ．６およびＮＯ．
７は図４のフローチャートのステップＳ２７で相対速度
＜０ｋｍ／ｈが成立する場合に対応し、ＮＯ．９は図５
のフローチャートのステップＳ１０４で車間距離＜設定
車間距離の８０％が成立する場合に対応し、ＮＯ．１１
およびＮＯ．１３は図５のフローチャートのステップＳ
１０３で相対速度＜０ｋｍ／ｈが成立する場合に対応す
る。The following mode in which the target vehicle speed is equal to the lower limit vehicle speed is NO. 5 to NO. 7, NO. 9, NO. 11 and NO. 13 is executed. No. 5 corresponds to the case where the following distance is satisfied in step S28 of the flowchart of FIG. 6 and NO.
No. 7 corresponds to the case where the relative speed <0 km / h is satisfied in step S27 of the flowchart of FIG. 9 is FIG.
NO corresponds to the case where the following formula is satisfied in step S104 of the flowchart of FIG. 11
And NO. 13 is step S in the flowchart of FIG.
This corresponds to the case where the relative speed <0 km / h is satisfied in 103.
【００６３】の下限車速での追従時に車頭時間が１．
３ｓｅｃ未満になった場合のキャンセルモードは、Ｎ
Ｏ．１０，ＮＯ．１２およびＮＯ．１４で実行され、そ
れらは図５のフローチャートのステップＳ１０１で車間
距離＜１．３ｓｅｃ相当の車頭時間が成立したときに実
行される。When following at the lower limit vehicle speed, the headway time is 1.
If the time is shorter than 3 seconds, the cancel mode is N
O. 10, NO. 12 and NO. These are executed when the headway time corresponding to the following distance <1.3 sec is established in step S101 of the flowchart in FIG.
【００６４】以上のように下限近傍車速領域においての
追従走行中に、の目標車間距離＝設定車間距離の１２
０％とする追従モードと、の目標車速＝下限車速とす
る追従モードとを採用することにより先行車との車間距
離をできるだけ確保し、先行車が減速した場合に、それ
に追従する自車速が下限速度を下回り難くし、ＡＣＣシ
ステムが解除されるのを最小限に抑えることができる。As described above, the target inter-vehicle distance = 12 of the set inter-vehicle distance during the following running in the vehicle speed region near the lower limit.
By adopting the following mode in which the following vehicle mode is set to 0% and the following vehicle mode in which the target vehicle speed is equal to the lower limit vehicle speed, the inter-vehicle distance with the preceding vehicle is ensured as much as possible. It is difficult to fall below the speed, and the release of the ACC system can be minimized.
【００６５】図７には、本実施例の先行車速、自車速、
車間距離および目標車間距離の変化の一例が、〔１〕〜
〔７〕の時間領域に別けて示されている。ここで、ＡＣ
Ｃシステムのセット可能車速は１１．５ｍ／ｓｅｃ＝４
１．４ｋｍ／ｈに設定されており、またＡＣＣシステム
が作動する下限車速は１０．０ｍ／ｓｅｃ＝３６．０ｋ
ｍ／ｈに設定されている。 〔１〕ＡＣＣシステムが作動し、自動的に車速および車
間距離を調整する。 〔２〕下限車速まで自動的に減速し、車間距離が最小車
間距離（車頭時間で１．３ｓｅｃ）未満にならない限
り、下限車速を維持する。 〔３〕先行車が加速して車間距離が長くなり、車間距離
による追従走行を行う。 〔４〕下限車速まで自動的に減速し、車間距離が最小車
間距離（車頭時間で１．３ｓｅｃ）未満にならない限
り、下限車速を維持する。 〔５〕先行車が加速して車間距離が長くなり、車間距離
による追従走行を行う。 〔６〕下限車速まで自動的に減速し、車間距離が最小車
間距離（車頭時間で１．３ｓｅｃ）未満にならない限
り、下限車速を維持する。 〔７〕先行車が加速して車間距離が長くなり、車間距離
による追従走行を行う。FIG. 7 shows the preceding vehicle speed, own vehicle speed,
Examples of changes in the inter-vehicle distance and the target inter-vehicle distance are [1] to
It is shown separately in the time domain [7]. Where AC
The settable vehicle speed of the C system is 11.5m / sec = 4
It is set to 1.4 km / h, and the lower limit vehicle speed at which the ACC system operates is 10.0 m / sec = 36.0 k
m / h. [1] The ACC system operates to automatically adjust the vehicle speed and the following distance. [2] Automatically decelerate to the lower limit vehicle speed, and maintain the lower limit vehicle speed unless the inter-vehicle distance becomes less than the minimum inter-vehicle distance (1.3 seconds in headway time). [3] The preceding vehicle accelerates to increase the inter-vehicle distance, and the vehicle runs following the inter-vehicle distance. [4] Automatically decelerate to the lower limit vehicle speed, and maintain the lower limit vehicle speed unless the inter-vehicle distance becomes less than the minimum inter-vehicle distance (1.3 sec. In headway time). [5] The preceding vehicle accelerates to increase the inter-vehicle distance, and the vehicle runs following the inter-vehicle distance. [6] Automatically decelerate to the lower limit vehicle speed, and maintain the lower limit vehicle speed unless the inter-vehicle distance becomes less than the minimum inter-vehicle distance (1.3 seconds in headway time). [7] The preceding vehicle accelerates, the inter-vehicle distance becomes longer, and the vehicle runs following the inter-vehicle distance.
【００６６】以上のように、本実施例によりＡＣＣシス
テムの作動が頻繁に解除されることがなくなるため、安
全な車間距離を維持して追従走行を継続することが可能
になり、ＡＣＣシステムを再セットするためのドライバ
ーの操作負担を軽減することができる。As described above, since the operation of the ACC system is not frequently canceled according to the present embodiment, it is possible to maintain a safe inter-vehicle distance and to continue following the vehicle, and to restart the ACC system. The operation burden of the driver for setting can be reduced.
【００６７】以上、本発明の実施例を詳述したが、本発
明はその要旨を逸脱しない範囲で種々の設計変更を行う
ことが可能である。Although the embodiments of the present invention have been described in detail, various design changes can be made in the present invention without departing from the gist thereof.
【００６８】例えば、実施例の物体検知装置Ｓｔはレー
ザーレーダー装置を備えているが、ミリ波レーダー装置
を備えるものであっても良い。For example, the object detection device St of the embodiment has a laser radar device, but may have a millimeter wave radar device.
【００６９】[0069]
【発明の効果】以上のように請求項１に記載された発明
によれば、車速領域判定手段が自車速が下限車速の近傍
の下限近傍車速領域にあることを判定すると、下限車速
維持制御手段が自車速が下限車速を下回らないように追
従走行制御手段を制御するので、先行車速が下限車速の
近傍で増減する場合でも、自車速が下限車速を下回り難
くして自動追従制御が頻繁に解除されるのを防止するこ
とができる。As described above, according to the first aspect of the present invention, when the vehicle speed region determining means determines that the own vehicle speed is in the lower limit vehicle speed region near the lower limit vehicle speed, the lower limit vehicle speed maintaining control device is provided. Controls the following cruise control means so that the own vehicle speed does not fall below the lower limit vehicle speed, so even if the preceding vehicle speed increases or decreases near the lower limit vehicle speed, the own following vehicle speed hardly falls below the lower limit vehicle speed and the automatic following control is frequently released. Can be prevented.
【００７０】また請求項２に記載された発明によれば、
下限近傍車速領域での追従走行中に、追従車間距離修正
手段が追従車間距離を所定量長く修正するので、先行車
の加減速による追従車間距離の増減を吸収し易くするこ
とができる。According to the second aspect of the present invention,
Since the following inter-vehicle distance correcting means corrects the following inter-vehicle distance longer by a predetermined amount during the following running in the vehicle speed region near the lower limit, it is possible to easily absorb an increase or decrease in the following inter-vehicle distance due to acceleration or deceleration of the preceding vehicle.
【００７１】また請求項３に記載された発明によれば、
先行車が自車から離れて行き、かつ実際の追従車間距離
が所定値以上のときに、追従車間距離修正手段が追従車
間距離を修正するので、先行車の加減速による追従車間
距離の増減を吸収し易くすることができる。According to the third aspect of the present invention,
When the preceding vehicle moves away from the own vehicle and the actual following distance is equal to or greater than a predetermined value, the following distance correcting means corrects the following distance, so that the following distance is increased or decreased due to acceleration / deceleration of the preceding vehicle. It can be easily absorbed.
【００７２】また請求項４に記載された発明によれば、
前記所定値が追従車間距離設定手段により設定された追
従車間距離よりも短く設定されるので、自車速の低下を
抑制して下限車速を下回り難くすることができる。According to the fourth aspect of the present invention,
Since the predetermined value is set shorter than the following inter-vehicle distance set by the following inter-vehicle distance setting means, it is possible to suppress a decrease in the own vehicle speed and make it difficult to fall below the lower limit vehicle speed.
【００７３】また請求項５に記載された発明によれば、
下限車速維持制御手段が追従走行制御手段を制御して自
車速を下限近傍車速から下限車速まで減速させるので、
追従車間距離をできるだけ確保して自車速が下限車速未
満になり難くし、自動追従制御が解除されるのを抑制す
ることができる。According to the invention described in claim 5,
Since the lower limit vehicle speed maintenance control means controls the following travel control means to reduce the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed,
The following distance between the following vehicles is ensured as much as possible so that the own vehicle speed does not easily fall below the lower limit vehicle speed, and the release of the automatic following control can be suppressed.
【００７４】また請求項６に記載された発明によれば、
先行車が自車に近づくときに追従走行制御手段が自車速
を下限近傍車速から下限車速まで減速させるので、追従
車間距離をできるだけ確保して自車速が下限車速未満に
なり難くし、自動追従制御が解除されるのを抑制するこ
とができる。According to the invention described in claim 6,
When the preceding vehicle approaches the own vehicle, the following driving control means reduces the own vehicle speed from the vehicle speed near the lower limit to the lower vehicle speed, so that the following inter-vehicle distance is secured as much as possible so that the own vehicle speed is less likely to be lower than the lower limit vehicle speed. Can be suppressed from being released.
【００７５】また請求項７に記載された発明によれば、
先行車が自車から離れて行き、かつ実際の追従車間距離
が所定値未満のときに追従走行制御手段が自車速を下限
近傍車速から下限車速まで減速させるので、追従車間距
離をできるだけ確保して自車速が下限車速未満になり難
くし、自動追従制御が解除されるのを抑制することがで
きる。According to the invention described in claim 7,
When the preceding vehicle moves away from the own vehicle and the actual following distance is less than a predetermined value, the following cruise control means reduces the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed. The vehicle speed is less likely to be lower than the lower limit vehicle speed, and the release of the automatic following control can be suppressed.
【００７６】また請求項８に記載された発明によれば、
前記所定値が追従車間距離設定手段により設定された追
従車間距離よりも短く設定されるので、自車速の低下を
抑制して下限車速を下回り難くすることができる。According to the invention described in claim 8,
Since the predetermined value is set shorter than the following inter-vehicle distance set by the following inter-vehicle distance setting means, it is possible to suppress a decrease in the own vehicle speed and make it difficult to fall below the lower limit vehicle speed.
【００７７】また請求項９に記載された発明によれば、
自車速が下限車速と等しく、実際の追従車間距離が最小
追従車間距離以上であり、かつ先行車が自車に接近する
とき、下限車速維持制御手段が下限車速を維持するよう
に追従走行制御手段を制御するので、自車速が下限車速
未満になり難くして自動追従制御が解除されるのを抑制
することができる。According to the ninth aspect of the present invention,
When the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance between the following vehicles is greater than or equal to the minimum following vehicle distance, and when the preceding vehicle approaches the own vehicle, the lower limit vehicle speed maintaining control means keeps the lower following vehicle speed so as to keep the lower vehicle speed. Is controlled, it is possible to suppress the self-vehicle speed from becoming less than the lower limit vehicle speed and the automatic following control from being released.
【００７８】また請求項１０に記載された発明によれ
ば、自車速が下限車速と等しく、実際の追従車間距離が
最小追従車間距離以上であり、先行車が自車から離れて
行き、かつ追従車間距離が所定値未満のときに、下限車
速維持制御手段が下限車速を維持するように追従走行制
御手段を制御するので、自車速が下限車速未満になり難
くして自動追従制御が解除されるのを抑制することがで
きる。According to the tenth aspect of the present invention, the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance between the following vehicles is equal to or greater than the minimum following vehicle distance, and the preceding vehicle moves away from the own vehicle and follows the following vehicle. When the inter-vehicle distance is less than the predetermined value, the lower limit vehicle speed maintenance control means controls the following travel control means so as to maintain the lower limit vehicle speed, so that the own vehicle speed is less likely to be less than the lower limit vehicle speed, and the automatic following control is released. Can be suppressed.
【００７９】また請求項１１に記載された発明によれ
ば、自車速が下限車速と等しく、実際の追従車間距離が
最小追従車間距離以上であり、先行車が自車から離れて
行き、かつ追従車間距離が所定値以上のときに、追従車
間距離修正手段が追従車間距離設定手段により設定され
た追従車間距離を所定量長く修正するので、先行車の加
減速により追従車間距離の増減を吸収し易くすることが
できる。According to the eleventh aspect of the present invention, the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance between the following vehicles is equal to or greater than the minimum following vehicle distance, the preceding vehicle moves away from the own vehicle, and When the inter-vehicle distance is equal to or greater than a predetermined value, the following inter-vehicle distance correcting means corrects the following inter-vehicle distance set by the following inter-vehicle distance setting means to be longer by a predetermined amount. It can be easier.
【００８０】また請求項１２に記載された発明によれ
ば、前記所定値が追従車間距離設定手段により設定され
た追従車間距離よりも短く設定されるので、自車速の低
下を抑制して下限車速を下回り難くすることができる。According to the twelfth aspect of the present invention, the predetermined value is set shorter than the following distance set by the following distance setting means. Below.
【００８１】また請求項１３に記載された発明によれ
ば、自車速が下限車速と等しく、実際の追従車間距離が
最小追従車間距離未満であるとき、追従走行制御手段に
よる追従走行を解除するので、追従車間距離が短くなり
過ぎるのを防止することができる。According to the thirteenth aspect, when the own vehicle speed is equal to the lower limit vehicle speed and the actual following distance is less than the minimum following distance, the following running by the following running control means is canceled. In addition, it is possible to prevent the following inter-vehicle distance from becoming too short.
【図１】物体検知装置のブロック図FIG. 1 is a block diagram of an object detection device.
【図２】物体検知装置の斜視図FIG. 2 is a perspective view of an object detection device.
【図３】メインルーチンのフローチャートFIG. 3 is a flowchart of a main routine.
【図４】追従制御ルーチンのフローチャートFIG. 4 is a flowchart of a tracking control routine.
【図５】下限車速維持ルーチンのフローチャートFIG. 5 is a flowchart of a lower limit vehicle speed maintenance routine.
【図６】車速制御ルーチンのフローチャートFIG. 6 is a flowchart of a vehicle speed control routine.
【図７】本実施例の先行車速、自車速、車間距離および
目標車間距離の変化を示すタイムチャートFIG. 7 is a time chart showing changes in the preceding vehicle speed, the own vehicle speed, the following distance, and the target following distance in the present embodiment.
【図８】クレーム対応図FIG. 8 is a diagram corresponding to claims.
【図９】従来例の先行車速、自車速、車間距離および目
標車間距離の変化を示すタイムチャートFIG. 9 is a time chart showing changes in the preceding vehicle speed, the own vehicle speed, the following distance, and the target following distance in the conventional example.
Ｍ１ 追従車間距離設定手段 Ｍ２ 追従走行制御手段 Ｍ３ 下限車速設定手段 Ｍ４ 車速領域判定手段 Ｍ５ 下限車速維持制御手段 Ｍ６ 追従車間距離修正手段 M1 following vehicle distance setting means M2 following driving control means M3 lower limit vehicle speed setting means M4 vehicle speed area determining means M5 lower limit vehicle speed maintaining control means M6 following vehicle distance correcting means
───────────────────────────────────────────────────── フロントページの続き Ｆターム(参考） 3D044 AA21 AA25 AB01 AC26 AC31 AC59 AD04 AE01 AE04 AE15 AE21 3G093 AA01 BA23 CB11 CB12 DB05 DB16 DB18 EA09 EC01 FA02 FA08 FA11 FA12 FB01 FB02 3G301 JA00 JA03 KB02 LA03 NA06 NA08 NB03 NC01 ND01 NE01 NE06 NE17 NE19 PF00 PF01A PF01Z PF15Z ──────────────────────────────────────────────────続 き Continued on the front page F-term (reference) NE01 NE06 NE17 NE19 PF00 PF01A PF01Z PF15Z
Claims (13)
定する追従車間距離設定手段（Ｍ１）と、 実際の追従車間距離が追従車間距離設定手段（Ｍ１）に
より設定された追従車間距離に一致するように自車を加
速あるいは減速する追従走行制御手段（Ｍ２）と、 追従走行制御手段（Ｍ２）により追従走行を行う下限車
速を設定する下限車速設定手段（Ｍ３）と、 を備えたオートクルーズ装置において、 自車速が下限車速の近傍の下限近傍車速領域にあること
を判定する車速領域判定手段（Ｍ４）と、 自車速が下限近傍車速領域にあることが判定されたと
き、自車速が下限車速を下回らないように追従走行制御
手段（Ｍ２）を制御する下限車速維持制御手段（Ｍ５）
と、 を備えたことを特徴とするオートクルーズ装置。1. An inter-following vehicle distance setting means (M1) for setting a following inter-vehicle distance with respect to a preceding vehicle, and an actual inter-vehicle distance corresponds to the following inter-vehicle distance set by the following inter-vehicle distance setting means (M1). An automatic cruise system comprising: a follow-up traveling control means (M2) for accelerating or decelerating the own vehicle so as to perform the following operation; and a lower-limit vehicle speed setting means (M3) for setting a lower-limit vehicle speed for performing the follow-up traveling by the following traveling control means (M2). A vehicle speed region determining means (M4) for determining that the vehicle speed is in a vehicle speed region near a lower limit near the lower limit vehicle speed; and when the vehicle speed is determined to be in a vehicle speed region near the lower limit, the vehicle speed is lower than the lower limit. Lower limit vehicle speed maintaining control means (M5) for controlling following travel control means (M2) so as not to fall below the vehicle speed
And an auto cruise device comprising:
従車間距離設定手段（Ｍ１）により設定された追従車間
距離を所定量長く修正する追従車間距離修正手段（Ｍ
６）を備えたことを特徴とする、請求項１に記載のオー
トクルーズ装置。2. A following inter-vehicle distance correcting means (M) for correcting a following inter-vehicle distance set by a following inter-vehicle distance setting means (M1) to be longer by a predetermined amount during a following running in a vehicle speed region near a lower limit.
The auto cruise device according to claim 1, further comprising (6).
車の相対速度が正であり、かつ実際の追従車間距離が所
定値以上のときに追従車間距離を修正することを特徴と
する、請求項２に記載のオートクルーズ装置。3. The following inter-vehicle distance correcting means (M6) corrects the following inter-vehicle distance when the relative speed of the preceding vehicle is positive and the actual following inter-vehicle distance is equal to or greater than a predetermined value. The auto cruise device according to claim 2.
（Ｍ１）により設定された追従車間距離よりも短く設定
されることを特徴とする、請求項３に記載のオートクル
ーズ装置。4. The automatic cruise system according to claim 3, wherein the predetermined value is set shorter than a following inter-vehicle distance set by a following inter-vehicle distance setting means (M1).
速を下限近傍車速から下限車速まで減速させるように追
従走行制御手段（Ｍ２）を制御することを特徴とする、
請求項１に記載のオートクルーズ装置。5. The lower limit vehicle speed maintaining control means (M5) controls the following travel control means (M2) to reduce the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed.
The auto cruise device according to claim 1.
相対速度が負であるときに自車速を下限近傍車速から下
限車速まで減速させることを特徴とする、請求項５に記
載のオートクルーズ装置。6. The autonomous vehicle according to claim 5, wherein the following travel control means (M2) reduces the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed when the relative speed of the preceding vehicle is negative. Cruise equipment.
相対速度が正であり、かつ実際の追従車間距離が所定値
未満のときに自車速を下限近傍車速から下限車速まで減
速させることを特徴とする、請求項５に記載のオートク
ルーズ装置。7. A following traveling control means (M2) for reducing the own vehicle speed from the vehicle speed near the lower limit to the lower limit vehicle speed when the relative speed of the preceding vehicle is positive and the actual following distance between the following vehicles is less than a predetermined value. The auto cruise device according to claim 5, characterized in that:
（Ｍ１）により設定された追従車間距離よりも短く設定
されることを特徴とする、請求項７に記載のオートクル
ーズ装置。8. The automatic cruise system according to claim 7, wherein the predetermined value is set shorter than a following inter-vehicle distance set by a following inter-vehicle distance setting means (M1).
ように追従走行制御手段（Ｍ２）を制御することを特徴
とする、請求項１に記載のオートクルーズ装置。9. When the own vehicle speed is equal to the lower limit vehicle speed, the actual following distance is equal to or greater than the minimum following distance, and the relative speed of the preceding vehicle is negative, the lower limit vehicle speed maintaining control means (M5) The auto-cruise system according to claim 1, wherein the following cruise control means (M2) is controlled so as to maintain the vehicle speed.
ように追従走行制御手段（Ｍ２）を制御することを特徴
とする、請求項１に記載のオートクルーズ装置。10. When the own vehicle speed is equal to the lower limit vehicle speed, the actual following inter-vehicle distance is equal to or greater than the minimum following inter-vehicle distance, the relative speed of the preceding vehicle is positive, and the following inter-vehicle distance is less than a predetermined value. The auto cruise system according to claim 1, wherein the vehicle speed maintenance control means (M5) controls the following travel control means (M2) so as to maintain the lower limit vehicle speed.
間距離を所定量長く修正する追従車間距離修正手段（Ｍ
６）を備えたことを特徴とする、請求項１に記載のオー
トクルーズ装置。11. When the own vehicle speed is equal to the lower limit vehicle speed, the actual following inter-vehicle distance is equal to or more than the minimum following inter-vehicle distance, the relative speed of the preceding vehicle is positive, and the following inter-vehicle distance is equal to or more than a predetermined value. Following inter-vehicle distance correcting means (M) for correcting the following inter-vehicle distance set by the inter-vehicle distance setting means (M1) to be longer by a predetermined amount.
The auto cruise device according to claim 1, further comprising (6).
（Ｍ１）により設定された追従車間距離よりも短く設定
されることを特徴とする、請求項１０または請求項１１
に記載のオートクルーズ装置。12. The vehicle according to claim 10, wherein the predetermined value is set to be shorter than the following distance set by the following distance setting means (M1).
An auto cruise device according to claim 1.
とき、 追従走行制御手段（Ｍ２）による追従走行を解除するこ
とを特徴とする、請求項１に記載のオートクルーズ装
置。13. When the own vehicle speed is equal to the lower limit vehicle speed and the actual following distance between the following vehicles is less than the minimum following vehicle distance, the following running by the following running control means (M2) is released. 2. The auto cruise device according to 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000311742A JP2002120592A (en) | 2000-10-12 | 2000-10-12 | Auto-cruise device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000311742A JP2002120592A (en) | 2000-10-12 | 2000-10-12 | Auto-cruise device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2002120592A true JP2002120592A (en) | 2002-04-23 |
Family
ID=18791454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000311742A Pending JP2002120592A (en) | 2000-10-12 | 2000-10-12 | Auto-cruise device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2002120592A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005063521A1 (en) * | 2003-12-20 | 2005-07-14 | Daimlerchrysler Ag | Driving aid, vehicle, and method for regulating the speed of a vehicle |
| JP2013166450A (en) * | 2012-02-15 | 2013-08-29 | Toyota Motor Corp | Vehicle control apparatus |
| CN107380165A (en) * | 2017-07-27 | 2017-11-24 | 浙江工业大学 | Vehicle distance control method in vehicle self-adaptive speed change cruise process |
| JP2020193976A (en) * | 2019-04-04 | 2020-12-03 | 株式会社ユピテル | System and others |
-
2000
- 2000-10-12 JP JP2000311742A patent/JP2002120592A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005063521A1 (en) * | 2003-12-20 | 2005-07-14 | Daimlerchrysler Ag | Driving aid, vehicle, and method for regulating the speed of a vehicle |
| JP2013166450A (en) * | 2012-02-15 | 2013-08-29 | Toyota Motor Corp | Vehicle control apparatus |
| CN107380165A (en) * | 2017-07-27 | 2017-11-24 | 浙江工业大学 | Vehicle distance control method in vehicle self-adaptive speed change cruise process |
| JP2020193976A (en) * | 2019-04-04 | 2020-12-03 | 株式会社ユピテル | System and others |
| JP2022000634A (en) * | 2019-04-04 | 2022-01-04 | 株式会社ユピテル | System and others |
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