JP5018544B2 - Vehicle travel control device - Google Patents

Vehicle travel control device Download PDF

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JP5018544B2
JP5018544B2 JP2008041956A JP2008041956A JP5018544B2 JP 5018544 B2 JP5018544 B2 JP 5018544B2 JP 2008041956 A JP2008041956 A JP 2008041956A JP 2008041956 A JP2008041956 A JP 2008041956A JP 5018544 B2 JP5018544 B2 JP 5018544B2
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vehicle speed
brake
brake pedal
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JP2009196561A (en
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和幸 藤田
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Toyota Motor Corp
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Description

本発明は、概して、車両に搭載され、自車両の車速を目標車速に制御する車両用走行制御装置に係り、特に、追従走行時のユーザ利便性を向上させた車両用走行制御装置に関する。   The present invention generally relates to a vehicular travel control device that is mounted on a vehicle and controls the vehicle speed of the host vehicle to a target vehicle speed, and more particularly to a vehicular travel control device that improves user convenience during follow-up travel.

従来、車両に搭載され、自車両の車速を目標車速に制御する車両用走行制御装置が知られている（例えば、特許文献１参照）。   2. Description of the Related Art Conventionally, a vehicle travel control device that is mounted on a vehicle and controls the vehicle speed of the host vehicle to a target vehicle speed is known (see, for example, Patent Document 1).

特許文献１には、「定速走行（巡航走行）をより容易により迅速に行なうことを目的の一つと」して、「ブレーキオフが検出されたときにそのときの車速を目標車速として設定する」「車両およびその制御方法」が開示されている（発明の名称並びに段落番号０００５及び００１２参照）。
特開２００６−２８１８９９号公報 Patent Document 1 states that “one of the purposes is to make constant speed travel (cruise travel) easier and faster”, and “when the brake-off is detected, the vehicle speed at that time is set as the target vehicle speed. "Vehicle and its control method" are disclosed (see the title of the invention and paragraph numbers 0005 and 0012).
JP 2006-281899 A

上記特許文献１記載の従来技術は、先行車両との車間距離（又は車間時間）を略一定に保つ追従走行時にそのまま適用することは困難である。   It is difficult to apply the prior art described in Patent Document 1 as it is during follow-up running in which the inter-vehicle distance (or inter-vehicle time) with the preceding vehicle is kept substantially constant.

なぜなら、追従走行中に運転者が行うブレーキ操作は、必ずしも目標車速を減速させたいという運転者意思を表しているとは限らないからである。   This is because the brake operation performed by the driver during the follow-up traveling does not necessarily indicate the driver's intention to reduce the target vehicle speed.

例えば、追従走行中に運転者が先行車の急減速に応じてやむを得ずブレーキを踏んだ場合、運転者が目標車速を減速させたいと考えているとは言い得ない。   For example, when the driver is forced to step on the brake in response to sudden deceleration of the preceding vehicle during follow-up, it cannot be said that the driver wants to reduce the target vehicle speed.

このように、上記特許文献１記載の従来技術は、追従走行時に利用されると、目標車速が運転者の意思とは異なる速度に設定されてしまい、ユーザ利便性が損なわれる可能性があるため、追従走行にそのまま適用することはできないという潜在的課題を有する。   As described above, when the conventional technique described in Patent Document 1 is used during follow-up traveling, the target vehicle speed is set to a speed different from the driver's intention, which may impair user convenience. There is a potential problem that it cannot be applied as it is to follow-up running.

本発明はこのような課題を解決するためのものであり、追従走行時のユーザ利便性を向上させた車両用走行制御装置を提供することを主たる目的とする。   The present invention has been made to solve such problems, and it is a main object of the present invention to provide a vehicular travel control apparatus that improves user convenience during follow-up travel.

上記目的を達成するための本発明の一態様は、車両に搭載され、自車両の車速を目標車速に制御する車両用走行制御装置であって、先行車に対する追従走行中、運転者によりブレーキペダルが踏み込まれたときの（すなわちブレーキＯＮ時の）先行車との第一の車間距離（Ｄ１）と、運手者によりブレーキペダルが離されたときの（すなわちブレーキＯＦＦ時の）先行車との第二の車間距離（Ｄ２）とを検出する車間距離検出手段と、先行車に対する追従走行中、運転者によりブレーキペダルが踏み込まれ、次いで、運手者によりブレーキペダルが離されたとき、上記目標車速を運手者によりブレーキペダルが離されたときの自車両車速に変更する目標車速変更手段と、上記車間距離検出手段により検出された上記第二の車間距離（Ｄ２）が上記第一の車間距離（Ｄ１）より短いとき（Ｄ２＜Ｄ１）、上記目標車速変更手段による上記目標車速の変更を禁止する目標車速変更禁止手段と、を有する車両用走行制御装置である。   One aspect of the present invention for achieving the above object is a vehicular travel control device that is mounted on a vehicle and controls the vehicle speed of the host vehicle to a target vehicle speed. The first inter-vehicle distance (D1) with the preceding vehicle when the vehicle is depressed (ie when the brake is on) and the preceding vehicle when the brake pedal is released by the operator (ie when the brake is off) The inter-vehicle distance detecting means for detecting the second inter-vehicle distance (D2), and the target when the brake pedal is depressed by the driver and then the driver releases the brake pedal during the follow-up traveling to the preceding vehicle. The target vehicle speed changing means for changing the vehicle speed to the own vehicle speed when the brake pedal is released by the operator, and the second inter-vehicle distance (D2) detected by the inter-vehicle distance detecting means When shorter than the serial first inter-vehicle distance (D1) (D2 <D1), a vehicle control system having a target vehicle speed change inhibiting means for inhibiting a change in the target vehicle speed by the target vehicle speed changing means.

上記一態様によれば、ブレーキＯＦＦ時の先行車との車間距離がブレーキＯＮ時の先行車との車間距離より短くなった場合（換言すれば、運転者がブレーキペダルを踏んだにもかかわらず先行車に対してブレーキ操作前より接近した場合）には、運転者が目標車速の減速を望んでいるのではなく、先行車への接近を防ぐためにやむを得ず実行したブレーキ操作であったものと判断して目標車速を減速させないように制御されるため、追従走行中に運転者の意図しない目標車速の減速が行われることによってユーザの利便性が損なわれることを防止できる。   According to the above aspect, when the inter-vehicle distance with the preceding vehicle when the brake is OFF becomes shorter than the inter-vehicle distance with the preceding vehicle when the brake is ON (in other words, even though the driver steps on the brake pedal) When approaching the preceding vehicle before the brake operation), it is determined that the driver did not want to reduce the target vehicle speed, but that the brake operation was unavoidably performed to prevent approaching the preceding vehicle. Thus, since the target vehicle speed is controlled so as not to decelerate, it is possible to prevent the user's convenience from being impaired by the deceleration of the target vehicle speed not intended by the driver during the follow-up traveling.

本発明によれば、追従走行時のユーザ利便性を向上させた車両用走行制御装置を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, the traveling control apparatus for vehicles which improved the user convenience at the time of following driving | running | working can be provided.

以下、本発明を実施するための最良の形態について、添付図面を参照しながら実施例を挙げて説明する。なお、先行車両との車間距離（又は車間時間）を略一定に保つ追従走行制御については当業者には既知であるため、詳しい説明を省略する。   Hereinafter, the best mode for carrying out the present invention will be described with reference to the accompanying drawings. Note that follow-up running control for keeping the inter-vehicle distance (or inter-vehicle time) with the preceding vehicle substantially constant is known to those skilled in the art, and thus detailed description thereof is omitted.

図１は、本発明の一実施例に係る車両用走行制御装置１００の概略構成図である。   FIG. 1 is a schematic configuration diagram of a vehicle travel control apparatus 100 according to an embodiment of the present invention.

走行制御装置１００は、自車両の前方に位置し、自車両と同じ車線を同じ方向へ走行している先行車を検出し、先行車が存在する場合には自車両と先行車の車間距離及び先行車の相対速度を検出する先行車検出部１０１を有する。先行車検出部１０１は、例えば、レーザーレーダーセンサーを含み、レーザー光を自車両前方の空間領域に照射して、その反射光が戻ってくるまでの時間及びその入射角度から先行車の有無・車間距離・相対速度を検出する。   The travel control device 100 detects a preceding vehicle that is positioned in front of the host vehicle and traveling in the same direction on the same lane as the host vehicle, and when there is a preceding vehicle, the distance between the host vehicle and the preceding vehicle, and A preceding vehicle detection unit 101 that detects the relative speed of the preceding vehicle is provided. The preceding vehicle detection unit 101 includes, for example, a laser radar sensor, irradiates laser light to a space area in front of the host vehicle, and determines whether there is a preceding vehicle from the time until the reflected light returns and the incident angle. Detect distance and relative speed.

走行制御装置１００は、更に、自車両の車速を検出する車速検出部１０２を有する。本実施例において、車速検出部１０２は、例えば車輪速センサを利用して、自車両の車速を検出する。代替例として、自車両がナビゲーションシステムを搭載している場合、ナビゲーションシステムから自車両現在位置情報を取得し、その時間変化から自車両の車速を算出してもよい。   The travel control device 100 further includes a vehicle speed detection unit 102 that detects the vehicle speed of the host vehicle. In the present embodiment, the vehicle speed detection unit 102 detects the vehicle speed of the host vehicle using, for example, a wheel speed sensor. As an alternative example, when the host vehicle is equipped with a navigation system, the current position information of the host vehicle may be acquired from the navigation system, and the vehicle speed of the host vehicle may be calculated from the change over time.

走行制御装置１００は、更に、運転者によるブレーキペダルの操作量（踏み込み量／ストローク量）を検出するブレーキペダル操作量検出部１０３を有する。   The travel control device 100 further includes a brake pedal operation amount detection unit 103 that detects an operation amount (depression amount / stroke amount) of the brake pedal by the driver.

走行制御装置１００は、更に、追従走行中の目標車速と、ブレーキＯＮ時の車間距離Ｄ１と、ブレーキＯＦＦ時の車間距離Ｄ２とを記憶保持する記憶部１０４を有する。本実施例において、記憶部１０４は任意の記憶媒体でよい。   The travel control device 100 further includes a storage unit 104 that stores and holds a target vehicle speed during follow-up travel, an inter-vehicle distance D1 when the brake is on, and an inter-vehicle distance D2 when the brake is off. In the present embodiment, the storage unit 104 may be an arbitrary storage medium.

走行制御装置１００は、更に、例えばスロットルバルブ開度を制御するなどしてエンジン出力を制御するエンジン制御部１０５を有する。エンジン制御部１０５は、例えばエンジンＥＣＵ（Ｅｌｅｃｔｒｏｎｉｃ Ｃｏｎｔｒｏｌ Ｕｎｉｔ；電子制御装置）である。   The travel control device 100 further includes an engine control unit 105 that controls the engine output by controlling the throttle valve opening, for example. The engine control unit 105 is, for example, an engine ECU (Electronic Control Unit).

走行制御装置１００は、更に、ブレーキシステムにより発揮される制動力を制御するブレーキ制御部１０６を有する。ブレーキ制御部１０６は、例えばブレーキＥＣＵである。   The travel control device 100 further includes a brake control unit 106 that controls the braking force exerted by the brake system. The brake control unit 106 is, for example, a brake ECU.

走行制御装置１００は、更に、後述する各種演算を実行するとともに、走行制御装置１００の各構成要素を統括的に制御する主制御部１０７を有する。主制御部１０７は、例えばオートクルーズＥＣＵである。   The travel control device 100 further includes a main control unit 107 that performs various calculations described below and comprehensively controls each component of the travel control device 100. The main control unit 107 is, for example, an auto cruise ECU.

なお、当業者には明らかなように、エンジン制御部１０５、ブレーキ制御部１０６、及び主制御部１０７は、１つのＥＣＵとして実現されてもよい。   As will be apparent to those skilled in the art, the engine control unit 105, the brake control unit 106, and the main control unit 107 may be realized as one ECU.

次いで、このような構成の本実施例に係る車両用走行制御装置１００による追従走行中の目標車速変更処理の流れを図２のフローチャートを参照して説明する。図２に示した処理フローは、例えば追従走行が開始されたときに開始され、例えば追従走行が終了されたときに終了する。   Next, the flow of the target vehicle speed changing process during the follow-up running by the vehicular travel control apparatus 100 according to the present embodiment having such a configuration will be described with reference to the flowchart of FIG. The processing flow shown in FIG. 2 is started when, for example, follow-up running is started, and is ended, for example, when follow-up running is ended.

まず、主制御部１０７は、ブレーキペダル操作量検出部１０３による検出結果に基づいて、運転者によりブレーキペダルが踏み込まれたか否か、換言すればブレーキＯＦＦの状態からブレーキＯＮの状態に移行したか否か、を判定する（Ｓ２０１）。   First, the main control unit 107 determines whether or not the driver depresses the brake pedal based on the detection result by the brake pedal operation amount detection unit 103, in other words, whether the brake has shifted from the brake-off state to the brake-on state. It is determined whether or not (S201).

運転者によりブレーキペダルが踏み込まれた（ブレーキＯＮ）と判定された場合（Ｓ２０１の「ＹＥＳ」）、次いで、主制御部１０７は、先行車検出部１０１から取得したその時点（すなわち、運転者によりブレーキペダルが踏み込まれた時点）での先行車との車間距離Ｄ１を記憶部１０４に記憶する（Ｓ２０２）。   When it is determined that the brake pedal is depressed (brake ON) by the driver (“YES” in S201), the main control unit 107 then obtains the time point obtained from the preceding vehicle detection unit 101 (that is, by the driver). The inter-vehicle distance D1 from the preceding vehicle at the time when the brake pedal is depressed is stored in the storage unit 104 (S202).

このようにしてブレーキＯＮ時の車間距離Ｄ１が記憶されると、次いで、主制御部１０７は、ブレーキペダル操作量検出部１０３による検出結果に基づいて、運転者によりブレーキペダルが離された（リリースされた）か否か、換言すればブレーキＯＮの状態からブレーキＯＦＦの状態に移行したか否か、を判定する（Ｓ２０３）。   When the inter-vehicle distance D1 when the brake is turned on is stored in this manner, the main control unit 107 then releases the brake pedal by the driver based on the detection result by the brake pedal operation amount detection unit 103 (release). In other words, it is determined whether or not the state has shifted from the brake-on state to the brake-off state (S203).

運転者によりブレーキペダルが離された（ブレーキＯＦＦ）と判定された場合（Ｓ２０３の「ＹＥＳ」）、次いで、主制御部１０７は、先行車検出部１０１から取得したその時点（すなわち、運転者によりブレーキペダルが離された時点）での先行車との車間距離Ｄ２を記憶部１０４に記憶する（Ｓ２０４）。   When it is determined that the brake pedal has been released (brake OFF) by the driver (“YES” in S203), the main control unit 107 then acquires the time point obtained from the preceding vehicle detection unit 101 (that is, by the driver). The inter-vehicle distance D2 with the preceding vehicle at the time when the brake pedal is released is stored in the storage unit 104 (S204).

このようにして、運転者によりブレーキペダルが踏み込まれた後、再び離されたことが検出されたとき、換言すれば、ブレーキＯＦＦの状態からブレーキＯＮの状態になり、その後ブレーキＯＮの状態から再びブレーキＯＦＦの状態に戻ったことが検出されたとき、主制御部１０７は、記憶部１０４に記憶させたブレーキＯＮ時の先行車との車間距離Ｄ１がブレーキＯＦＦ時の車間距離Ｄ２よりも大きいか否かを判定する（Ｓ２０５）。   In this way, when it is detected that the driver has released the brake pedal after the brake pedal has been depressed, in other words, the brake is turned off and the brake is turned on, and then the brake is turned on again. When it is detected that the brake has returned to the OFF state, the main control unit 107 determines whether the inter-vehicle distance D1 with the preceding vehicle stored in the storage unit 104 when the brake is ON is greater than the inter-vehicle distance D2 when the brake is OFF It is determined whether or not (S205).

このＳ２０５における判定処理は、Ｓ２０１において検出されたブレーキＯＮとＳ２０３において検出されたブレーキＯＦＦとから成る運転者によるブレーキペダル操作が追従走行における目標車速を減速させる意図で行われたものであるか、或いは、例えば先行車が急減速したために先行車への接近を回避するために行った減速であるのか、を判断するための判定処理である。   Whether the determination process in S205 is performed with the intention of decelerating the target vehicle speed in the follow-up by the driver's brake pedal operation including the brake ON detected in S201 and the brake OFF detected in S203, Alternatively, for example, it is a determination process for determining whether the deceleration is performed in order to avoid the approach to the preceding vehicle because the preceding vehicle has suddenly decelerated.

例えば、図３に一例を示すように、時刻ｔ１において運転者によりブレーキペダルが踏み込まれたときの自車両Ｖ１から先行車Ｖ２までの車間距離Ｄ１よりも、時刻ｔ２において運転者によりブレーキペダルが離されたときの車間距離Ｄ２の方が大きい（長い）場合、運転者は、これらブレーキペダル操作によって、先行車Ｖ２との車間距離を広げたのであるから、運転者の減速の意図は追従走行における目標車速の減速であると解釈できる。   For example, as shown in FIG. 3, for example, the driver releases the brake pedal at time t2 than the inter-vehicle distance D1 from the host vehicle V1 to the preceding vehicle V2 when the brake pedal is depressed by the driver at time t1. If the inter-vehicle distance D2 is larger (longer), the driver has widened the inter-vehicle distance from the preceding vehicle V2 by operating the brake pedal. It can be interpreted as a deceleration of the target vehicle speed.

他方、図４に一例を示すように、時刻ｔ１において運転者によりブレーキペダルが踏み込まれたときの自車両Ｖ１から先行車Ｖ２までの車間距離Ｄ１よりも、時刻ｔ２において運転者によりブレーキペダルが離されたときの車間距離Ｄ２の方が小さい（短い）場合、運転者がこれらブレーキペダル操作を行ったにもかかわらず、先行車Ｖ２との車間距離が接近しているのであるから、運転者の減速の意図は、追従走行における目標車速の減速ではなく、先行車Ｖ２への接近を回避するための減速であると解釈できる。   On the other hand, as shown in FIG. 4 as an example, the driver releases the brake pedal at time t2 than the inter-vehicle distance D1 from the host vehicle V1 to the preceding vehicle V2 when the brake pedal is depressed by the driver at time t1. If the inter-vehicle distance D2 is smaller (shorter) when the vehicle is operated, the inter-vehicle distance from the preceding vehicle V2 is approaching even though the driver has operated these brake pedals. The intention of deceleration can be interpreted as deceleration for avoiding approach to the preceding vehicle V2, not deceleration of the target vehicle speed in follow-up traveling.

このような図４に一例を示したような場合に、既述の従来技術のように、追従走行における目標車速がブレーキＯＦＦ時の車速に設定されてしまうと、先行車Ｖ２が急減速を終え、再び加速し始めたときに、自車両Ｖ１の目標車速が下げられてしまったために、十分に追従できずに置いて行かれてしまう可能性がある。このような事態の発生を回避するには、自動的に下げられてしまった目標車速を再び上げる操作が必要となり、ユーザにとっては手間である。   In such a case as shown in FIG. 4, if the target vehicle speed in the follow-up running is set to the vehicle speed at the time of brake OFF as in the prior art described above, the preceding vehicle V2 finishes sudden deceleration. When the vehicle starts accelerating again, the target vehicle speed of the host vehicle V1 has been lowered, and there is a possibility that the vehicle will be left without being able to follow up sufficiently. In order to avoid the occurrence of such a situation, it is necessary to increase the target vehicle speed that has been automatically lowered, which is troublesome for the user.

図２に戻る。そこで、本実施例では、車間距離Ｄ２が車間距離Ｄ１よりも短いと判定されたとき（Ｓ２０５の「ＹＥＳ」）、主制御部１０７は、図４を参照して説明したような目標車速を減速させるべきではない状況であると判断して、そのときの目標車速を変更せずに、そのまま保持する（Ｓ２０６）。   Returning to FIG. Therefore, in this embodiment, when it is determined that the inter-vehicle distance D2 is shorter than the inter-vehicle distance D1 (“YES” in S205), the main control unit 107 decelerates the target vehicle speed as described with reference to FIG. It is determined that the situation should not be made, and the target vehicle speed at that time is not changed and is held as it is (S206).

他方、車間距離Ｄ２が車間距離Ｄ１以上の長さであると判定されたとき（Ｓ２０５の「ＮＯ」）、主制御部１０７は、図３を参照して説明したような目標車速を減速させるべき状況であると判断して、そのときの目標車速をブレーキＯＦＦ時の（換言すれば、車間距離Ｄ２が検出された時の）自車両車速に変更する（Ｓ２０７）。   On the other hand, when it is determined that the inter-vehicle distance D2 is equal to or longer than the inter-vehicle distance D1 (“NO” in S205), the main control unit 107 should decelerate the target vehicle speed as described with reference to FIG. The situation is determined to be the situation, and the target vehicle speed at that time is changed to the own vehicle speed when the brake is OFF (in other words, when the inter-vehicle distance D2 is detected) (S207).

このように、本実施例によれば、追従走行中に運転者によりブレーキペダル操作が行われたときに、それが目標車速の減速を意図したものであるか否かを判定し、ブレーキＯＮ時の車間距離とブレーキＯＦＦ時の車間距離とから運転者の意図が目標車速の減速であると判断された場合にのみ、目標車速を減速させるようにしたため、追従走行中に運転者の意図しない目標車速の減速が生じることが防止され、ユーザ利便性が向上する。   As described above, according to this embodiment, when the brake pedal operation is performed by the driver during the follow-up traveling, it is determined whether or not it is intended to decelerate the target vehicle speed. The target vehicle speed is decelerated only when the driver's intention is determined to be a reduction in the target vehicle speed based on the following vehicle distance and the inter-vehicle distance when the brake is OFF. It is possible to prevent the vehicle speed from decelerating and improve user convenience.

本発明は、先行車に対する追従走行制御が可能なあらゆる車両に適用可能である。対象車両の動力源種類、燃料種類、外観デザイン、重量、サイズ、走行性能等はいずれも不問である。   The present invention is applicable to any vehicle that can perform follow-up traveling control with respect to a preceding vehicle. The power source type, fuel type, appearance design, weight, size, running performance, etc. of the target vehicle are all unquestioned.

本発明の一実施例に係る車両用走行制御装置の概略構成図である。1 is a schematic configuration diagram of a vehicle travel control apparatus according to an embodiment of the present invention. 本発明の一実施例に係る車両用走行制御装置による追従走行中の目標車速変更処理の流れを示すフローチャートである。It is a flowchart which shows the flow of the target vehicle speed change process in the following driving | running | working by the vehicle travel control apparatus which concerns on one Example of this invention. 本発明の一実施例に係る車両用走行制御装置により追従走行中の目標車速が変更される場合の先行車との車間距離を示す図である。It is a figure which shows the inter-vehicle distance with a preceding vehicle in case the target vehicle speed in the following driving | running | working is changed by the vehicle travel control apparatus which concerns on one Example of this invention. 本発明の一実施例に係る車両用走行制御装置により追従走行中の目標車速が変更されない場合の先行車との車間距離を示す図である。It is a figure which shows the inter-vehicle distance with a preceding vehicle in case the target vehicle speed in the following driving | running | working is not changed by the vehicle travel control apparatus which concerns on one Example of this invention.

符号の説明Explanation of symbols

１００ 車両用走行制御装置
１０１ 先行車検出部
１０２ 車速検出部
１０３ ブレーキペダル操作量検出部
１０４ 記憶部
１０５ エンジン制御部
１０６ ブレーキ制御部
１０７ 主制御部 DESCRIPTION OF SYMBOLS 100 Vehicle travel control apparatus 101 Leading vehicle detection part 102 Vehicle speed detection part 103 Brake pedal operation amount detection part 104 Storage part 105 Engine control part 106 Brake control part 107 Main control part

Claims (1)

車両に搭載され、自車両の車速を目標車速に制御する車両用走行制御装置であって、
先行車に対する追従走行中、運転者によりブレーキペダルが踏み込まれたときの先行車との第一の車間距離と、運手者によりブレーキペダルが離されたときの先行車との第二の車間距離とを検出する車間距離検出手段と、
先行車に対する追従走行中、運転者によりブレーキペダルが踏み込まれ、次いで、運手者によりブレーキペダルが離されたとき、前記目標車速を運手者によりブレーキペダルが離されたときの自車両車速に変更する目標車速変更手段と、
前記車間距離検出手段により検出された前記第二の車間距離が前記第一の車間距離より短いとき、前記目標車速変更手段による前記目標車速の変更を禁止する目標車速変更禁止手段と、
を有することを特徴とする車両用走行制御装置。 A vehicle travel control device that is mounted on a vehicle and controls the vehicle speed of the host vehicle to a target vehicle speed,
During follow-up to the preceding vehicle, the first inter-vehicle distance from the preceding vehicle when the driver depresses the brake pedal, and the second inter-vehicle distance from the preceding vehicle when the driver releases the brake pedal An inter-vehicle distance detecting means for detecting
When the brake pedal is depressed by the driver and the driver releases the brake pedal while following the preceding vehicle, the target vehicle speed is changed to the own vehicle vehicle speed when the brake pedal is released by the operator. A target vehicle speed changing means to be changed;
Target vehicle speed change prohibiting means for prohibiting the change of the target vehicle speed by the target vehicle speed changing means when the second inter-vehicle distance detected by the inter-vehicle distance detecting means is shorter than the first inter-vehicle distance;
A vehicle travel control device comprising:
JP2008041956A 2008-02-22 2008-02-22 Vehicle travel control device Expired - Fee Related JP5018544B2 (en)

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JP3320843B2 (en) * 1993-07-06 2002-09-03 マツダ株式会社 Brake control device
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