JP3197114B2 - Travel control device for vehicles - Google Patents
Travel control device for vehiclesInfo
- Publication number
- JP3197114B2 JP3197114B2 JP12636293A JP12636293A JP3197114B2 JP 3197114 B2 JP3197114 B2 JP 3197114B2 JP 12636293 A JP12636293 A JP 12636293A JP 12636293 A JP12636293 A JP 12636293A JP 3197114 B2 JP3197114 B2 JP 3197114B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- predetermined value
- distance
- deceleration
- less
- 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.)
- Expired - Lifetime
Links
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は車両用走行制御装置に係
り、より詳しくは、自車を先行車に追従するように走行
制御したり、自車が障害物に衝突しないように走行制御
する車両用走行制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cruise control system for a vehicle, and more particularly, to cruise control so that a subject vehicle follows a preceding vehicle or cruise control so that the subject vehicle does not collide with an obstacle. The present invention relates to a travel control device for a vehicle.
【０００２】[0002]
【従来の技術】自車を先行車に追従して走行するように
制御する走行制御装置としては、従来より種々のものが
提案されており、一例として特開昭61-77534号公報に
は、先行車と自車との車間距離及び相対速度に基づいて
自車の減速が必要か否かを判定し、減速が必要であると
判断した場合には自車の減速度と予め定められた減速度
の基準値との差の大きさに応じて、スロットルオフ、排
気ブレーキ操作、シフトダウン操作、ブレーキ操作の各
減速操作の中から適切な操作を選択して減速を行なう技
術が開示されている。このように、従来は先行車との車
間距離及び相対速度に基づいて減速の判定を行なってい
た。2. Description of the Related Art There have been proposed various types of travel control devices for controlling a vehicle to travel following a preceding vehicle. For example, Japanese Patent Application Laid-Open No. 61-77534 discloses a travel control device. It is determined whether or not the own vehicle needs to be decelerated based on the inter-vehicle distance and the relative speed between the preceding vehicle and the own vehicle. If it is determined that the deceleration is necessary, the deceleration of the own vehicle and a predetermined deceleration are determined. A technology is disclosed in which an appropriate operation is selected from among deceleration operations of a throttle off, an exhaust brake operation, a downshift operation, and a brake operation in accordance with the magnitude of a difference between the speed and a reference value, and the speed is reduced. . As described above, conventionally, the deceleration is determined based on the inter-vehicle distance to the preceding vehicle and the relative speed.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、例えば
先行車が急減速したとしても、相対速度や車間距離の変
化が検出されるまでには若干の時間遅れがある。従っ
て、車間距離及び相対速度に基づいて減速を制御する上
記装置では、先行車が急減速を開始してから先行車の急
減速に対応する減速度の大きな減速（例えば急ブレーキ
操作）を行なうまでに時間がかかり、ドライバに違和感
を与えるという問題があった。また、前記問題を解消す
るために、例えば減速度の基準値として大きな値を設定
した場合は、自車の減速度が基準値に一致するように減
速操作を選択し、減速を行なっているため、先行車の緩
やかな減速に対し必要以上の減速度で減速が行なわれ、
この場合にもドライバに違和感を与える。However, even if the preceding vehicle suddenly decelerates, for example, there is a slight time delay before a change in the relative speed or the inter-vehicle distance is detected. Therefore, in the above-described device that controls deceleration based on the inter-vehicle distance and the relative speed, from the time when the preceding vehicle starts sudden deceleration to the time when the deceleration corresponding to the sudden deceleration of the preceding vehicle is greatly reduced (for example, sudden braking operation). It takes a long time to make the driver feel uncomfortable. In order to solve the above problem, for example, when a large value is set as a reference value of the deceleration, the deceleration operation is selected so that the deceleration of the own vehicle matches the reference value, and the vehicle is decelerated. , The vehicle decelerates more slowly than necessary for the slow deceleration of the preceding vehicle,
Also in this case, the driver feels strange.
【０００４】本発明は上記事実を考慮して成されたもの
で、ドライバに違和感を与えることなく、適切なタイミ
ングで減速を行なうことができる車両用走行制御装置を
得ることが目的である。SUMMARY OF THE INVENTION The present invention has been made in view of the above-described circumstances, and has as its object to provide a vehicle traveling control device capable of decelerating at an appropriate timing without giving a driver an uncomfortable feeling.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に請求項１記載の発明は、自車と物体との距離を検出す
る距離検出手段と、自車と前記物体との相対速度を検出
する相対速度検出手段と、物体に対する自車の相対加速
度を検出する相対加速度検出手段と、自車と物体とが所
定値以上の相対加速度で相対的に近づいている場合に所
定値以上の減速度で自車を減速させる減速手段と、自車
と物体とが所定値未満の相対加速度で相対的に近づいて
おり、かつ自車と物体との距離が第１の所定値未満でか
つ該第１の所定値よりも小さい第２の所定値以上の場合
に所定値未満の減速度で自車を減速させる緩減速手段
と、を含んで構成している。また、請求項２記載の発明
は、請求項１記載の発明において、自車と前記物体との
相対速度を検出する相対速度検出手段を更に備え、前記
緩減速手段は、自車と物体との相対加速度が所定値未満
で、かつ自車と物体との距離が第１の所定値未満でかつ
該第１の所定値よりも小さい第２の所定値以上で、かつ
所定値以上の相対速度で自車と物体とが相対的に近づい
ている場合に所定値未満の減速度で自車を減速させるこ
とを特徴としている。 また、請求項３記載の発明は、請
求項１記載の発明において、自車と前記物体との相対速
度を検出する相対速度検出手段を更に備え、前記緩減速
手段は、自車と物体との相対加速度が所定値未満で、か
つ自車と物体との距離が前記第１の所定値よりも小さく
前記第２の所定値より大きい第３の所定値未満かつ前記
第２の所定値以上で、かつ相対速度が所定値未満の場合
に所定値未満の減速度で自車を減速させることを特徴と
している。 According to a first aspect of the present invention, there is provided a distance detecting means for detecting a distance between a vehicle and an object, and a relative speed between the vehicle and the object. Relative speed detecting means for detecting the relative acceleration of the own vehicle with respect to the object;
If the relative acceleration is relatively close to
Deceleration means for decelerating the vehicle at a deceleration greater than or equal to a predetermined value, and the vehicle and the object relatively approaching each other with a relative acceleration less than a predetermined value.
Cage, and when the distance between the vehicle and the object of the second predetermined value or more lower than the first and the predetermined value of the first is less than the predetermined value
Slow deceleration means for decelerating the vehicle at a deceleration less than a predetermined value . The invention according to claim 2
The invention according to claim 1, wherein the vehicle and the object
Relative speed detecting means for detecting a relative speed, further comprising:
The slow deceleration means is configured so that the relative acceleration between the vehicle and the object is less than a predetermined value.
And the distance between the vehicle and the object is less than a first predetermined value;
At least a second predetermined value smaller than the first predetermined value, and
The vehicle and the object are relatively close to each other at a relative speed equal to or higher than the predetermined value.
The vehicle at a deceleration less than the specified value
It is characterized by. The invention according to claim 3 is a contractor.
The invention according to claim 1, wherein a relative speed between the own vehicle and the object is set.
A relative speed detecting means for detecting the degree,
Means for determining whether the relative acceleration between the vehicle and the object is less than a predetermined value,
The distance between the vehicle and the object is smaller than the first predetermined value.
Less than a third predetermined value greater than the second predetermined value and the
When the relative speed is equal to or more than the second predetermined value and the relative speed is less than the predetermined value
The vehicle is decelerated at a deceleration less than a predetermined value.
are doing.
【０００６】請求項４記載の発明は、自車と物体との距
離を検出する距離検出手段と、自車と前記物体との相対
速度を検出する相対速度検出手段と、物体に対する自車
の相対加速度を検出する相対加速度検出手段と、自車と
物体との距離が第１の所定値未満で、かつ所定値以上の
相対加速度で自車と物体とが相対的に近づいている場合
に、所定値以上の減速度で自車を減速させると共に、自
車と物体との距離が前記第１の所定値よりも小さい第２
の所定値未満で、かつ所定値未満の相対加速度で自車と
物体とが相対的に近づいている場合に、所定値以上の減
速度で自車を減速させる第１の減速手段と、自車と物体
との相対加速度が所定値未満で、かつ自車と物体との距
離が前記第１の所定値未満かつ前記第２の所定値以上
で、かつ所定値以上の相対速度で自車と物体とが相対的
に近づいている場合に、所定値未満の減速度で自車を減
速させると共に、自車と物体との相対加速度が所定値未
満で、かつ自車と物体との距離が前記第１の所定値より
小さく前記第２の所定値より大きい第３の所定値未満か
つ前記第２の所定値以上で、かつ相対速度が所定値未満
の場合に、所定値未満の減速度で自車を減速させる第２
の減速手段と、を含んで構成している。According to a fourth aspect of the present invention, there is provided distance detecting means for detecting a distance between the vehicle and the object, relative speed detecting means for detecting a relative speed between the vehicle and the object, Relative acceleration detecting means for detecting an acceleration, when the distance between the vehicle and the object is less than a first predetermined value and the vehicle and the object are relatively approaching each other with a relative acceleration not less than the predetermined value
The vehicle is decelerated at a deceleration greater than or equal to a predetermined value, and a distance between the vehicle and the object is smaller than a second predetermined value.
Less than the predetermined value and with the relative acceleration of less than the predetermined value
First deceleration means for decelerating the vehicle at a deceleration greater than or equal to a predetermined value when the object is relatively approaching; and a relative acceleration between the vehicle and the object being less than a predetermined value; Deceleration less than a predetermined value when the distance between the subject vehicle and the object is relatively smaller than the first predetermined value and greater than or equal to the second predetermined value, and the relative speed of the vehicle is relatively greater than the predetermined value. Reduce own car
Speed , the relative acceleration between the vehicle and the object is less than a predetermined value, and the distance between the vehicle and the object is less than a third predetermined value that is smaller than the first predetermined value and larger than the second predetermined value; When the relative speed is greater than or equal to the second predetermined value and the relative speed is less than the predetermined value, the second vehicle that decelerates the own vehicle at a deceleration less than the predetermined value.
And deceleration means.
【０００７】[0007]
【作用】以下、本発明の原理を説明する。図１は先行車
が接近を開始してから追従車（自車）が減速を開始する
までの時間と、先行車と自車との相対加速度との関係を
示したものである。なお、以下では自車と先行車とが近
づく方向を相対速度及び相対加速度の正方向とする。図
１から理解されるように、ドライバは、相対加速度が小
さいときにはアクセルペダルから足を離す（スロットル
オフ）のみでブレーキペダルを踏み込む操作（ブレーキ
操作）を行なわずに、エンジンブレーキによって緩やか
に減速させる期間を設け、不要なブレーキ操作を避けて
しばらく様子を見る。The principle of the present invention will be described below. FIG. 1 shows the relationship between the time from when the preceding vehicle starts approaching to when the following vehicle (own vehicle) starts decelerating, and the relative acceleration between the preceding vehicle and the own vehicle. Hereinafter, the direction in which the own vehicle and the preceding vehicle approach each other is defined as the positive direction of the relative speed and the relative acceleration. As understood from FIG. 1, when the relative acceleration is small, the driver slowly decelerates by the engine brake without performing the operation of depressing the brake pedal (brake operation) only by releasing the accelerator pedal (throttle off). Set a period to avoid unnecessary brake operation and watch for a while.
【０００８】このように、相対加速度が小さいときにエ
ンジンブレーキによる減速を行なう場合は、相対速度が
高い、または車間距離が短くなった等のように先行車に
衝突する危険度が比較的高い場合である。そして、エン
ジンブレーキによる減速を行なっても危険度が低減され
ない場合にはブレーキを操作して減速させる。従って、
相対加速度が小さい場合には、スロットルをオフしエン
ジンブレーキを作動させてからブレーキを操作するまで
の時間ｔは長い。これに対し、相対加速度が大きいとき
には、スロットルオフ及びブレーキ操作を即座に一連の
動作として行なうので、前記時間ｔは短い。[0008] As described above, when deceleration by the engine brake is performed when the relative acceleration is small, when the relative speed is high or the risk of colliding with the preceding vehicle is relatively high, such as when the inter-vehicle distance is shortened. It is. If the degree of danger is not reduced by deceleration by the engine brake, the brake is operated to decelerate. Therefore,
When the relative acceleration is small, the time t from turning off the throttle and operating the engine brake to operating the brake is long. On the other hand, when the relative acceleration is large, the throttle off and the brake operation are immediately performed as a series of operations, so the time t is short.
【０００９】このようなドライバの減速操作を考慮し、
請求項１記載の発明では、自車と先行車や走行路上の障
害物等の物体との距離、相対速度及び相対加速度を検出
し、自車と物体とが所定値未満の相対加速度で相対的に
近づいており、かつ自車と物体との距離が第１の所定値
未満でかつ該第１の所定値よりも小さい第２の所定値以
上の場合には所定値未満の減速度で自車を減速させると
共に、自車と物体との相対加速度が所定値未満で、かつ
自車と物体との距離が前記第１の所定値よりも小さく前
記第２の所定値より大きい第３の所定値未満かつ前記第
２の所定値以上で、かつ相対速度が所定値未満の場合に
も所定値未満の減速度で自車を減速させるようにしてい
る。このように、請求項１記載の発明では、物体との相
対加速度が小さくても物体に衝突する危険度が比較的高
く、ドライバの減速操作と同様にエンジンブレーキ等に
よって減速させる必要がある場合に、自車を所定値未満
の減速度で減速させるので、先行車が緩やかに減速して
いる等の場合にドライバに違和感を与えることなく適切
な減速度、適切なタイミングで減速が行なわれる。な
お、所定値未満の減速度での減速としては、例えばエン
ジンブレーキによる減速、排気ブレーキによる減速、シ
フトダウンによる減速等を適用することができる。な
お、請求項１記載の発明に係る緩減速手段が所定値未満
の減速度で自車を減速させる条件としては、詳しくは、
例えば請求項２に記載したように、自車と物体との相対
加速度が所定値未満で、かつ自車と物体との距離が第１
の所定値未満でかつ該第１の所定値よりも小さい第２の
所定値以上で、かつ所定値以上の相対速度で自車と物体
とが相対的に近づいている場合（すなわち物体との相対
加速度が小さくても相対速度が大きい場合）や、例えば
請求項３に記載したように、自車と物体との相対加速度
が所定値未満で、かつ自車と物体との距離が前記第１の
所定値よりも小さく前記第２の所定値より大きい第３の
所定値未満かつ前記第２の所定値以上で、かつ相対速度
が所定値未満の場合（すなわち物体との相対加速度が小
さくても距離が比較的小さい場合）を適用することがで
きる。 In consideration of such a driver's deceleration operation,
According to the first aspect of the invention, the distance, relative speed, and relative acceleration between the own vehicle and an object such as a preceding vehicle or an obstacle on a traveling road are detected, and the own vehicle and the object are relatively positioned at a relative acceleration smaller than a predetermined value. To
When the vehicle is approaching and the distance between the vehicle and the object is less than the first predetermined value and is equal to or greater than a second predetermined value smaller than the first predetermined value , the vehicle is decelerated at a deceleration less than the predetermined value. When you slow down
In both cases, the relative acceleration between the own vehicle and the object is less than a predetermined value, and the distance between the own vehicle and the object is less than a third predetermined value that is smaller than the first predetermined value and larger than the second predetermined value. When the relative speed is equal to or more than the second predetermined value and the relative speed is less than the predetermined value ,
Also, the vehicle is decelerated at a deceleration less than a predetermined value . Thus, according to the first aspect of the present invention, the phase with the object is
The danger of colliding with an object is relatively high even with low acceleration
In the same way as the driver's deceleration operation,
Therefore, when it is necessary to decelerate, make the vehicle less than the specified value.
Deceleration at the deceleration of
Appropriate without giving the driver a sense of incongruity
The deceleration is performed at an appropriate deceleration and appropriate timing. What
The deceleration at a deceleration less than the predetermined value is, for example,
Deceleration by gin brake, deceleration by exhaust brake,
For example, deceleration due to shift down can be applied . What
The slow deceleration means according to the first aspect of the present invention is less than a predetermined value.
The conditions for decelerating the vehicle at the deceleration of
For example, as described in claim 2, the relative position between the vehicle and the object
The acceleration is less than a predetermined value, and the distance between the vehicle and the object is the first.
A second value smaller than the predetermined value and smaller than the first predetermined value.
The vehicle and the object at a relative speed that is equal to or higher than the predetermined value
Is relatively close (ie, relative to the object)
When the relative speed is large even if the acceleration is small) or, for example,
As described in claim 3, the relative acceleration between the vehicle and the object
Is less than a predetermined value, and the distance between the vehicle and the object is the first value.
A third smaller than a predetermined value and larger than the second predetermined value;
Less than a predetermined value and not less than the second predetermined value, and a relative speed
Is less than a predetermined value (that is, the relative acceleration with the object is small).
If the distance is relatively small)
Wear.
【００１０】一方、自車と物体との相対加速度が所定値
以上の場合には所定値以上の減速度で自車を減速させる
ので、車間距離及び相対速度に応じて減速を行なう場合
と比較して、先行車が急減速した等の場合に適切なタイ
ミング、すなわち速やかに適切な減速度で減速が行なわ
れ、自車が物体に衝突することが防止される。なお、所
定値以上の減速度での減速としては、例えばブレーキ装
置のブレーキ圧を制御することによる減速を適用でき
る。 On the other hand, the relative acceleration between the vehicle and the object is a predetermined value.
In this case, decelerate the vehicle with a deceleration equal to or greater than the predetermined value.
When decelerating according to the following distance and relative speed
If the preceding vehicle suddenly decelerates,
, That is, deceleration at the appropriate deceleration immediately
This prevents the vehicle from colliding with the object. The place
For deceleration at a deceleration above a certain value, for example,
Deceleration by controlling the brake pressure
You.
【００１１】また、請求項４記載の発明では、自車と物
体との距離、相対速度及び相対加速度を検出し、自車と
物体との距離が第１の所定値未満で、かつ所定値以上の
相対加速度で自車と物体とが相対的に近づいている場合
に、所定値以上の減速度で自車を減速させると共に、自
車と物体との距離が前記第１の所定値よりも小さい第２
の所定値未満で、かつ所定値未満の相対加速度で自車と
物体とが相対的に近づいている場合に、所定値以上の減
速度で自車を減速させるようにしている。 [0011] In the present invention of claim 4 wherein, the distance between the vehicle and the object, and detects the relative speed and relative acceleration, the distance between the vehicle and the object is less than a first predetermined value and higher than a predetermined value When the vehicle and the object are relatively close at the relative acceleration of
The vehicle is decelerated at a deceleration greater than or equal to a predetermined value, and a distance between the vehicle and the object is smaller than a second predetermined value.
Less than the predetermined value and with the relative acceleration of less than the predetermined value
When the vehicle is relatively close to the object , the own vehicle is decelerated at a deceleration greater than or equal to a predetermined value .
【００１２】従って、例えば先行車が急減速した場合に
は、所定値以上の相対加速度で自車と先行車、障害物等
の物体とが相対的に近づくことになり、物体に衝突する
危険度は高いが、自車と物体との距離が第１の所定値未
満であれば所定値以上の減速度での自車の減速が行なわ
れる。また、物体との相対加速度が所定値未満の場合で
あっても物体と自車との距離がかなり小さい場合には物
体に衝突する危険度は高いが、このような場合（物体と
の距離が第２の所定値未満の場合）にも所定値以上の減
速度での自車の減速が行なわれる。なお、所定値以上の
減速度での減速としては、例えばブレーキ装置のブレー
キ圧を制御することによる減速を適用できる。Therefore, for example, when the preceding vehicle suddenly decelerates, the own vehicle and the preceding vehicle, obstacles, and other objects relatively approach each other with a relative acceleration of a predetermined value or more, and the risk of collision with the object is increased. Is high, but if the distance between the own vehicle and the object is less than the first predetermined value, the own vehicle is decelerated at a deceleration greater than or equal to the predetermined value. Also, even when the relative acceleration with the object is less than the predetermined value , the risk of colliding with the object is high when the distance between the object and the own vehicle is considerably small. The vehicle is decelerated at a deceleration greater than or equal to the predetermined value also in the case of being less than the second predetermined value. As the deceleration at the deceleration equal to or more than the predetermined value, for example, deceleration by controlling the brake pressure of the brake device can be applied.
【００１３】このように相対加速度が所定値以上の場合
に減速を行なうので、従来のように車間距離及び相対速
度に応じて減速を行なう場合と比較して、先行車が急減
速した等の場合に適切なタイミング、すなわち速やかに
減速が行なわれる。また、物体との距離がかなり小さく
なり衝突する危険度の高くなった場合にも減速が行なわ
れるので、自車が物体に衝突することが防止される。As described above, the deceleration is performed when the relative acceleration is equal to or more than the predetermined value. Therefore, when the preceding vehicle is suddenly decelerated, as compared with the conventional case where the deceleration is performed according to the inter-vehicle distance and the relative speed. , The deceleration is performed promptly. In addition, even when the distance to the object becomes considerably small and the risk of collision increases, deceleration is performed, so that the own vehicle is prevented from colliding with the object.
【００１４】さらに、自車と物体との相対加速度が所定
値未満で、かつ自車と物体との距離が第１の所定値未満
かつ第２の所定値以上で、かつ所定値以上の相対速度で
自車と物体とが相対的に近づいている場合に、所定値未
満の減速度で自車を減速させると共に、自車と物体との
相対加速度が所定値未満で、かつ自車と物体との距離が
第１の所定値より小さく第２の所定値より大きい第３の
所定値未満かつ第２の所定値以上で、かつ相対速度が所
定値未満の場合に、所定値未満の減速度で自車を減速さ
せるので、先行車が緩やかに減速している等の場合にも
ドライバに違和感を与えることなく適切な減速度、適切
なタイミングで減速が行なわれる。[0014] Further, the relative speed between the vehicle and the object is less than a predetermined value, and the distance between the vehicle and the object is less than a first predetermined value and more than a second predetermined value, and is more than a predetermined value. in the case where the subject vehicle and the object is approaching relatively predetermined value Not
The own vehicle is decelerated at full deceleration , the relative acceleration between the own vehicle and the object is less than a predetermined value, and the distance between the own vehicle and the object is smaller than a first predetermined value and larger than a second predetermined value. 3 and not less than the second predetermined value , and the relative speed is
When the vehicle speed is less than the predetermined value, the own vehicle is decelerated at a deceleration value less than the predetermined value, so even if the preceding vehicle is slowly decelerating, etc. Deceleration is performed.
【００１５】[0015]
【実施例】以下、図面を参照して本発明の実施例を説明
する。本実施例は、自車を先行車に追従させて走行させ
る追従走行制御装置に本発明を適用したものである。こ
の追従走行制御装置は図示しない車両に取付けられてお
り、図２に示すように、先行車と自車との車間距離を検
出する車間距離検出手段１０と、自車の速度（自車速）
を検出する車速検出手段１２とを備えている。この車間
距離検出手段１０としてはレーザー距離計を用いること
ができる。また、自車の前方の状況を撮像して得た画像
中の先行車の位置に基づいて車間距離を検出するように
してもよい。車速検出手段１２としては車両に取り付け
られているスピードセンサを用いることができる。Embodiments of the present invention will be described below with reference to the drawings. In this embodiment, the present invention is applied to a follow-up traveling control device that causes the own vehicle to follow the preceding vehicle and travel. The following cruise control device is mounted on a vehicle (not shown), and as shown in FIG. 2, an inter-vehicle distance detecting means 10 for detecting an inter-vehicle distance between the preceding vehicle and the own vehicle, and a speed of the own vehicle (own vehicle speed).
And a vehicle speed detecting means 12 for detecting the vehicle speed. As this inter-vehicle distance detecting means 10, a laser distance meter can be used. Alternatively, the inter-vehicle distance may be detected based on the position of the preceding vehicle in an image obtained by imaging the situation in front of the own vehicle. As the vehicle speed detecting means 12, a speed sensor attached to the vehicle can be used.
【００１６】車間距離検出手段１０及び車速検出手段１
２は、先行車と自車との相対速度や相対加速度を演算し
ブレーキ圧やスロットル開度を制御することによって自
車速を制御するマイクロコンピュータで構成された制御
手段１４に接続されている。このマイクロコンピュータ
は図示しないＣＰＵ、ＲＯＭ、ＲＡＭを備えている。こ
の制御手段１４はアクチュエータ１６を介して自車に設
けられたブレーキ２０に接続され、またアクチュエータ
１８を介して自車に設けられたスロットル２２に接続さ
れている。Inter-vehicle distance detecting means 10 and vehicle speed detecting means 1
Reference numeral 2 is connected to a control means 14 configured by a microcomputer that calculates the relative speed and relative acceleration between the preceding vehicle and the own vehicle and controls the own vehicle speed by controlling the brake pressure and the throttle opening. This microcomputer includes a CPU, ROM, and RAM (not shown). The control means 14 is connected to a brake 20 provided on the own vehicle via an actuator 16, and connected to a throttle 22 provided on the own vehicle via an actuator 18.
【００１７】次に本実施例の作用として、図３を参照し
て制御手段１４のメインルーチンを説明する。このメイ
ンルーチンは本装置のメインスイッチがオンになると実
行される。なお、以下では相対速度及び相対加速度は、
それぞれ自車と先行車とが近づく方向を正とする。Next, as an operation of the present embodiment, a main routine of the control means 14 will be described with reference to FIG. This main routine is executed when the main switch of the apparatus is turned on. In the following, relative speed and relative acceleration are:
The direction in which the own vehicle and the preceding vehicle approach each other is defined as positive.
【００１８】ステップ１００では、車間距離検出手段１
０で検出された現在の車間距離ＨＷ及び車速検出手段１
２で検出された現在の自車速Ｖx を取り込み、次のステ
ップ１０２において、車間距離ＨＷと本発明の第１の所
定値として予め定められた追従車間距離ＨＷ１とを比較
する。追従車間距離ＨＷ１は自車が先行車に対して追従
走行する状態に入る車間距離のしきい値に対応する基準
値である。前記しきい値は自車の車速に応じて変化する
ので、追従車間距離ＨＷ１は予め定められた車速Ｖx と
追従車間距離ＨＷ１との関係（一例として図５参照）に
基づいて設定され、車速Ｖx に応じて値が変更されるこ
とになる。In step 100, the following distance detecting means 1 is used.
Current inter-vehicle distance HW detected at 0 and vehicle speed detecting means 1
Capture the current vehicle speed V x detected by the 2, at the next step 102, it compares the first predetermined track vehicle distance as a predetermined value of the following distance HW and the invention HW1. The following inter-vehicle distance HW1 is a reference value corresponding to a threshold value of an inter-vehicle distance at which the own vehicle enters a state of following the preceding vehicle. Wherein the threshold varies according to the vehicle speed of the vehicle, follow the following distance HW1 is set based on (see FIG. 5 as an example) the relationship between the vehicle speed V x and follow vehicle distance HW1 predetermined vehicle speed so that the value is changed according to the V x.
【００１９】車間距離ＨＷが追従車間距離ＨＷ１以上で
ある場合には、自車と先行車とが適度に離れているた
め、ステップ１０６において従来の車速一定型のオート
ドライブと同様に、アクチュエータ１８を介してスロッ
トル２２の開度を制御することによって自車速Ｖx が一
定になるように制御する。一方、ステップ１０２で車間
距離ＨＷが追従車間距離ＨＷ１よりも小さいと判断され
たときには、ステップ１０４で車間距離ＨＷに基づいて
相対加速度Ｇ及び相対速度Ｖを演算し、次のステップ１
０８以降で追従走行制御を行なう。If the inter-vehicle distance HW is equal to or greater than the following inter-vehicle distance HW1, the own vehicle and the preceding vehicle are appropriately separated from each other. through host vehicle speed V x is controlled to be constant by controlling the opening degree of the throttle 22. On the other hand, when it is determined in step 102 that the following distance HW is smaller than the following following distance HW1, the relative acceleration G and the relative speed V are calculated based on the following distance HW in step 104, and the next step 1 is performed.
After 08, follow-up running control is performed.
【００２０】ステップ１０８では相対加速度Ｇと予め定
められている正の所定値Ｇ１とを比較する。なお所定値
Ｇ１は、ドライバが検知可能な相対加速度の最小値に基
づいて定められている。相対加速度Ｇが所定値Ｇ１より
も小さい場合には、ステップ１１０で相対速度Ｖと予め
定められた正の所定値Ｖ１とを比較する。なお、所定値
Ｖ１はドライバが検知可能な相対速度の最小値に基づい
て定められており、一例として５〜10 km/hr程度の値が
設定される。ステップ１１０で相対速度Ｖが所定値Ｖ１
以上であると判断された場合はステップ１１２へ移行す
る。In step 108, the relative acceleration G is compared with a predetermined positive predetermined value G1. The predetermined value G1 is determined based on the minimum value of the relative acceleration that can be detected by the driver. When the relative acceleration G is smaller than the predetermined value G1, at step 110, the relative speed V is compared with a predetermined positive predetermined value V1. Note that the predetermined value V1 is determined based on the minimum value of the relative speed that can be detected by the driver, and a value of about 5 to 10 km / hr is set as an example. In step 110, the relative speed V becomes a predetermined value V1.
If it is determined that this is the case, the process proceeds to step 112.
【００２１】一方、相対速度Ｖが所定値Ｖ１よりも小さ
い場合には、ステップ１１４で車間距離ＨＷが、請求項
１及び請求項２の発明の第３の所定値としての所定値Ｈ
Ｗ２よりも小さいか否か判定する。なお、所定値ＨＷ２
は前述の追従車間距離ＨＷ１よりも小さい値とされてお
り、次の（１）式に従って値が設定される。On the other hand, if the relative speed V is smaller than the predetermined value V1, the inter-vehicle distance HW is set at step 114 to the predetermined value H as the third predetermined value according to the first and second aspects of the present invention.
It is determined whether it is smaller than W2. The predetermined value HW2
Is smaller than the following inter-vehicle distance HW1, and is set according to the following equation (1).
【００２２】 ＨＷ１−ＨＷ２＝Ｋ・ＨＷ１ ・・（１） 但し、Ｋはドライバが検知可能な車間距離の変化量の最
小値に対応する比例定数である。一般に、ドライバが検
知可能な車間距離の変化量の最小値は元の車間距離の５
〜20％程度であることが知られており、比例定数Ｋには
0.05＜Ｋ＜0.2の範囲内の値が設定される。例えば、追
従車間距離ＨＷ１が30ｍの場合にはドライバが検知可能
な車間距離の最小値は 1.5〜６ｍ程度となる。従って所
定値ＨＷ２には24〜28.5ｍ程度の値が設定される。HW1−HW2 = K · HW1 (1) where K is a proportional constant corresponding to a minimum value of a change amount of the inter-vehicle distance that can be detected by the driver. Generally, the minimum value of the inter-vehicle distance change that can be detected by the driver is 5 times the original inter-vehicle distance.
It is known that it is about 20%.
A value within the range of 0.05 <K <0.2 is set. For example, when the following inter-vehicle distance HW1 is 30 m, the minimum inter-vehicle distance detectable by the driver is about 1.5 to 6 m. Therefore, a value of about 24 to 28.5 m is set as the predetermined value HW2.
【００２３】車間距離ＨＷが所定値ＨＷ２以上の場合は
ステップ１１６へ移行する。ステップ１１６では制御目
標を先行車との車間距離とし、自車速Ｖx に応じた基準
値に対応する車間距離となるように自車速を制御する第
１の車間距離制御処理を行なう。前記基準値としては、
一例として前記追従車間距離ＨＷよりも所定値以上大き
な値を設定することができる。但し、第１の車間距離制
御処理では、ブレーキ装置のブレーキ圧の制御は行なわ
ず、スロットル開度の制御のみを行ってエンジンブレー
キにより自車速を制御する。車間距離ＨＷが所定値ＨＷ
２よりも小さい場合はステップ１１２へ移行する。If the inter-vehicle distance HW is equal to or greater than the predetermined value HW2, the routine proceeds to step 116. In step 116 a control target as the inter-vehicle distance to the preceding vehicle, and a first inter-vehicle distance control process for controlling the vehicle speed such that the inter-vehicle distance corresponding to a reference value corresponding to the vehicle speed V x. As the reference value,
As an example, a value larger than the following inter-vehicle distance HW by a predetermined value or more can be set. However, in the first inter-vehicle distance control process, the vehicle speed is controlled by the engine brake by controlling only the throttle opening degree without controlling the brake pressure of the brake device. The inter-vehicle distance HW is a predetermined value HW
If it is smaller than 2, the process proceeds to step 112.
【００２４】ステップ１１２では、請求項２の発明の第
２の所定値としての減速開始車間距離ＨＷ３を算出す
る。減速開始車間距離ＨＷ３はドライバがブレーキ操作
を保留する車間距離の限界値に対応する基準値であり、
所定値ＨＷ２よりも小さい値（すなわち、ＨＷ１＞ＨＷ
２＞ＨＷ３）となる。減速開始車間距離についても自車
速等に応じて変化するので、減速開始車間距離ＨＷ３
は、先行車が接近した場合の衝突危険度を考慮して予め
定められＲＯＭに記憶された、車速Ｖx と減速開始車間
距離ＨＷ３との関係（一例として図６参照）に基づいて
設定され、車速Ｖxに応じて値が変更されることにな
る。In step 112, a deceleration start inter-vehicle distance HW3 is calculated as a second predetermined value according to the second aspect of the present invention. The deceleration start inter-vehicle distance HW3 is a reference value corresponding to a limit value of the inter-vehicle distance at which the driver holds the brake operation,
A value smaller than the predetermined value HW2 (that is, HW1> HW)
2> HW3). Since the deceleration start inter-vehicle distance also changes according to the own vehicle speed and the like, the deceleration start inter-vehicle distance HW3
The preceding vehicle is stored in the ROM predetermined in consideration of the collision risk when in close proximity, is set based on the relationship between the vehicle speed V x and the deceleration start vehicle distance HW3 (see FIG. 6 as an example), so that the value is changed in accordance with the vehicle speed V x.
【００２５】次のステップ１１８では、減速開始車間距
離ＨＷ３と現在の車間距離ＨＷとを比較する。ステップ
１１８の判定を行なう場合は、ステップ１１０の判定が
肯定された場合、すなわち先行車との相対加速度Ｇが所
定値Ｇ１よりも小さいものの所定値Ｖ１以上の相対速度
で先行車と近づいている場合、またはステップ１１４の
判定が肯定された場合、すなわち車間距離ＨＷが所定値
ＨＷ２よりも小さい場合であり、このような場合には少
なくともエンジンブレーキによって車両速度を減速させ
ることが必要な状況であると判断できる。In the next step 118, the deceleration start inter-vehicle distance HW3 is compared with the current inter-vehicle distance HW. When the determination at step 118 is performed, the determination at step 110 is affirmative, that is, when the relative acceleration G with respect to the preceding vehicle is smaller than the predetermined value G1, but approaches the preceding vehicle at a relative speed equal to or higher than the predetermined value V1. Or when the determination in step 114 is affirmed, that is, when the inter-vehicle distance HW is smaller than the predetermined value HW2, and in such a case, it is necessary to at least reduce the vehicle speed by engine braking. I can judge.
【００２６】このため、現在の車間距離ＨＷが減速開始
車間距離ＨＷ３以上の場合には、ステップ１２０でスロ
ットル開度の制御を行なってエンジンブレーキにより所
定値未満の減速度で減速させる緩減速制御処理を行う。
なお、この緩減速制御処理では、現在のスロットル開度
を保持するようにしてもよく、減速開始車間距離ＨＷ３
の大きさに応じてスロットル開度の保持と緩減速制御と
を組み合わせるようにしてもよい。For this reason, when the current inter-vehicle distance HW is equal to or longer than the deceleration start inter-vehicle distance HW3, the throttle opening is controlled in step 120 to slowly decelerate at a deceleration less than a predetermined value by the engine brake. I do.
In the slow deceleration control process, the current throttle opening may be held, and the deceleration start inter-vehicle distance HW3
The holding of the throttle opening and the slow deceleration control may be combined in accordance with the magnitude of.
【００２７】ステップ１１８で現在の車間距離ＨＷが減
速開始車間距離ＨＷ３より小さいと判断された場合に
は、先行車との相対加速度は所定値Ｇ１より小さいもの
の車間距離ＨＷがかなり小さく、エンジンブレーキによ
る減速では不十分であると判断できる。このためステッ
プ１２２で、先行車の緩やかな接近に対し、自車速に応
じた車間距離を制御目標として減速させる第２の車間距
離制御処理を行なう。但し、このときスロットルは全閉
状態で保持し、ブレーキ圧を制御することによって減速
させる。またこのときの減速度はステップ１１６の第１
の車間距離制御処理とは異なり、ステップ１１６の減速
度より４０〜６０％増加した値に設定するのが好まし
い。If it is determined in step 118 that the current inter-vehicle distance HW is smaller than the deceleration start inter-vehicle distance HW3, the inter-vehicle distance HW is relatively small although the relative acceleration with respect to the preceding vehicle is smaller than the predetermined value G1, and the engine braking is applied. It can be determined that deceleration is not enough. Therefore, in step 122, a second inter-vehicle distance control process for decelerating the inter-vehicle distance according to the own vehicle speed as a control target for a gentle approach of the preceding vehicle is performed. However, at this time, the throttle is held in the fully closed state, and the throttle is decelerated by controlling the brake pressure. The deceleration at this time is the first in step 116.
Is different from the inter-vehicle distance control processing described above, it is preferable to set a value that is increased by 40 to 60% from the deceleration in step 116.
【００２８】一方、ステップ１０８において相対加速度
Ｇが所定値Ｇ１以上であると判断されたときには、大き
な相対加速度で自車と先行車とが相対的に近づいてお
り、速やかにブレーキを操作することが必要な状況にあ
ると判断できる。このため、ステップ１２４において減
速制御処理を行う。この減速制御処理について図４を参
照して詳細に説明すると、ステップ１３０では相対加速
度Ｇと予め定められた十分小さな正の値である所定値Ｇ
ｏとを比較する。この所定値Ｇｏは所定値Ｇ１より小さ
い値である。相対加速度Ｇが所定値Ｇｏ以上のときには
ステップ１３２へ移行する。また相対加速度Ｇが所定値
Ｇｏより小さいときにはステップ１３４で相対速度Ｖと
予め定められた十分小さい正の値である所定値Ｖｏとを
比較する。On the other hand, when it is determined in step 108 that the relative acceleration G is equal to or greater than the predetermined value G1, the own vehicle and the preceding vehicle are relatively close to each other with a large relative acceleration, so that the brake can be quickly operated. It can be determined that the situation is necessary. Therefore, a deceleration control process is performed in step 124. This deceleration control process will be described in detail with reference to FIG. 4. In step 130, the relative acceleration G and the predetermined value G which is a predetermined sufficiently small positive value are determined.
Compare with o. This predetermined value Go is a value smaller than the predetermined value G1. When the relative acceleration G is equal to or greater than the predetermined value Go, the process proceeds to step 132. When the relative acceleration G is smaller than the predetermined value Go, in step 134, the relative speed V is compared with a predetermined sufficiently small positive value Vo.
【００２９】相対速度Ｖが所定値Ｖｏ以上のときにはス
テップ１３２へ移行する。また相対速度Ｖが所定値Ｖｏ
より小さいときにはステップ１３６において車間距離Ｈ
Ｗと予め定められた必要最小限の安全車間距離ＨＷｏと
を比較する。ここで車間距離ＨＷと安全車間距離ＨＷｏ
とを比較しているのは、相対加速度Ｇ、相対速度Ｖのみ
による制御では先行車に衝突する可能性が無いとは言い
切れず、更に安全を保証するためである。ステップ１３
６で車間距離ＨＷが安全車間距離ＨＷｏより小さいとき
にはステップ１３２へ移行する。また車間距離ＨＷが安
全車間距離ＨＷｏ以上のときにはステップ１３８に進
み、絶対値が予め定めた十分小さな値でかつ負の所定値
Ｖｍ（＜Ｖｏ）と相対速度Ｖとを比較する。相対速度Ｖ
が所定値Ｖｍより小さいときにはステップ１４０へ移行
し、相対速度Ｖが所定値Ｖｍ以上のときにはステップ１
４２に進む。When the relative speed V is equal to or higher than the predetermined value Vo, the routine proceeds to step 132. Further, the relative speed V becomes a predetermined value Vo.
If it is smaller, the inter-vehicle distance H is determined in step 136
W is compared with a predetermined minimum required safety inter-vehicle distance HWo. Here, the following distance HW and the safe following distance HWo
Is compared with the control based on only the relative acceleration G and the relative speed V, because it cannot be said that there is no possibility of colliding with the preceding vehicle, and further safety is assured. Step 13
If the inter-vehicle distance HW is smaller than the safe inter-vehicle distance HWo in step 6, the routine proceeds to step 132. When the inter-vehicle distance HW is equal to or longer than the safe inter-vehicle distance HWo, the routine proceeds to step 138, where the relative speed V is compared with a predetermined negative value Vm (<Vo) having a sufficiently small absolute value. Relative speed V
Is smaller than the predetermined value Vm, the routine proceeds to step 140, and if the relative speed V is larger than the predetermined value Vm, the routine proceeds to step 140.
Proceed to 42.
【００３０】ステップ１３２では、現在のブレーキ圧Ｂ
ｒｋに所定値ΔＢｒｋを加算した値を新たなブレーキ圧
Ｂｒｋとしてアクチュエータ１６を介してブレーキ２０
を制御することによりブレーキ圧Ｂｒｋを加圧する。こ
の結果、相対加速度Ｇが所定値Ｇｏ以上のとき、相対速
度Ｖが所定値Ｖｏ以上のとき、及び車間距離ＨＷが安全
車間距離ＨＷｏより小さいときには、ブレーキ圧Ｂｒｋ
が加圧されて減速されることになる。In step 132, the current brake pressure B
A value obtained by adding a predetermined value ΔBrk to rk is set as a new brake pressure Brk, and the brake 20
To increase the brake pressure Brk. As a result, when the relative acceleration G is equal to or higher than the predetermined value Go, when the relative speed V is equal to or higher than the predetermined value Vo, and when the inter-vehicle distance HW is smaller than the safe inter-vehicle distance HWo, the brake pressure Brk
Is pressurized and decelerated.
【００３１】一方、ステップ１４０では、現在のブレー
キ圧Ｂｒｋから所定値ΔＢｒｋを減算した値を新たなブ
レーキ圧Ｂｒｋとしてアクチュエータ１６を介してブレ
ーキ２０を制御することによりブレーキ圧Ｂｒｋを減圧
する。この結果、相対加速度Ｇが所定値Ｇｏより小さ
く、相対速度Ｖが所定値Ｖｏより小さく、車間距離ＨＷ
が安全車間距離ＨＷｏ以上であり、かつ相対速度Ｖが所
定値Ｖｍより小さく、自車と先行車とが遠ざかる場合に
はブレーキ圧Ｂｒｋが減圧される。On the other hand, in step 140, the brake pressure Brk is reduced by controlling the brake 20 via the actuator 16 with a value obtained by subtracting the predetermined value ΔBrk from the current brake pressure Brk as a new brake pressure Brk. As a result, the relative acceleration G is smaller than the predetermined value Go, the relative speed V is smaller than the predetermined value Vo, and the inter-vehicle distance HW
Is greater than or equal to the safe inter-vehicle distance HWo, the relative speed V is smaller than the predetermined value Vm, and the own vehicle and the preceding vehicle move away from each other, the brake pressure Brk is reduced.
【００３２】ステップ１４２では、ブレーキ圧Ｂｒｋが
正か否かを判断し、正の場合にはステップ１３０へ戻
り、ブレーキ圧Ｂｒｋが０以下の場合には処理を終了す
る。また、相対加速度Ｇが所定値Ｇｏより小さく、相対
速度Ｖが所定値Ｖｏより小さく、車間距離ＨＷが安全車
間距離ＨＷｏ以上であり、かつ相対速度Ｖが所定値Ｖｍ
以上のときには、ブレーキ圧Ｂｒｋが保持される。In step 142, it is determined whether or not the brake pressure Brk is positive. If it is positive, the process returns to step 130, and if the brake pressure Brk is 0 or less, the process is terminated. Further, the relative acceleration G is smaller than the predetermined value Go, the relative speed V is smaller than the predetermined value Vo, the inter-vehicle distance HW is equal to or more than the safe inter-vehicle distance HWo, and the relative speed V is set to the predetermined value Vm.
In the above case, the brake pressure Brk is maintained.
【００３３】以上説明した、車間距離Ｌ、相対速度Ｖ、
相対加速度Ｇと、減速制御と、の関係を模式的に図７に
示す。なお、追従車間距離ＨＷ１、所定値ＨＷ２、減速
開始車間距離ＨＷ３の大きさは前述のように車速Ｖx に
応じて変化する。図７において車間距離ＨＷが追従車間
距離ＨＷ１よりも小さい領域（第１の車間距離制御領
域、緩減速制御領域、第２の車間距離制御領域及び減速
制御領域から成る領域）は、ドライバが先行車との車間
距離に応じて車速を制御する運転を行なうと推定される
領域であり、「第１の車間距離制御領域」及び「緩減速
制御領域」ではエンジンブレーキによる減速制御が行な
われ、「第２の車間距離制御領域」及び「減速制御領
域」ではブレーキ圧の調整による減速制御が行なわれ
る。As described above, the following distance L, relative speed V,
FIG. 7 schematically shows the relationship between the relative acceleration G and the deceleration control. Incidentally, following inter-vehicle distance HW1, predetermined value HW2, the magnitude of the deceleration start vehicle distance HW3 varies according to the vehicle speed V x as described above. In FIG. 7, an area in which the inter-vehicle distance HW is smaller than the following inter-vehicle distance HW1 (an area including the first inter-vehicle distance control area, the slow deceleration control area, the second inter-vehicle distance control area, and the deceleration control area) is determined by the driver as the preceding vehicle. In the "first inter-vehicle distance control area" and the "slow deceleration control area", the deceleration control by the engine brake is performed. In the second inter-vehicle distance control area and the deceleration control area, deceleration control is performed by adjusting the brake pressure.
【００３４】なお、上記では制御手段１４において車間
距離検出手段１０で検出した車間距離ＨＷから相対加速
度Ｇを演算するようにしたが、ドップラーレーダー距離
計等を用いて車間距離及び相対速度を検出し、制御手段
１４において相対速度から相対加速度を演算するように
してもよい。In the above description, the relative acceleration G is calculated from the inter-vehicle distance HW detected by the inter-vehicle distance detecting means 10 by the control means 14, but the inter-vehicle distance and the relative speed are detected by using a Doppler radar distance meter or the like. Alternatively, the control unit 14 may calculate the relative acceleration from the relative speed.
【００３５】なお、本実施例では追従車間距離ＨＷ１の
値を設定するにあたり、図５に示すように車速Ｖx に対
して追従車間距離ＨＷ１が直線的に変化する関係を用い
ていたが、本発明はこれに限定されるものではなく、例
えば車速Ｖx の増加に対して追従車間距離ＨＷ１が単純
増加しかつ曲線的に変化する関係を用いて値を設定して
もよい。また、上記のような関係を用いて求めた追従車
間距離ＨＷ１を、例えば過去の平均車間距離等に応じて
補正するようにしてもよい。[0035] Incidentally, when the present embodiment sets the value of the follow-up inter-vehicle distance HW1, but follow-up inter-vehicle distance HW1 was using linearly varying relationship with respect to the vehicle speed V x as shown in FIG. 5, the invention is not limited thereto, for example, the vehicle speed V following vehicle distance HW1 with increasing x is simply increased and curve varying relationship may be set a value with. Further, the following inter-vehicle distance HW1 obtained using the above relationship may be corrected according to, for example, a past average inter-vehicle distance.
【００３６】また、減速開始車間距離ＨＷ３についても
図６に示す関係を用いて値を設定することに限定される
ものではなく、前記と同様に車速Ｖx の増加に対して減
速開始車間距離ＨＷ３が単純増加しかつ曲線的に変化す
る関係を用いて値を設定してもよい。また、相対速度Ｖ
に応じて減速開始車間距離ＨＷ３の値を修正するように
してもよい。すなわち、 ＨＷ３m ＝ＨＷ３＋ΔＨＷ３ ・・（２） 但し、ＨＷ３m は修正後の値、ΔＨＷ３は修正値であ
り、この修正後の値ＨＷ３m を用いて前述のステップ１
１８の判定を行なうようにしてもよい。修正値ΔＨＷ３
は、一例として図８に実線または破線で示すような相対
速度Ｖと修正値ΔＨＷ３との関係を用いて求めることが
できる。なお図８に実線で示す関係は、相対速度Ｖの変
化に対し、ドライバが急減速が必要であると感じる間隔
の変化を修正量ΔＨＷ３として表現したものである。ま
た（２）式における減速開始車間距離ＨＷ３を、図６に
示す関係等に基づいて車速Ｖx に応じて値を変更しても
よいことは言うまでもない。Further, not intended to be limited to setting the value using the relationship shown in FIG. 6 for the deceleration start vehicle distance HW3, deceleration start vehicle distance relative to the same increase in the vehicle speed V x HW3 May be set using a relationship in which simply increases and changes in a curve. Also, the relative speed V
The value of the deceleration start inter-vehicle distance HW3 may be corrected in accordance with the following. That is, HW3m = HW3 + ΔHW3 (2) where HW3m is a corrected value and ΔHW3 is a corrected value, and the above-described step 1 is performed using the corrected value HW3m.
18 may be performed. Correction value ΔHW3
Can be determined using the relationship between the relative speed V and the correction value ΔHW3 as shown by a solid line or a broken line in FIG. 8 as an example. Note that the relationship indicated by the solid line in FIG. 8 expresses, as a correction amount ΔHW3, a change in the interval at which the driver feels that rapid deceleration is necessary with respect to a change in the relative speed V. Also (2) the deceleration start vehicle distance HW3 in formula, it may of course be changed to a value according to the vehicle speed V x on the basis of the relationship such as shown in FIG.
【００３７】さらに、ドライバがブレーキ操作を保留す
る車間距離の限界値は、走行路の混雑状況や走行路上の
平均的な車両の流れの速度等の周囲状況によっても変化
し、例えば混雑した高速道路では 100km/hr で走行して
いる車両の前記限界値が10ｍ程度になることもある。こ
のため、前記減速開始車間距離ＨＷ３についても周囲状
況に応じてさらに値を修正するようにしてもよい。Further, the limit value of the inter-vehicle distance at which the driver suspends the braking operation also changes depending on the surrounding conditions such as the congestion of the traveling road and the average speed of the vehicle flow on the traveling road. Then, the limit value of a vehicle running at 100 km / hr may be about 10 m. Therefore, the value of the deceleration start inter-vehicle distance HW3 may be further modified according to the surrounding situation.
【００３８】また、相対加速度の所定値Ｇ１、相対速度
の所定値Ｖ１についても、平均車間や自車の平均速度等
に応じて修正するようにしてもよい。Also, the predetermined value G1 of the relative acceleration and the predetermined value V1 of the relative speed may be corrected according to the average distance between vehicles, the average speed of the own vehicle, and the like.
【００３９】また、ブレーキ操作を行なう必要がある
か、スロットルをオフしてエンジンブレーキによって減
速する必要があるか、減速判定を行なう必要がないか等
の判定をファジイ推論によって行なうようにしてもよ
い。このファジイ推論は、一例として相対加速度Ｇ、車
間距離ＨＷ、相対速度Ｖ、車速Ｖx を入力とし、各入力
の予め定められた複数のファジイルールの各々に対する
適合度を、図９（Ａ）に示すように各入力毎に定めた前
件部のメンバシップ関数によって求める。ファジイルー
ルとしては、 ルール１ if 相対加速度＝大きい then ブレーキ操
作 ルール２ if 相対加速度＝適度 and if 相対速度＝やや大きい and if 車間距離＝やや小さい then スロットルオフ 等のように「ブレーキ操作」または「スロットルオフ」
または「減速判定なし」のいずれかを指示するルールを
用いることができる。次に、各ルールの指示を各ルール
の適合度に応じて重み付けして平均値を算出する処理
を、図９（Ｂ）に示すような後件部のメンバシップ関数
を用いて行なうことで実現できる。Also, it may be determined by fuzzy inference whether it is necessary to perform a brake operation, whether it is necessary to turn off the throttle and decelerate by engine braking, or whether it is necessary to make a deceleration determination. . This fuzzy inference, the relative acceleration G as an example, the inter-vehicle distance HW, a relative velocity V, and the input vehicle speed V x, the fit for each of a plurality of fuzzy rules determined in advance for each input, in FIG. 9 (A) As shown, it is obtained by the membership function of the antecedent part determined for each input. As fuzzy rules, Rule 1 if Relative acceleration = Large then brake operation Rule 2 if Relative acceleration = Moderate and if Relative speed = Somewhat large and if Inter-vehicle distance = Somewhat small then "Brake operation" or "Throttle" like throttle off off"
Alternatively, a rule instructing either “no deceleration determination” can be used. Next, a process of calculating the average value by weighting the instructions of each rule according to the conformity of each rule is performed by using a membership function of the consequent part as shown in FIG. 9B. it can.
【００４０】さらに、上記では制御手段１６としてマイ
クロコンピュータを用いた例について説明したが、マイ
クロコンピュータに代えて入力層、中間層及び出力層か
ら成るニューラルネットワーク（一例として図１０参
照）を用いてもよい。この場合には相対加速度、相対速
度、車間距離、自車速の各データを入力層の各ニューロ
ンに入力し、出力層から制御目標としてスロットルオ
フ、ブレーキ操作の必要性を出力するニューラルネット
ワークを構成する。ニューラルネットワークとしては予
め適切な学習を施したものを用いてもよいが、追従走行
制御装置を稼働させていない状態で、ドライバが実際に
行なうスロットル、ブレーキの操作量を規範出力とし、
相対加速度、相対速度、車間距離、自車速を入力として
学習させるようにしてもよい。In the above, an example in which a microcomputer is used as the control means 16 has been described. However, a neural network having an input layer, an intermediate layer, and an output layer (see FIG. 10 as an example) may be used instead of the microcomputer. Good. In this case, a neural network is configured to input data of relative acceleration, relative speed, inter-vehicle distance, and own vehicle speed to each neuron of the input layer, and to output the necessity of throttle-off and brake operation as a control target from the output layer. . As the neural network, one that has been subjected to appropriate learning in advance may be used, but in a state where the following travel control device is not operating, the actual operation amount of the throttle and brake performed by the driver is set as a reference output,
The relative acceleration, the relative speed, the inter-vehicle distance, and the own vehicle speed may be input and learned.
【００４１】また、上記では本発明を追従走行制御装置
に適用した例について説明したが、本発明は走行中に障
害物を回避する障害物回避装置等の車両用走行制御装置
に適用することも可能である。In the above description, an example in which the present invention is applied to a follow-up cruise control device has been described. However, the present invention can also be applied to a vehicle cruise control device such as an obstacle avoidance device for avoiding an obstacle during traveling. It is possible.
【００４２】[0042]
【発明の効果】以上説明したように請求項１記載の発明
は、自車と先行車や走行路上の障害物等の物体との距
離、相対速度及び相対加速度を検出し、自車と物体との
相対加速度が所定値以上の場合に所定値以上の減速度で
自車を減速させ、自車と物体とが所定値未満の相対加速
度で相対的に近づいており、かつ自車と物体との距離が
第１の所定値未満でかつ該第１の所定値よりも小さい第
２の所定値以上の場合には所定値未満の減速度で自車を
減速させるようにしたので、ドライバに違和感を与える
ことなく、適切な減速度、適切なタイミングで減速を行
なうことができる、という優れた効果が得られる。As described above, according to the first aspect of the present invention, the distance, relative speed and relative acceleration between the own vehicle and an object such as a preceding vehicle or an obstacle on a running road are detected, and the own vehicle and the object are detected. of
If the relative acceleration is higher than the specified value,
Decelerate own vehicle , relative acceleration between own vehicle and object less than predetermined value
When the distance between the subject vehicle and the object is smaller than the first predetermined value and is equal to or larger than the second predetermined value smaller than the first predetermined value, the distance is reduced below the predetermined value. Own car at speed
Since the vehicle is decelerated, it is possible to obtain an excellent effect that the vehicle can be decelerated at an appropriate deceleration and an appropriate timing without giving a feeling of strangeness to the driver.
【００４３】請求項４記載の発明は、自車と物体との距
離、相対速度及び相対加速度を検出し、自車と物体との
距離が第１の所定値未満で、かつ所定値以上の相対加速
度で自車と物体とが相対的に近づいている場合に、所定
値以上の減速度で自車を減速させると共に、自車と物体
との距離が第１の所定値よりも小さい第２の所定値未満
で、かつ所定値未満の相対加速度で自車と物体とが相対
的に近づいている場合に、所定値以上の減速度で自車を
減速させ、自車と物体との相対加速度が所定値未満で、
かつ自車と物体との距離が第１の所定値未満かつ第２の
所定値以上で、かつ所定値以上の相対速度で自車と物体
とが相対的に近づいている場合に、所定値未満の減速度
で自車を減速させると共に、自車と物体との相対加速度
が所定値未満で、かつ自車と物体との距離が第１の所定
値より小さく第２の所定値より大きい第３の所定値未満
かつ第２の所定値以上で、かつ相対速度が所定値未満の
場合に、所定値未満の減速度で自車を減速させるように
したので、ドライバに違和感を与えることなく、適切な
減速度、適切なタイミングで減速を行なうことができ
る、という優れた効果が得られる。According to a fourth aspect of the present invention, the distance between the own vehicle and the object, the relative speed and the relative acceleration are detected, and the relative distance between the own vehicle and the object is less than a first predetermined value and not less than a predetermined value. when the vehicle and the object in the acceleration is approaching relatively predetermined
The vehicle is decelerated at a deceleration greater than or equal to the value, and the distance between the vehicle and the object is less than a second predetermined value smaller than the first predetermined value.
And the vehicle and the object are relative to each other with a relative acceleration less than a predetermined value.
When the vehicle is approaching , the own vehicle is decelerated at a deceleration equal to or more than a predetermined value, and the relative acceleration between the own vehicle and the object is less than a predetermined value,
And when the distance between the vehicle and the object is less than the first predetermined value and greater than or equal to the second predetermined value, and the vehicle and the object are relatively close at a relative speed greater than or equal to the predetermined value, the value is less than the predetermined value. Deceleration
Decelerates the own vehicle, and the third predetermined value in which the relative acceleration between the own vehicle and the object is less than a predetermined value and the distance between the own vehicle and the object is smaller than the first predetermined value and larger than the second predetermined value When the vehicle speed is less than the second predetermined value and the relative speed is less than the predetermined value, the own vehicle is decelerated at a deceleration less than the predetermined value. An excellent effect that deceleration can be performed at an appropriate timing can be obtained.
【図１】本発明の作用と説明するための、先行車両の相
対加速度と、エンジンブレーキによる減速及びブレーキ
操作による減速を開始するタイミングと、の関係を示す
線図である。FIG. 1 is a diagram illustrating the relationship between the relative acceleration of a preceding vehicle and the timing at which deceleration by an engine brake and deceleration by a brake operation are started for describing the operation of the present invention.
【図２】本実施例に係る車両用走行制御装置の概略構成
を示すブロック図である。FIG. 2 is a block diagram illustrating a schematic configuration of a vehicle travel control device according to the embodiment.
【図３】メインルーチンにおける処理を説明するフロー
チャートである。FIG. 3 is a flowchart illustrating a process in a main routine.
【図４】減速制御処理の詳細を説明するフローチャート
である。FIG. 4 is a flowchart illustrating details of a deceleration control process.
【図５】自車速度と、車間距離の基準値としての追従車
間距離ＨＷ１と、の関係を示す線図である。FIG. 5 is a diagram showing a relationship between the own vehicle speed and a following inter-vehicle distance HW1 as a reference value of the inter-vehicle distance.
【図６】自車速度と減速開始車間距離ＨＷ３との関係を
示す線図である。FIG. 6 is a diagram showing a relationship between a vehicle speed and a deceleration start inter-vehicle distance HW3.
【図７】車間距離Ｌ、相対速度Ｖ、相対加速度Ｇと、減
速制御と、の関係を模式的に示す概念図である。FIG. 7 is a conceptual diagram schematically showing a relationship between an inter-vehicle distance L, a relative speed V, a relative acceleration G, and deceleration control.
【図８】先行車との相対速度と、減速開始車間距離ＨＷ
３の修正量ΔＨＷ３と、の関係を示す線図である。FIG. 8 shows a relative speed with respect to a preceding vehicle and a deceleration start inter-vehicle distance HW.
FIG. 9 is a diagram showing a relationship between the correction amount ΔHW3 and the correction amount ΔHW3.
【図９】本発明の他の例として、警報を発生するか否か
の判定をファジイ推論によって行なう場合の、（Ａ）は
前件部のメンバシップ関数の一例、（Ｂ）は後件部のメ
ンバシップ関数の一例を示す線図である。9A and 9B show another example of the membership function of the antecedent part, and FIG. 9B shows the consequent part when the determination as to whether or not to generate an alarm is made by fuzzy inference. FIG. 3 is a diagram showing an example of a membership function of the.
【図１０】本発明の他の例として、ニューラルネットワ
ークを用いて警報を発生するか否かの判定を行なう場合
の、ニューラルネットワークの構成の一例を示す概念図
である。FIG. 10 is a conceptual diagram showing an example of the configuration of a neural network when determining whether or not to generate an alarm using a neural network as another example of the present invention.
１０ 車間距離検出手段 １２ 制御手段 １６ アクチュエータ １８ アクチュエータ 10 inter-vehicle distance detection means 12 control means 16 actuator 18 actuator
───────────────────────────────────────────────────── フロントページの続き (72)発明者 水越 雅司 愛知県豊田市トヨタ町１番地 トヨタ自 動車株式会社内 (72)発明者 重松 崇 愛知県豊田市トヨタ町１番地 トヨタ自 動車株式会社内 (56)参考文献 特開 平４−260836（ＪＰ，Ａ) 実開 昭59−152157（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) B60K 31/00 B60K 41/00 B60R 21/00 B60T 7/12 F02D 29/02 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Masashi Mizukoshi 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Corporation (72) Inventor Takashi Shigematsu 1 Toyota Town Toyota City, Aichi Prefecture Toyota Motor Corporation ( 56) References JP-A-4-260836 (JP, A) JP-A-59-152157 (JP, U) (58) Fields investigated (Int. Cl. 7 , DB name) B60K 31/00 B60K 41/00 B60R 21/00 B60T 7/12 F02D 29/02
Claims (4)
手段と、 物 体に対する自車の相対加速度を検出する相対加速度検
出手段と、自車と物体とが所定値以上の相対加速度で相対的に近づ
いている場合に所定値以上の減速度で自車を減速させる
減速手段と、 自車と物体とが所定値未満の相対加速度で相対的に近づ
いており、かつ自車と物体との距離が第１の所定値未満
でかつ該第１の所定値よりも小さい第２の所定値以上の
場合に所定値未満の減速度で自車を減速させる緩減速手
段と、 を含む車両用走行制御装置。And 1. A distance detection means for detecting the distance between the vehicle and the object, and the relative acceleration detecting means for detecting the relative acceleration of the vehicle with respect to the object body, and the vehicle and the object in the relative acceleration of a predetermined value or more Relatively close
Decelerates the vehicle at a deceleration greater than or equal to the specified value
The deceleration means, the own vehicle and the object relatively approach with a relative acceleration of less than a predetermined value.
And the distance between the subject vehicle and the object is greater than or equal to a second predetermined value that is less than a first predetermined value and smaller than the first predetermined value .
A slow deceleration means for decelerating the vehicle with a deceleration less than a predetermined value in a case .
相対速度検出手段を更に備え、Further comprising a relative speed detecting means, 前記緩減速手段は、自車と物体との相対加速度が所定値The slow deceleration means may determine that the relative acceleration between the vehicle and the object is a predetermined value.
未満で、かつ自車と物体との距離が第１の所定値未満でAnd the distance between the vehicle and the object is less than the first predetermined value.
かつ該第１の所定値よりも小さい第２の所定値以上で、And at least a second predetermined value smaller than the first predetermined value,
かつ所定値以上の相対速度で自車と物体とが相対的に近And the vehicle and the object are relatively close at a relative speed equal to or higher than a predetermined value.
づいている場合に所定値未満の減速度で自車を減速させDecelerates the vehicle at a deceleration less than the specified value.
ることを特徴とする請求項１記載の車両用走行制御装The vehicle travel control device according to claim 1, wherein
置。Place.
相対速度検出手段を更に備え、Further comprising a relative speed detecting means, 前記緩減速手段は、自車と物体との相対加速度が所定値The slow deceleration means may determine that the relative acceleration between the vehicle and the object is a predetermined value.
未満で、かつ自車と物体との距離が前記第１の所定値よAnd the distance between the vehicle and the object is smaller than the first predetermined value.
りも小さく前記第２の所定値より大きい第３の所定値未Is less than a third predetermined value which is smaller than the second predetermined value.
満かつ前記第２の所定値以上で、かつ相対速度が所定値Full and not less than the second predetermined value, and the relative speed is a predetermined value
未満の場合に所定値未満の減速度で自車を減速させるこIf the vehicle speed is less than the specified value,
とを特徴とする請求項１記載の車両用走行制御装置。The travel control device for a vehicle according to claim 1, wherein:
手段と、 自車と前記物体との相対速度を検出する相対速度検出手
段と、 物体に対する自車の相対加速度を検出する相対加速度検
出手段と、 自車と物体との距離が第１の所定値未満で、かつ所定値
以上の相対加速度で自車と物体とが相対的に近づいてい
る場合に、所定値以上の減速度で自車を減速させると共
に、自車と物体との距離が前記第１の所定値よりも小さ
い第２の所定値未満で、かつ所定値未満の相対加速度で
自車と物体とが相対的に近づいている場合に、所定値以
上の減速度で自車を減速させる第１の減速手段と、 自車と物体との相対加速度が所定値未満で、かつ自車と
物体との距離が前記第１の所定値未満かつ前記第２の所
定値以上で、かつ所定値以上の相対速度で自車と物体と
が相対的に近づいている場合に、所定値未満の減速度で
自車を減速させると共に、自車と物体との相対加速度が
所定値未満で、かつ自車と物体との距離が前記第１の所
定値より小さく前記第２の所定値より大きい第３の所定
値未満かつ前記第２の所定値以上で、かつ相対速度が所
定値未満の場合に、所定値未満の減速度で自車を減速さ
せる第２の減速手段と、 を含む車両用走行制御装置。4. A distance detecting means for detecting a distance between the own vehicle and the object, a relative speed detecting means for detecting a relative speed between the own vehicle and the object, and a relative acceleration for detecting a relative acceleration of the own vehicle with respect to the object. Detecting means for detecting that the distance between the vehicle and the object is less than a first predetermined value and that the vehicle and the object are relatively close to each other with a relative acceleration of the predetermined value or more; When you slow down your vehicle,
, In less than a second predetermined value than the predetermined value distance is the first between the vehicle and the object, and a relative acceleration of less than a predetermined value
First deceleration means for decelerating the own vehicle at a deceleration greater than or equal to a predetermined value when the own vehicle and the object are relatively close to each other ; If the distance between the vehicle and the object is less than the first predetermined value and greater than or equal to the second predetermined value, and the vehicle and the object are relatively approaching at a relative speed greater than or equal to the predetermined value, the distance is less than the predetermined value. At the deceleration
While decelerating the own vehicle, a third predetermined value in which the relative acceleration between the own vehicle and the object is less than a predetermined value, and the distance between the own vehicle and the object is smaller than the first predetermined value and larger than the second predetermined value Value and not less than the second predetermined value , and the relative speed is
A second deceleration unit that decelerates the vehicle at a deceleration less than a predetermined value when the value is less than a predetermined value.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12636293A JP3197114B2 (en) | 1993-05-27 | 1993-05-27 | Travel control device for vehicles |
| DE4418085A DE4418085C2 (en) | 1993-05-21 | 1994-05-24 | Safety device for a vehicle |
| US08/450,583 US5629669A (en) | 1993-05-21 | 1995-05-25 | Running control apparatus for vehicles and alarm apparatus for vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12636293A JP3197114B2 (en) | 1993-05-27 | 1993-05-27 | Travel control device for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06336125A JPH06336125A (en) | 1994-12-06 |
| JP3197114B2 true JP3197114B2 (en) | 2001-08-13 |
Family
ID=14933313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12636293A Expired - Lifetime JP3197114B2 (en) | 1993-05-21 | 1993-05-27 | Travel control device for vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3197114B2 (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000159077A (en) * | 1998-11-30 | 2000-06-13 | Mazda Motor Corp | Control device of vehicle |
| DE19910590A1 (en) * | 1999-03-10 | 2000-09-14 | Volkswagen Ag | Distance control method and device for a vehicle |
| JP2001010373A (en) | 1999-07-01 | 2001-01-16 | Hitachi Ltd | Traveling control device for automobile |
| DE10339647A1 (en) * | 2003-08-28 | 2005-03-24 | Robert Bosch Gmbh | Device for driver warning |
| EP1737697B1 (en) * | 2004-04-23 | 2010-09-01 | Continental Teves AG & Co. oHG | Device for a child seat |
| JP4790519B2 (en) * | 2005-08-24 | 2011-10-12 | 日野自動車株式会社 | Automatic braking control device |
| JP2011186600A (en) * | 2010-03-05 | 2011-09-22 | Toyota Motor Corp | Vehicle control device |
| JP5381923B2 (en) * | 2010-07-23 | 2014-01-08 | 日産自動車株式会社 | Brake support apparatus for vehicle and brake support method for vehicle |
| JP6657676B2 (en) * | 2015-08-31 | 2020-03-04 | いすゞ自動車株式会社 | Vehicle travel control device and vehicle travel control method |
| JP6874639B2 (en) * | 2017-10-25 | 2021-05-19 | トヨタ自動車株式会社 | vehicle |
-
1993
- 1993-05-27 JP JP12636293A patent/JP3197114B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06336125A (en) | 1994-12-06 |
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