JP3564334B2 - Driving support device for vehicles - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
According to the present invention, when traveling at a constant speed according to the vehicle speed set by the driver, or when following a preceding vehicle, a deceleration command is output from the curve entry control means, the vehicle travels at a constant speed or The present invention relates to a vehicle driving assistance device that stops running.
[0002]
[Prior art]
Conventionally, in order to detect a three-dimensional object including a preceding vehicle existing in front of the vehicle, a forward monitoring device such as a radar device having a predetermined detection area or a stereo camera represented by a CCD camera is mounted on the vehicle, The front monitoring device detects a three-dimensional object ahead of the own vehicle, and when there is no preceding vehicle in front of the own vehicle, performs a constant speed running control of running at a constant speed at the vehicle speed set by the driver. There is known a vehicle driving support device that sets a safe inter-vehicle distance with a preceding vehicle according to a vehicle speed when the vehicle is present, and performs a follow-up running control of following a preceding vehicle while maintaining the safe inter-vehicle distance. .
[0003]
In this vehicle travel control device, when the preceding vehicle to be followed is no longer present, or when the preceding vehicle is lost due to a change in the course of the preceding vehicle, the own vehicle speed is accelerated by the resume acceleration to the preset vehicle speed. To return to constant speed running.
[0004]
[Problems to be solved by the invention]
However, for example, when the vehicle is following the vehicle while maintaining a certain inter-vehicle distance with respect to the preceding vehicle, when approaching a curve having a small turning radius of curvature, and when the front monitoring device cannot capture the preceding vehicle, That is, when the preceding vehicle is temporarily lost, the driver accelerates due to resume acceleration and returns to constant speed driving, despite the fact that the vehicle is about to enter a curve, giving the driver a sense of incongruity. There is a problem.
[0005]
In view of the above circumstances, the present invention prevents a vehicle from accelerating when entering a curve even when the preceding vehicle is lost while following the vehicle, thereby preventing the driver from feeling uncomfortable. The purpose of the present invention is to provide a driving assistance device for vehicles.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, a first vehicle driving assistance device according to the present invention follows a preceding vehicle when there is a preceding vehicle, and drives the vehicle at a constant speed at a set vehicle speed when there is no preceding vehicle. In a vehicle driving assistance device comprising: a traveling control unit; and a curve entry control unit that outputs a deceleration command of the own vehicle in consideration of an entry state of the own vehicle into a forward curve, wherein the traveling control unit includes the curve entry control. When the deceleration command is output from the means , both the following running and the constant speed running by the running control means are stopped before the curve .
[0007]
With such a configuration, when the vehicle is traveling at a constant speed or following the preceding vehicle while maintaining a constant inter-vehicle distance, when a deceleration command is output from the curve entry control means, the following traveling is performed before the curve. Then, the traveling at a constant speed is stopped, and the vehicle shifts to a normal driving state in which the vehicle travels by operating the accelerator pedal.
[0008]
The second vehicle driving assistance device according to the present invention is the first vehicle driving assistance device according to the first vehicle driving assistance device, wherein the traveling control means does not output a deceleration command from the curve entry control means and follows the preceding vehicle. When the vehicle loses during traveling or when the preceding vehicle becomes faster than the set vehicle speed, the vehicle accelerates by the resume acceleration and shifts to the constant speed running at the set vehicle speed.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Here, FIG. 1 is a block diagram showing a schematic configuration of the vehicle driving support device, and FIG. 2 is a flowchart showing a traveling control routine.
[0010]
Reference numeral 1 in FIG. 1 denotes a traveling control unit, which is composed of a microcomputer and its peripheral parts. A curve entry control unit 2, a constant speed traveling switch 3, a vehicle speed sensor 4, a forward monitoring device 5 and the like are connected to an input side of the traveling control unit 1, and a throttle actuator 7, a buzzer, a speaker, and a warning light are provided on an output side. And a main switch relay 3a for maintaining the ON state of a cruise control main switch (described later) for executing constant-speed running.
[0011]
The curve entry control unit 2 is connected with a vehicle speed sensor 4, a forward monitoring device 5, a navigation device 6, and the like.
[0012]
The cruise control switch 3 includes a cruise control main switch for setting ON / OFF of cruise control, a vehicle speed set switch for setting a target vehicle speed during cruise control, a coast switch for changing and setting the target vehicle speed to a low speed side, and a target. It is composed of a plurality of switches for setting constant speed running, such as a resume switch for changing and setting the vehicle speed to a high speed side, and each switch is a constant speed running operating lever arranged on, for example, a side portion of a steering column. It is arranged in a state where it is aggregated.
[0013]
The forward monitoring device 5 detects a three-dimensional object ahead of the own vehicle including a preceding vehicle and a road shape. The forward monitoring device 5 has a predetermined detection area, and uses a laser device, a sound wave, a magnetic wave, a radio wave, or the like, a radar device or a CCD camera. It is composed of a stereo camera or the like that uses.
[0014]
The navigation device 6 has a function of detecting the current position and the traveling direction of the vehicle, a function of searching for a route to the destination, a function of displaying a route to the destination on a road map around the current location, and guiding a passenger. are doing.
[0015]
The curve entry control unit 2, for example, detects a curve ahead of the vehicle based on road information obtained from the navigation device 6, and calculates characteristics such as a radius of curvature and a road width of the curve. Then, an allowable approach speed at which the vehicle can safely pass through the curve is calculated based on the characteristics of the carp, and the own vehicle speed obtained from the vehicle speed sensor 4 exceeds the deceleration control speed set based on the allowable approach speed. If it is, a deceleration command signal is output to prompt the driver to perform a deceleration operation such as a brake before entering the curve.
[0016]
On the other hand, when the driver turns on the cruise control main switch provided in the constant speed traveling switch 3, a signal from the cruise control main switch is input to the traveling control unit 1. The travel control unit 1 drives the throttle actuator 7 in response to a signal from the cruise control main switch, and drives the throttle actuator 7 so that the vehicle speed detected by the vehicle speed sensor 4 converges to a preset vehicle speed set by the driver. Feedback control is performed on the opening of the vehicle (not shown) to drive the vehicle at a constant speed. When the cruise control main switch is turned ON, the contact of the main switch relay 3a is closed, and the ON state of the cruise control main switch is maintained.
[0017]
When the forward monitoring device 5 detects the preceding vehicle during the constant speed traveling control, the traveling control unit 1 sets the traveling speed based on the own vehicle speed if the speed of the preceding vehicle is equal to or less than the set traveling speed of the constant speed traveling. The mode is automatically switched to follow-up traveling control in which the vehicle travels while maintaining the safe inter-vehicle distance with the preceding vehicle.
[0018]
Further, when the forward monitoring device 5 recognizes that the preceding vehicle has been lost due to a change in the course of the own vehicle or the preceding vehicle during the following traveling control, the traveling control unit 1 accelerates by the preset resume acceleration. Then, the vehicle returns to the constant speed running at the set vehicle speed.
[0019]
Furthermore, when the deceleration command signal is output from the curve entry control unit 2, the traveling control unit 1 cuts off the power supply to the main switch relay 3a, opens the contact of the main switch relay 3a, and forcibly activates the cruise control main switch. And the traveling control is stopped.
[0020]
The determination by the travel control unit 1 as to whether or not to stop the constant speed travel is specifically processed in a travel control routine shown in FIG.
This routine is started when the cruise control main switch is turned on. First, it is checked in step S1 whether or not a preceding vehicle has been detected by the front monitoring device 5, and if a preceding vehicle has been detected, the process proceeds to step S2. On the other hand, if the preceding vehicle has not been detected, the process jumps to step S4 to execute the constant speed traveling control. That is, the vehicle speed (set vehicle speed) set by the driver is set as the target vehicle speed, and feedback control is performed so that the own vehicle speed converges to the target vehicle speed.
[0021]
In step S2, it is determined whether or not the speed of the preceding vehicle (preceding vehicle speed) is lower than the set speed of the constant speed traveling based on the change in the distance to the preceding vehicle detected by the forward monitoring device 5. Then, the process proceeds to step S3, and the following running control is executed. On the other hand, when the preceding vehicle speed is higher than the set vehicle speed, the process proceeds to step S4 to execute the constant speed traveling control.
[0022]
In step S3, based on the preceding vehicle detected by the forward monitoring device 5, the relative speed and the inter-vehicle distance between the preceding vehicle and the own vehicle are calculated, and the safe inter-vehicle distance set based on the own vehicle speed is maintained. The target speed is set to the speed of the preceding vehicle, and feedback control is performed so that the speed of the own vehicle converges to the target speed.
[0023]
If the preceding vehicle is lost in step S1 during execution of the follow-up traveling control, or if the preceding vehicle speed becomes faster than the set vehicle speed for the constant speed traveling in step S2, it is set in advance in step S4. The vehicle is accelerated by the resume acceleration, and gradually returns from the following traveling control to the constant speed traveling control based on the set vehicle speed.
[0024]
Then, when the process proceeds from step S3 or step S4 to step S5, control data including the deceleration command signal output from the curve entry control unit 2 is input, and whether or not the deceleration command signal is output in step S6, that is, It is checked whether or not a deceleration request is made by the curve entry control unit 2. As a result, if the deceleration request has not been made, the routine exits as it is. If the deceleration request has been made, the process proceeds to step S7, in which the power supply to the main switch relay 3a is cut off and the cruise control main switch is turned off. To stop the running control. Then, the process proceeds to step S8, in which a warning signal is output to the warning device 8, and the routine exits.
[0025]
As a result, when the cruise control main switch is turned off, the traveling control is immediately stopped, and a warning signal is output to a warning device 8 including a buzzer, a speaker, a warning light, and the like. The driving control set by the driver is interrupted by a warning operation such as a warning sound, a warning notification by a synthesized voice from a speaker, or the lighting (or blinking) of a warning lamp, and the driver normally drives the vehicle by operating the accelerator pedal. Notifying that the operation state has been shifted to.
[0026]
As described above, in the present embodiment, when there is a deceleration request from the curve entry control unit 2, the travel control by the travel control unit 1 is immediately stopped. Therefore, for example, the preceding vehicle enters the front curve and When the vehicle is lost, a situation in which resume acceleration for returning from following running to constant speed running is avoided. As a result, a traveling state that does not conform to the request by the curve entry control unit 2 and the driving feeling of the driver, that is, a state in which the own vehicle accelerates before the curve is prevented beforehand.
[0027]
In the present embodiment, the deceleration control is determined based on the permissible approach speed of the curve. However, the present invention is not limited to this. It is also applicable to various types of curve approach control.
[0028]
In the present embodiment, the traveling control is stopped by turning off the cruise control main switch. However, the present invention is not limited to this. If the constant-speed running control and the following running control are stopped when they are performed, any processing belongs to the technical scope of the present invention.
[0030]
When the driving control is stopped, a warning is displayed by an alarm means to notify that the driving control set by the driver has been stopped and the vehicle has shifted to the normal driving state. can do.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a schematic configuration of a vehicle driving assistance device. FIG. 2 is a flowchart showing a traveling control routine.
1 Travel control means (travel control unit)
2 Curve approach control means (curve approach control unit)
3 Constant speed travel switch 4 Vehicle speed sensor 5 Forward monitoring device 6 Navigation device 7 Throttle actuator 8 Warning means (warning device)

Claims (2)

Traveling control means for following the preceding vehicle when the preceding vehicle exists, and for traveling at a constant speed at the set vehicle speed when the preceding vehicle does not exist;
A vehicle driving assistance device comprising: a curve entry control unit that outputs a deceleration command for the vehicle in consideration of a state of the vehicle entering the forward curve.
In the driving control means, when a deceleration command is output from the curve entry control means , both the following running and the constant speed running by the running control means are stopped immediately before the curve, and the driving support for a vehicle is provided. apparatus. In the traveling control means, if the deceleration command is not output from the curve entry control means and the preceding vehicle is lost during the following traveling, or if the preceding vehicle becomes faster than the set vehicle speed, the resume acceleration is used. 2. The driving support system for a vehicle according to claim 1, wherein the vehicle is accelerated to shift to a constant speed running at a set vehicle speed.

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