JPH11242800A - Running controller of vehicle with distance between vehicles alarming device - Google Patents
Running controller of vehicle with distance between vehicles alarming deviceInfo
- Publication number
- JPH11242800A JPH11242800A JP10045382A JP4538298A JPH11242800A JP H11242800 A JPH11242800 A JP H11242800A JP 10045382 A JP10045382 A JP 10045382A JP 4538298 A JP4538298 A JP 4538298A JP H11242800 A JPH11242800 A JP H11242800A
- Authority
- JP
- Japan
- Prior art keywords
- distance
- vehicle
- inter
- alarm
- vehicles
- 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.)
- Granted
Links
Landscapes
- Controls For Constant Speed Travelling (AREA)
- Regulating Braking Force (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Emergency Alarm Devices (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、車間制御装置と車
間距離警報装置とを組み合わせた車間距離警報装置付き
車両の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 travel control device for a vehicle having an inter-vehicle distance warning device, which is a combination of the inter-vehicle control device and the inter-vehicle distance warning device.
【０００２】[0002]
【従来の技術】自動車（車両）には車間距離警報装置を
搭載したものがある。車間距離警報装置は、例えば交通
流中で先行車との車間距離が予め設定した所定警報距離
以下になると警報を発して、運転者に注意をうながした
り制動操作を喚起したりする。2. Description of the Related Art Some automobiles (vehicles) are equipped with an inter-vehicle distance alarm device. The inter-vehicle distance alarm device issues an alarm when the inter-vehicle distance to a preceding vehicle in a traffic flow is equal to or less than a predetermined alarm distance, for example, to warn the driver or urge the driver to perform a braking operation.
【０００３】一方、自動車は、運転者の運転操作の負担
を軽減するために、オートクルーズ装置と呼ばれる車速
制御装置（走行制御装置）を装備することが行われてい
る。近年の車速制御装置は、自車速を設定車速に保つだ
けでなく、車間制御装置を用い、先行車がいるときは先
行車との間で安全な目標車間距離（安全車間距離）を保
つように自車速を制御することが行われている。On the other hand, automobiles are equipped with a vehicle speed control device (running control device) called an auto cruise device in order to reduce the burden of the driver's driving operation. Recent vehicle speed control systems not only maintain their own vehicle speed at the set vehicle speed, but also use an inter-vehicle control device to maintain a safe target inter-vehicle distance (safe inter-vehicle distance) with the preceding vehicle when there is a preceding vehicle. Control of the own vehicle speed is performed.
【０００４】近時では安全性を高めるために、こうした
車間制御装置に上記車間距離警報装置を組み合わせるこ
とが考えられている。ところで、目標車間距離の保持
は、先行車との車間距離が目標車間距離（安全車間距
離）より短くなれば、自車の減速装置（一般的にはエン
ジンブレーキ、補助ブレーキ、シフトダウンを使用）を
作動させて自車を減速させ、車間距離が目標車間距離よ
り長くなれば、自車のエンジンのガバナ等を出力増加側
に制御することにより行われる。In recent years, in order to enhance safety, it has been considered to combine such an inter-vehicle distance warning device with such an inter-vehicle control device. By the way, the target inter-vehicle distance is maintained if the inter-vehicle distance with the preceding vehicle is shorter than the target inter-vehicle distance (safety inter-vehicle distance), by reducing the speed of the own vehicle (generally using an engine brake, an auxiliary brake, and a downshift). Is operated to decelerate the own vehicle, and when the inter-vehicle distance becomes longer than the target inter-vehicle distance, the control is performed by controlling the governor and the like of the engine of the own vehicle to the output increasing side.
【０００５】ところが、車間距離警報装置は単に車間距
離が所定警報距離以下になると警報を発する設定である
ために、車間制御装置と組み合わせた場合、車間制御装
置で自車を減速させて安全車間距離を確保している最
中、この間、先行車との車間距離が所定警報距離以下に
なるという理由で、車間距離警報装置から不必要に車間
距離警報が発せられてしまうことがある。However, the inter-vehicle distance warning device is set to issue a warning only when the inter-vehicle distance becomes equal to or less than a predetermined warning distance. Therefore, when the inter-vehicle control device is combined with the inter-vehicle control device, the own vehicle is decelerated to reduce the safe inter-vehicle distance. During this time, the following distance warning device may issue an unnecessary following distance warning because the following distance between the preceding vehicle and the preceding vehicle is less than or equal to the predetermined warning distance.
【０００６】つまり、車間制御装置の減速作動によって
十分に危険を回避できる領域であるにもかかわらず、車
間距離警報装置から無駄に警報が発せられる。そこで、
特開平８−２１６７２８号では、目標車間距離を保持す
る走行時、通常の走行時に比べて車間距離警報のタイミ
ングを遅くして、先行車と追従して走行するとき、不要
な警報が車間距離警報装置から発生されるのを抑制した
走行制御装置が提案されている。In other words, despite the area where danger can be sufficiently avoided by the deceleration operation of the headway distance control device, the headway distance warning device issues an unnecessary warning. Therefore,
In Japanese Patent Application Laid-Open No. Hei 8-216728, when traveling while maintaining the target inter-vehicle distance, the timing of the inter-vehicle distance warning is delayed as compared with the normal traveling, and when traveling following the preceding vehicle, an unnecessary warning is issued. There has been proposed a travel control device that suppresses generation from the device.
【０００７】[0007]
【発明が解決しようとする課題】ところで、自動車は安
全性が求められる。ところが、上記走行制御装置は、警
報を発するタイミングを一律に遅くするので、その分だ
け運転者に与えられる余裕時間が短くなる。しかも、ブ
レーキ操作は、車間制御がもたらすイージドライブ状態
から行われるので、操作開始が遅れがちになる傾向にあ
り、緊急時のブレーキ操作が間に合わなくなるおそれが
ある。However, automobiles are required to be safe. However, the travel control device uniformly delays the timing of issuing an alarm, and accordingly, the spare time given to the driver is shortened accordingly. In addition, since the brake operation is performed from the easy drive state provided by the inter-vehicle control, the start of the operation tends to be delayed, and there is a possibility that the emergency brake operation cannot be performed in time.
【０００８】このため、無駄な警報の排除と安全性の確
保とが両立できる車間距離警報が望まれる。しかも、さ
らに安全性を考慮すると車間距離警報は、これだけでな
く車間制御装置の減速装置の特性を考慮した警報も望ま
れる。[0008] Therefore, there is a demand for an inter-vehicle distance alarm that can both eliminate unnecessary alarms and ensure safety. In addition, in consideration of safety, not only the inter-vehicle distance alarm but also an alarm in consideration of the characteristics of the reduction gear of the inter-vehicle control device is desired.
【０００９】すなわち、車間制御装置で用いられる減速
装置は、先にも述べたようにエンジンブレーキ、補助ブ
レーキ、シフトダウンを使用するのが一般的であるが、
いずれも減速能力は比較的に小さい。このため、同減速
装置は先行車との相対速度が小さければ目標車間距離を
保持する上で十分な制御性能を発揮できるものの、相対
速度が大きい場合は制動力が不十分になりがちとなるた
め制御性能も不十分となりがちとなる特性がある。That is, the reduction gear used in the headway control system generally uses the engine brake, the auxiliary brake, and the downshift as described above.
In each case, the deceleration ability is relatively small. For this reason, the speed reducer can exhibit sufficient control performance to maintain the target inter-vehicle distance if the relative speed with respect to the preceding vehicle is small, but the braking force tends to be insufficient if the relative speed is large. There is a characteristic that the control performance tends to be insufficient.
【００１０】それ故、車間制御装置側の特性も考慮した
車間距離警報が望まれる。本発明は上記事情に着目して
なされたものでその目的とするところは、車間距離装置
の特性に合わせた、無駄な警報のない、さらには高い安
全性をもたらす車間距離警報が行える車間距離警報装置
付き車両の走行制御装置を提供することにある。Therefore, it is desired to provide an inter-vehicle distance warning in consideration of the characteristics of the inter-vehicle control device. SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object thereof is to provide an inter-vehicle distance alarm that can perform an inter-vehicle distance alarm that does not cause useless alarms and that provides high safety in accordance with the characteristics of the inter-vehicle distance device. An object of the present invention is to provide a travel control device for a vehicle with the device.
【００１１】[0011]
【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に記載の車間距離警報装置付き車両の走行制
御装置は、先行車との車間距離を目標車間距離に保つ車
間制御装置と組み合せる車間距離警報装置の警報距離の
設定を、車間制御装置の作動時は非作動時に比べ、先行
車への接近方向の相対速度が小さい領域で短く、相対速
度が大きい領域で長くしたことにより、車間距離保持
時、先行車との相対速度が小さく、車間制御装置の減速
作動で十分に危険が回避されるときは、短く設定された
警報距離により、車間距離警報が発しないようなる。According to one aspect of the present invention, there is provided a cruise control system for a vehicle provided with an inter-vehicle distance warning device, the inter-vehicle control device for maintaining the inter-vehicle distance with a preceding vehicle at a target inter-vehicle distance. By setting the warning distance of the inter-vehicle distance warning device to be combined, when the inter-vehicle control device is activated, it is shorter in the area where the relative speed in the approaching direction to the preceding vehicle is smaller than when it is not activated, and longer in the area where the relative speed is large. If the relative speed with the preceding vehicle is low when the inter-vehicle distance is maintained and the danger is sufficiently avoided by the deceleration operation of the inter-vehicle control device, the inter-vehicle distance alarm is not issued due to the short alarm distance.
【００１２】また車間距離保持の開始時、先行車との相
対速度が大きく、車間制御装置の減速能力では車間距離
保持の制御が十分に行えないときは、長く設定された警
報距離により、ブレーキ操作が間に合うよう早期に車間
距離警報を発し、ブレーキ操作が必要になることを運転
者に早期に自覚させる。これにより、警報タイミングを
遅らせずに無駄な車間警報が排除される上、車間制御装
置の特性を考慮した効果的な車間警報が行える。At the start of maintaining the following distance, if the relative speed with respect to the preceding vehicle is high and the control of maintaining the following distance cannot be sufficiently performed with the deceleration capability of the following distance control device, the brake operation is performed by the long warning distance. An inter-vehicle distance warning is issued at an early stage so that the driver can recognize early on that a brake operation is required. This eliminates useless inter-vehicle warnings without delaying the alarm timing, and enables effective inter-vehicle alarms in consideration of the characteristics of the inter-vehicle control device.
【００１３】[0013]
【発明の実施の形態】以下、本発明を図１ないし図５に
示す−実施形態にもとづいて説明する。図１中１は例え
ば走行用ディーゼルエンジン２を搭載した自動車（車
両）、３はこの自動車１に搭載されたオートクルーズ装
置と呼ばれる車速制御装置（走行制御装置）である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to FIGS. In FIG. 1, reference numeral 1 denotes an automobile (vehicle) equipped with, for example, a diesel engine 2 for traveling, and reference numeral 3 denotes a vehicle speed control apparatus (travel control apparatus) called an auto cruise apparatus installed in the automobile 1.
【００１４】車速制御装置３は、例えばディーゼルエン
ジン２のガバナ制御部２ａにつながるクルーズ用コント
ロールユニット４（例えばマイクロコンピュータから構
成されるもので、以下、単にコントロールユニット４と
称する）を有している。このコントロールユニット４に
は、車両に搭載された車間距離検出装置として例えば先
行車Ｘのリフレクタ（図示しない）から反射するレーザ
光を捕捉して先行車Ｘの位置を検出するレーザレーダユ
ニット５、車速センサ６、設定車速入力部７が接続され
ていて、レーザレーダユニット５の出力から先行車１０
との車間距離が検出され、車速センサ６の出力から自車
１の車速が検出され、設定車速入力部７の出力からオー
トクルーズをしようとする設定車速（クールズ車速）が
検出されるようにしてある。なお、コントロールユニッ
ト４には例えばオートクルーズをオンオフするオンオフ
スイッチ４ａ（車間制御装置の作動／非作動を切換える
手段）、自車速を減速するための補助ブレーキ８（減速
装置に相当）が接続してある。The vehicle speed control device 3 has, for example, a cruise control unit 4 (for example, composed of a microcomputer, hereinafter simply referred to as a control unit 4) connected to a governor control section 2a of the diesel engine 2. . The control unit 4 includes, for example, a laser radar unit 5 that detects a position of the preceding vehicle X by capturing a laser beam reflected from a reflector (not shown) of the preceding vehicle X as an inter-vehicle distance detecting device mounted on the vehicle, The sensor 6 and the set vehicle speed input unit 7 are connected, and the output of the laser radar unit 5
, The vehicle speed of the own vehicle 1 is detected from the output of the vehicle speed sensor 6, and the set vehicle speed (Cools vehicle speed) for performing auto cruise is detected from the output of the set vehicle speed input unit 7. is there. The control unit 4 is connected to, for example, an on / off switch 4a (means for switching between operation and non-operation of the inter-vehicle distance control device) for turning on / off the auto cruise, and an auxiliary brake 8 (corresponding to a reduction device) for reducing the vehicle speed. is there.
【００１５】コントロールユニット４には、オンオフス
イッチ４ａのオン、設定車速入力部７の設定にしたがい
作動する定速制御部９ａ／車間制御部９ｂ（車間制御装
置に相当）が組み込んである。定速制御部９ａは、車速
センサ６で検出される車速にしたがいガバナ制御部２ａ
／補助ブレーキ８を制御して自車速を設定車速（クール
ズ車速）に保つ機能をもつ。また車間制御部９ｂは、レ
ーザレーダユニット５で検出される車間情報にしたがい
ガバナ制御部２ａ／補助ブレーキ８を制御して先行車Ｘ
との車間距離を目標車間距離に保つ機能をもつ。The control unit 4 incorporates a constant speed control section 9a / inter-vehicle distance control section 9b (corresponding to an inter-vehicle distance control device) which operates according to the ON of the on / off switch 4a and the setting of the set vehicle speed input section 7. The governor control unit 2a is controlled by the constant speed control unit 9a according to the vehicle speed detected by the vehicle speed sensor 6.
And has a function of controlling the auxiliary brake 8 to maintain the own vehicle speed at a set vehicle speed (cools vehicle speed). The inter-vehicle control unit 9b controls the governor control unit 2a / auxiliary brake 8 according to the inter-vehicle information detected by the laser radar unit 5 to control the preceding vehicle X.
With the function to keep the inter-vehicle distance to the target inter-vehicle distance.
【００１６】そして、これら機能が先行車Ｘの有無にし
たがい切換わるようにしてある。すなわち、例えばコン
トロールユニット４にはレーザレーダユニット５の出力
から先行車Ｘが自車走行車線内に存在するか否かを検出
する機能、この検出結果により先行車Ｘの存在が自車１
の走行車線内で検出されるときは車間距離を目標車間距
離に保つ機能、先行車Ｘが走行車線内に存在しないとき
は車速を設定車速に保つ機能が設定されていて、先行車
Ｘの有無に応じて定速制御が行われたり車間距離制御が
行われるようにしてある。These functions are switched according to the presence or absence of the preceding vehicle X. That is, for example, the control unit 4 has a function of detecting from the output of the laser radar unit 5 whether or not the preceding vehicle X exists in the traveling lane of the own vehicle.
A function to keep the inter-vehicle distance at the target inter-vehicle distance when the vehicle is detected in the traveling lane, and a function to keep the vehicle speed at the set vehicle speed when the preceding vehicle X does not exist in the traveling lane. The constant speed control and the inter-vehicle distance control are performed in accordance with the conditions.
【００１７】またコントロールユニット４には、先行車
Ｘとの車間距離が所定警報距離以下になると警報を発す
る警報器１０（車間距離警報装置に相当）が接続されて
いる。そして、コントロールユニット４の制御にて、定
速制御部９ａ／車間制御部９ｂが作動するクルーズ走行
のとき、同制御部９ａ，９ｂが作動していない通常の走
行のときのいずれでも、ブレーキ操作が必要とされる状
況となると警報器１０から運転者に対して車間距離警報
が発せられるようにしてある。The control unit 4 is connected to an alarm device 10 (corresponding to an inter-vehicle distance alarm device) which issues an alarm when the inter-vehicle distance from the preceding vehicle X is less than a predetermined alarm distance. Then, under the control of the control unit 4, the brake operation is performed in any of the cruise running in which the constant speed control unit 9a / the headway control unit 9b operates and the normal running in which the control units 9a and 9b are not operating. When a situation is required, the alarm 10 issues an inter-vehicle distance alarm to the driver.
【００１８】すなわち、コントロールユニット４には、
例えば図２に示されるように車速制御装置３を作動させ
ていないとき（車間距離保持が作動していないとき）に
おいて、例えば各自車初速毎、一次安全警報距離Ｄs1
（運転者に注意を促す警報距離で、ブレーキ操作をする
までに判断時間を含む余裕のある車間距離：所定警報距
離に相当）を求めるための距離マップａ〜ｅが設定して
ある。具体的には、距離マップａ〜ｅは、自車１が先行
車Ｘに衝突せずにすむことを前提に、二次安全警報距離
Ｄs2にしたがい一次安全警報距離Ｄs1を求めてマップ化
したものである。なお、距離マップａ〜ｅの二次安全警
報距離Ｄs2は、判断時間がなく、即、ブレーキ操作が求
められる警報距離である。That is, the control unit 4 includes:
For example, as shown in FIG. 2, when the vehicle speed control device 3 is not operated (when the inter-vehicle distance holding is not operated), for example, for each initial speed of the own vehicle, the primary safety alarm distance Ds1 is set.
Distance maps a to e are set for obtaining an alarm distance that calls attention to the driver, a distance between vehicles having a margin including a determination time before the brake operation is performed, which corresponds to a predetermined alarm distance. Specifically, the distance maps a to e are obtained by obtaining the primary safety warning distance Ds1 according to the secondary safety warning distance Ds2 on the assumption that the vehicle 1 does not collide with the preceding vehicle X. It is. The secondary safety warning distance Ds2 in the distance maps a to e is a warning distance for which there is no determination time and a brake operation is required immediately.
【００１９】ここで、二次安全警報距離Ｄs2は、Ｄs2＝
Ｖf ・Ｔd ＋Ｖf 2 ／２αｆ−Ｖa 2 ／２αａで、これ
にしたがい二次安全警報距離Ｄs1は、Ｄs1＝ＤS2＋Ｖf
・Ｔｘ なる与式から求まる。Here, the secondary safety warning distance Ds2 is given by Ds2 =
In Vf · Td + Vf 2 / 2αf -Va 2 / 2αa, which in accordance with secondary safety alarm distance Ds1 is, Ds1 = DS2 + Vf
Tx is obtained from the given equation.
【００２０】Ｖｆは自車速、Ｖａは先行車速度、Ｔｄは
空走時間、Ｔｘは判断時間、αｆは自車減速度、αａは
先行車減速度。またコントロールユニット４には、図２
と同様、図３に示されるように車速制御装置３の作動中
（車間距離保持が作動するとき）、例えば各自車初速
毎、一次安全警報距離Ｄs3（運転者に注意を促す警報距
離で、ブレーキ操作をするまでに判断時間を含む余裕の
ある車間距離：所定警報距離に相当）を求めるための距
離マップＡ〜Ｅが設定してある。具体的には、距離マッ
プＡ〜Ｅには、一次安全警報距離Ｄs3の警報距離の設定
を、上記距離マップａ〜ｅの一次安全警報距離ＤS1に比
べて、相対速度（先行車Ｘへ接近する方向に対して）の
小さい領域で短く、相対速度が大きい領域で長くなるよ
うに変更したマップが用いてある。Vf is the own vehicle speed, Va is the preceding vehicle speed, Td is the idle running time, Tx is the judgment time, αf is the own vehicle deceleration, and αa is the preceding vehicle deceleration. In addition, the control unit 4 includes FIG.
Similarly, as shown in FIG. 3, during the operation of the vehicle speed control device 3 (when the inter-vehicle distance is activated), for example, at each initial speed of each vehicle, a primary safety alarm distance Ds3 (an alarm distance that calls the driver's attention, Distance maps A to E are set for obtaining an inter-vehicle distance having a margin including a determination time before the operation is performed (corresponding to a predetermined warning distance). Specifically, in the distance maps A to E, the setting of the warning distance of the primary safety warning distance Ds3 is compared with the primary safety warning distance DS1 of the distance maps a to e, and the relative speed (approaching to the preceding vehicle X) is set. In this case, a map is used that is shorter in an area with a small relative direction (in the direction) and longer in an area with a higher relative speed.
【００２１】この変更により一次安全警報距離Ｄs3は、
補助ブレーキ８の減速作動で十分に危険が回避される領
域では短く、補助ブレーキ８の減速作動では車間距離保
持の制御が困難な領域では長くしている。なお、極小の
相対速度の領域は、補助ブレーキ８による減速が十分に
発揮する領域なので一次警報が発しない設定にしてあ
る。With this change, the primary safety alarm distance Ds3 becomes
It is short in a region where danger is sufficiently avoided by the deceleration operation of the auxiliary brake 8, and is long in a region where control of maintaining the inter-vehicle distance is difficult in the deceleration operation of the auxiliary brake 8. Since the region of the minimum relative speed is a region where the deceleration by the auxiliary brake 8 is sufficiently exerted, the setting is made so that the primary alarm is not issued.
【００２２】こうした距離マップａ〜ｅ／距離マップＡ
〜Ｅの一次警報距離ＤS1／ＤS3に、二次警報距離ＤS2が
組み合わさり、車間距離保持クルーズ／車間距離未使用
時の両者に適した警報発生距離マップを形成している。
図４はこのうち自車速が８０Km/h時となるときの警報発
生距離の全体系を示している。These distance maps a to e / distance map A
, The secondary warning distance DS2 is combined with the primary warning distance DS1 / DS3 to form a warning distance map suitable for both the vehicle-to-vehicle distance keeping cruise and when the vehicle-to-vehicle distance is not used.
FIG. 4 shows the entire system of the alarm generation distance when the host vehicle speed is 80 km / h.
【００２３】またコントロールユニット４には、定速制
御部９ａ／車間制御部９ｂが非作動のときは、レーザレ
ーダユニット５から検出される車間距離が図２に示す距
離マップａ〜ｅで求まる一次警報距離ＤS1を下回ると警
報器１０から一次警報を発し、定速制御部９ａ／車間制
御部９ｂが作動のときは、車間距離が図３に示す距離マ
ップＡ〜Ｅで求まる一次警報距離ＤS3を下回ると警報器
１０から一次警報を発する設定がなされていて、クルー
ズ走行／未クルーズ走行のそれぞれの特性に適した車間
距離警報が行われるようにしてある。なお、二次警報は
いずれも同じ警報距離ＤS2にしたがい車間距離警報が行
われるようにしてある（但し、二次警報の警報距離より
一次警報の警報距離が小さいときは二次警報の警報距離
を優先して車間距離警報が発せられる）。When the constant speed control unit 9a / inter-vehicle control unit 9b is not operated, the control unit 4 determines the inter-vehicle distance detected by the laser radar unit 5 from the primary maps obtained by the distance maps a to e shown in FIG. When the alarm distance DS1 falls below the alarm distance DS1, a primary alarm is issued from the alarm device 10, and when the constant speed control unit 9a / inter-vehicle control unit 9b operates, the primary alarm distance DS3 obtained by the inter-vehicle distance obtained by the distance maps A to E shown in FIG. A setting is made so that a primary alarm is issued from the alarm device 10 when the vehicle speed falls below the threshold, so that an inter-vehicle distance alarm suitable for each characteristic of cruise traveling / non-cruise traveling is performed. In addition, all the secondary warnings are set so that an inter-vehicle distance warning is performed in accordance with the same warning distance DS2 (however, if the warning distance of the primary warning is smaller than the warning distance of the secondary warning, the warning distance of the secondary warning is reduced). The inter-vehicle distance warning is given priority.)
【００２４】こうした距離マップａ〜ｅ／距離マップＡ
〜Ｅによる車間距離警報の制御が図５のフローチャート
に示されている。つぎに、この図５のフローチャートに
ついて説明すれば、今、例えば高速道路の走行車線を自
車１が先行車Ｘに続いて走行しているとする。Such distance maps a to e / distance map A
The control of the inter-vehicle distance warning by E is shown in the flowchart of FIG. Next, the flowchart of FIG. 5 will be described. It is assumed that, for example, the own vehicle 1 is traveling following the preceding vehicle X in the traveling lane of the highway.
【００２５】このとき、オンオフスイッチ４ａがオフ、
設定車速入力部７から入力がないとすると、コントロー
ルユニット４は、定速制御部９ａ／車間制御部９ｂを作
動させず（非作動）、レーザレーダユニット４の出力か
ら自車前方に存在する先行車Ｘとの車間距離を監視して
いる。At this time, the on / off switch 4a is turned off,
If there is no input from the set vehicle speed input unit 7, the control unit 4 does not operate the constant speed control unit 9a / inter-vehicle control unit 9b (deactivates), and uses the output of the laser radar unit 4 to output the preceding vehicle existing in front of the vehicle. The inter-vehicle distance to the car X is monitored.
【００２６】すなわち、自車１が走行中、コントロール
ユニット４は、車速センサ６の出力から自車速を検出
し、レーザレーダユニット５の出力である先行車Ｘとの
車間距離から自車１との相対速度（先行車Ｘへ接近方向
に対して）を算出していて、図２に示す一次警報距離マ
ップ（車間距離保持クルーズ未使用時）から、一次警報
距離Ｄs1を求めている。That is, while the host vehicle 1 is traveling, the control unit 4 detects the host vehicle speed from the output of the vehicle speed sensor 6 and uses the output of the laser radar unit 5 to determine the distance between the host vehicle 1 and the preceding vehicle X. The relative speed (with respect to the approaching direction to the preceding vehicle X) is calculated, and the primary warning distance Ds1 is obtained from the primary warning distance map (when the inter-vehicle distance keeping cruise is not used) shown in FIG.
【００２７】このとき、前方を走行している先行車Ｘに
自車１が接近し、レーザレーダユニット４で検出してい
る実車間距離Ｄが一次警報距離Ｄs1を下回ると、ステッ
プＳ１から、ステップＳ２（実車間距離Ｄが二次警報距
離ＤS2より小さいか否かの判断）、ステップＳ３（車間
距離制御中か否かの判断）、ステップＳ４（実車間距離
Ｄが二次警報距離ＤS2より小さいか否かの判断）の判断
処理を経て、ステップＳ５に進み、警報器１０から一次
警報音（例えば断続音）を発して、運転者に車間距離が
不足していることを報知する。At this time, when the own vehicle 1 approaches the preceding vehicle X traveling ahead and the actual inter-vehicle distance D detected by the laser radar unit 4 becomes smaller than the primary alarm distance Ds1, the process proceeds from step S1 to step S1. S2 (determination whether the actual inter-vehicle distance D is smaller than the secondary warning distance DS2), step S3 (determination whether the inter-vehicle distance control is being performed), step S4 (the actual inter-vehicle distance D is smaller than the secondary warning distance DS2) (Step S5), the process proceeds to step S5, and the alarm device 10 emits a primary alarm sound (for example, an intermittent sound) to notify the driver that the inter-vehicle distance is insufficient.
【００２８】この報知を受けて運転者はブレーキ操作を
行い車間距離を回復させれば、警報は解除される。な
お、一次警報をしても、さらに自車１が先行車Ｘに接近
し、二次警報距離ＤS2に侵入すれば、ステップＳ２から
ステップＳ６へ進み、直ちにブレーキ操作を喚起する二
次警報音（例えば連続音）を発する。When the driver receives the notification and operates the brake to recover the inter-vehicle distance, the alarm is released. Even if the primary alarm is issued, if the own vehicle 1 further approaches the preceding vehicle X and enters the secondary alarm distance DS2, the process proceeds from step S2 to step S6, where the secondary alarm sound (e.g. For example, a continuous sound is emitted.
【００２９】一方、自車１が例えば高速道路の走行車線
を走行中、設定車速（クルーズ車速）を設定入力部７か
ら入力し、オンオフスイッチ４ａをオンする。このと
き、レーザレーダユニット５の検出範囲に先行車Ｘが存
在しなければ、コントロールユニット４は先行車Ｘが無
と判断し、定速制御部９ａの制御、すなわち設定車速
（クルーズ車速）を保つようにガバナ制御部２ａや補助
ブレーキ８を制御する。On the other hand, while the vehicle 1 is traveling, for example, in a traveling lane on a highway, a set vehicle speed (cruise vehicle speed) is input from the setting input unit 7, and the on / off switch 4a is turned on. At this time, if the preceding vehicle X does not exist in the detection range of the laser radar unit 5, the control unit 4 determines that there is no preceding vehicle X and controls the constant speed control unit 9a, that is, maintains the set vehicle speed (cruise vehicle speed). The governor control unit 2a and the auxiliary brake 8 are controlled as described above.
【００３０】つまり、自車１は、アクセルペダル／ブレ
ーキペダルを踏まなくても、設定したクルーズ車速を保
ちながらクルーズ走行する。このクルーズ走行中、同一
走行車線に、設定車速（クルーズ車速）より低速で走行
している先行車Ｘが存在するとする。That is, the vehicle 1 cruises while maintaining the set cruise vehicle speed without stepping on the accelerator pedal / brake pedal. During this cruise traveling, it is assumed that a preceding vehicle X traveling at a lower speed than the set vehicle speed (cruise vehicle speed) exists in the same traveling lane.
【００３１】すると、自車１は速度差により先行車Ｘに
接近する。先行車Ｘがレーザレーダユニット４の検出範
囲に達し、コントロールユニット４が同レーザレーダユ
ニット４の出力から先行車Ｘの存在を認識すると、車間
制御部９ｂの制御に切換え、車間保持制御が開始され
る。Then, the own vehicle 1 approaches the preceding vehicle X due to the speed difference. When the preceding vehicle X reaches the detection range of the laser radar unit 4 and the control unit 4 recognizes the presence of the preceding vehicle X from the output of the laser radar unit 4, the control is switched to the control of the following distance control unit 9b, and the following distance control is started. You.
【００３２】このとき、図２の一次警報距離マップから
求まる一次警報距離ＤS1だと、車間保持制御の減速能力
を考慮していないために、十分に危険が回避されるとき
の減速制御中にもかかわらず、目標車間距離を回復する
間に縮まる先行車Ｘと自車１との車間を捕らえて、図４
中（自車速が８０km/hの場合）の一点鎖線で囲まれる縦
線部分の小相対速度の領域で見られるように、無駄な一
次警報を警報器１０から出力させてしまう。At this time, if the primary warning distance DS1 is obtained from the primary warning distance map shown in FIG. 2, since the deceleration capability of the following distance control is not taken into consideration, the primary warning distance DS1 can be obtained even during the deceleration control when danger is sufficiently avoided. Regardless, the inter-vehicle distance between the preceding vehicle X and the own vehicle 1 that shrinks while recovering the target inter-vehicle distance is captured, and
The useless primary alarm is output from the alarm 10 as seen in the area of the small relative speed in the vertical line portion surrounded by the one-dot chain line in the middle (when the vehicle speed is 80 km / h).
【００３３】本発明だと、ステップＳ７のように車間保
持制御中を考慮した一次警報距離ＤS3を用いて、実車間
距離Ｄが一次警報距離ＤS3を下回るか否かを判断してい
る。すなわち、一次警報距離ＤS3のうち、先行車Ｘとの
相対速度が小さい領域の警報距離は、図４中の一次警報
距離ＤS3の出力範囲でも示されるように一次警報距離Ｄ
S1に比べて短い。According to the present invention, it is determined whether or not the actual inter-vehicle distance D is smaller than the primary alarm distance DS3 by using the primary alarm distance DS3 taking into consideration the inter-vehicle holding control as in step S7. That is, of the primary warning distance DS3, the warning distance in an area where the relative speed with respect to the preceding vehicle X is small is the primary warning distance D3 as shown in the output range of the primary warning distance DS3 in FIG.
Shorter than S1.
【００３４】それ故、車間保持制御中、補助ブレーキ８
の作動で十分に回避される領域（先行車Ｘとの相対速度
が小さい領域）での無駄な一次警報の発生は抑えられ
る。そして、この車間保持制御の最中、例えば先行車Ｘ
が減速を始め、先行車Ｘとの車間距離が縮まり、ブレー
キ操作が求められる状況になると、始めて実車間距離Ｄ
が一次警報距離Ｄs3以下となり、ステップＳ５へ進み、
警報器１０から一次警報音（例えば断続音：車間距離警
報）を発して、運転者に車間距離が不足していることを
報知するので、ブレーキ操作が遅れがちとなる傾向はな
い。Therefore, during the headway holding control, the auxiliary brake 8
The useless primary alarm is suppressed from being generated in a region that is sufficiently avoided by the operation (region where the relative speed with respect to the preceding vehicle X is low). During this headway control, for example, the preceding vehicle X
Begins to decelerate, the inter-vehicle distance to the preceding vehicle X decreases, and when the brake operation is required, the actual inter-vehicle distance D
Becomes less than or equal to the primary alarm distance Ds3, and proceeds to step S5.
Since the alarm 10 emits a primary alarm sound (for example, an intermittent sound: an inter-vehicle distance alarm) to notify the driver that the inter-vehicle distance is insufficient, the brake operation does not tend to be delayed.
【００３５】また例えば先行車Ｘがレーザレーダユニッ
ト４の検出範囲に達したとき（車間距離保持の開始
時）、先行車Ｘとの相対速度が大きく、車間制御部９ｂ
の減速能力（補助ブレーキ８）では車間距離保持の制御
が行えない状況であるとする。For example, when the preceding vehicle X reaches the detection range of the laser radar unit 4 (at the start of maintaining the inter-vehicle distance), the relative speed with respect to the preceding vehicle X is large, and the inter-vehicle control unit 9b
It is assumed that the deceleration capability (auxiliary brake 8) cannot control the inter-vehicle distance.
【００３６】すなわち、車間保持制御の減速に用いられ
る補助ブレーキ８は、先行車Ｘとの相対速度が小さけれ
ば車間距離を保持する上で十分な制御性能を発揮する
が、先行車Ｘとの相対速度が大きい場合は制動力が不十
分になりがちで制御性能が不十分となりがちとなる特性
がある。That is, the auxiliary brake 8 used for deceleration of the following distance control exerts sufficient control performance to maintain the following distance if the relative speed with respect to the preceding vehicle X is small. When the speed is high, there is a characteristic that the braking force tends to be insufficient and the control performance tends to be insufficient.
【００３７】このため、補助ブレーキ８に依存している
車間制御だと、この先行車Ｘとの間で大きな相対速度が
発生している状況を、図２の補助ブレーキ８の特性を考
慮していない一次警報距離マップの一次警報距離ＤS1で
一次警報を報知するのでは、ブレーキ操作が間に間に合
わなくおそれがある。Therefore, in the case of an inter-vehicle control relying on the auxiliary brake 8, the situation in which a large relative speed occurs with the preceding vehicle X is taken into consideration in consideration of the characteristics of the auxiliary brake 8 in FIG. If the primary warning is issued at the primary warning distance DS1 of the primary warning distance map, there is a possibility that the brake operation may not be in time.
【００３８】本発明だと、一次警報距離ＤS3の警報距離
のうち、先行車Ｘとの相対速度が大きい領域は、図４中
の一次警報距離ＤS3の出力範囲でも明らかなように一次
警報距離ＤS1に比べてはるかに長い。According to the present invention, of the warning distance of the primary warning distance DS3, the region where the relative speed with respect to the preceding vehicle X is large is the primary warning distance DS1 as apparent from the output range of the primary warning distance DS3 in FIG. Much longer than.
【００３９】この長く設定された一次警報距離ＤS3によ
り、ブレーキ操作が間に合うよう、早期に警報器１０か
ら一次警報音が発せられる。これにより、適正な時期に
一次警報が発せられ、ブレーキ操作が必要になることを
運転者に早期に自覚させられる。With the long primary alarm distance DS3, the alarm 10 emits a primary alarm sound early so that the brake operation can be performed in time. As a result, a primary alarm is issued at an appropriate time, and the driver is made aware early that the brake operation is required.
【００４０】このように補助ブレーキ８を併用する車間
制御装置（定速制御部９ａ／車間制御部９ｂ）の特性に
合わせて、一次警報を作動させる車間距離を設定したこ
とにより、ブレーキ操作が遅れがちとなる傾向をもたら
すことなく、無駄な車間警報の排除と安全性の更なる向
上との両立ができる。By setting the inter-vehicle distance at which the primary alarm is activated in accordance with the characteristics of the inter-vehicle control device (constant speed control unit 9a / inter-vehicle control unit 9b) using the auxiliary brake 8 in combination, the braking operation is delayed. It is possible to achieve both elimination of useless inter-vehicle warnings and further improvement of safety without causing the tendency to tend to occur.
【００４１】なお、一実施形態では、車間制御装置で用
いる減速装置として、補助ブレーキを例に挙げたが、こ
れに限らず、エンジンブレーキ、シフトダウンなどを用
いてもよい。In the embodiment, the auxiliary brake is taken as an example of the speed reducer used in the headway control device. However, the present invention is not limited to this, and an engine brake, a downshift or the like may be used.
【００４２】[0042]
【発明の効果】以上説明したように請求項１に記載の発
明によれば、先行車との相対速度が小さく車間制御装置
の減速作動で十分に危険が回避されるときは、短く設定
された警報距離によって、無駄な車間距離警報が抑制で
き、また先行車との相対速度が大きく車間制御装置の減
速能力では車間距離保持の制御が行えないときは、長く
設定された警報距離によって、ブレーキ操作が間に合う
よう早期の車間距離警報を行うことができる。したがっ
て、ブレーキ操作が遅れがちな傾向をもたらせずに、無
駄な警報の排除できること、安全性の更なる向上ができ
ることを両立させることができる。As described above, according to the first aspect of the present invention, when the relative speed with respect to the preceding vehicle is small and danger is sufficiently avoided by the deceleration operation of the headway distance control device, the distance is set short. The warning distance can be used to suppress useless inter-vehicle distance alarms, and when the relative speed with the preceding vehicle is too large to control the inter-vehicle distance with the deceleration capability of the inter-vehicle control device, the brake operation can be performed with a longer alarm distance. Early warning of the following distance can be issued in time. Therefore, it is possible to eliminate unnecessary alarms and to further improve safety without causing a tendency of the brake operation to be delayed.
【図１】本発明の−実施形態の車間距離警報装置付き車
両の走行制御装置の構成を説明するための図。FIG. 1 is a diagram for explaining a configuration of a traveling control device of a vehicle with an inter-vehicle distance alarm device according to an embodiment of the present invention.
【図２】車間距離装置の非作動時のときに用いる車間距
離警報装置の一次警報距離を求めるマップ。FIG. 2 is a map for obtaining a primary warning distance of an inter-vehicle distance warning device used when the inter-vehicle distance device is not operated.
【図３】車間距離装置の作動時のときに用いる車間距離
警報装置の一次警報距離を求めるマップ。FIG. 3 is a map for obtaining a primary warning distance of an inter-vehicle distance alarm used when the inter-vehicle distance is activated.
【図４】自車速が８０km/h時における全体の警報発生距
離を求めるマップ。FIG. 4 is a map for obtaining the entire alarm generation distance when the vehicle speed is 80 km / h.
【図５】車間制御装置の特性に合わせた一次警報を行わ
せるためのフローチャート。FIG. 5 is a flowchart for performing a primary alarm according to the characteristics of the following distance control device.
１…自車 ３…車速制御装置（走行制御装置） ４…コントロールユニット ８…補助ブレーキ ９ｂ…車間制御部（車間制御装置） １０…警報器（車間距離警報装置） Ｘ…先行車。 DESCRIPTION OF SYMBOLS 1 ... Own vehicle 3 ... Vehicle speed control device (travel control device) 4 ... Control unit 8 ... Auxiliary brake 9b ... Inter-vehicle control part (inter-vehicle control device) 10 ... Alarm (inter-vehicle distance alarm device) X ... Preceding vehicle.
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 ＦＩ Ｇ０８Ｂ 21/00 Ｇ０８Ｂ 21/00 Ｈ ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 6 Identification code FI G08B 21/00 G08B 21/00 H
Claims (1)
つ車間制御装置と、 先行車との車間距離が所定警報距離以下になると警報を
発する車間距離警報装置とを備え、 前記車間距離警報装置は、前記所定警報距離の設定を、
前記車間制御装置の作動時は非作動時に比べて、先行車
への接近方向の相対速度が小さい領域で短く、前記相対
速度が大きい領域で長くするように構成されていること
を特徴とする車間距離警報装置付き車両の走行制御装
置。1. An inter-vehicle distance control device for maintaining an inter-vehicle distance to a preceding vehicle at a target inter-vehicle distance, and an inter-vehicle distance alarm device for issuing an alarm when the inter-vehicle distance to the preceding vehicle becomes equal to or less than a predetermined alarm distance, The device sets the predetermined alarm distance,
When the inter-vehicle control device is in operation, the inter-vehicle control device is configured to be shorter in a region where the relative speed in a direction approaching the preceding vehicle is smaller than in the non-operation thereof and to be longer in a region where the relative speed is higher. A travel control device for vehicles with a distance warning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04538298A JP3525727B2 (en) | 1998-02-26 | 1998-02-26 | Travel control device for vehicles with inter-vehicle distance alarm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04538298A JP3525727B2 (en) | 1998-02-26 | 1998-02-26 | Travel control device for vehicles with inter-vehicle distance alarm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH11242800A true JPH11242800A (en) | 1999-09-07 |
| JP3525727B2 JP3525727B2 (en) | 2004-05-10 |
Family
ID=12717731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04538298A Expired - Fee Related JP3525727B2 (en) | 1998-02-26 | 1998-02-26 | Travel control device for vehicles with inter-vehicle distance alarm |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3525727B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002316600A (en) * | 2001-04-20 | 2002-10-29 | Honda Motor Co Ltd | Traveling safety device of vehicle |
| US6724300B2 (en) | 2000-08-29 | 2004-04-20 | Toyota Jidosha Kabushiki Kaisha | Alarm device and running control apparatus including the alarm device |
| JP2007245833A (en) * | 2006-03-14 | 2007-09-27 | Mazda Motor Corp | Running controller for vehicle |
| JP2011095833A (en) * | 2009-10-27 | 2011-05-12 | Denso Corp | Vehicle system and traffic system |
-
1998
- 1998-02-26 JP JP04538298A patent/JP3525727B2/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6724300B2 (en) | 2000-08-29 | 2004-04-20 | Toyota Jidosha Kabushiki Kaisha | Alarm device and running control apparatus including the alarm device |
| JP2002316600A (en) * | 2001-04-20 | 2002-10-29 | Honda Motor Co Ltd | Traveling safety device of vehicle |
| JP2007245833A (en) * | 2006-03-14 | 2007-09-27 | Mazda Motor Corp | Running controller for vehicle |
| JP2011095833A (en) * | 2009-10-27 | 2011-05-12 | Denso Corp | Vehicle system and traffic system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3525727B2 (en) | 2004-05-10 |
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