JP3729609B2 - Inter-vehicle distance control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an inter-vehicle distance control device that drives a host vehicle while maintaining a target inter-vehicle distance from a preceding vehicle.
[0002]
[Prior art and problems to be solved by the invention]
Conventionally, with the aim of reducing the operational burden for acceleration and deceleration of the driver, the behavior of the preceding vehicle is recognized using laser radar etc., and the own vehicle speed is automatically changed based on that information, An inter-vehicle distance control device that automatically follows a preceding vehicle has been proposed.
[0003]
The conventional inter-vehicle distance control device is configured to temporarily cancel the execution of the control when the driver operates the brake or the clutch.
In addition to this, since it is presumed that it is raining or snowing when the wiper is operated, it is considered to cancel the execution of the inter-vehicle distance control. This is because the visibility itself is not good for the driver in rainy or snowy conditions, for example, it may be delayed to recognize the interrupting vehicle and operate the brake, and the road surface is more slippery due to rain or snow, In such a situation, the inter-vehicle distance control itself is not executed in advance.
[0004]
However, considering the situation where the wiper is operated, there is a considerable difference in the degree of rain or snow at that time. That is, there are generally three operation modes of the wiper: a high speed mode, a low speed mode, and an intermittent mode, which are selected by the driver according to the rain or snow condition at that time. In the case of the high-speed mode, it is presumed that the rain or snow is in a considerable state. Therefore, it is considered better to cancel the inter-vehicle distance control as described above. In this case, the rain or snow condition is not so much, and even if the inter-vehicle distance control is performed, the driver does not feel so dangerous. In this case, if the device automatically cancels the inter-vehicle distance control, it will not match the driver's feeling. In other words, it is a situation where it is desired to continue the inter-vehicle distance control, but it is released without permission. In some cases, the same situation may be assumed not only in the intermittent mode but also in the low speed mode.
[0005]
Therefore, the present invention does not cancel the inter-vehicle distance control even when it is estimated that the vehicle is raining or snowing, but continues or cancels the inter-vehicle distance control according to the degree of rain. by determining, and an object thereof is to provide a vehicle distance control apparatus for realizing control matched to feel more driver.
[0006]
[Means for Solving the Problems]
The inter-vehicle distance control device according to the present invention is not related to the preceding vehicle information detecting means for detecting the inter-vehicle distance and relative speed with the preceding vehicle, the vehicle speed detecting means for detecting the speed of the host vehicle, and the acceleration operation and braking operation by the driver. And driving the acceleration means and the deceleration means based on the detection results of the preceding vehicle information detection means and the vehicle speed detection means to maintain the target inter-vehicle distance while maintaining the target inter-vehicle distance. An inter-vehicle distance control unit that executes inter-vehicle distance control, and a wiper operation state detection unit that detects an operation state of a wiper having at least two types of operation modes having different wiping capabilities, and the wiper The inter-vehicle distance for maintaining the target inter-vehicle distance only when an operation state in an operation mode having a relatively large wiping ability is detected by the operation state detection means. And a control canceling means for canceling the control, the operation mode of the wiper is relatively wiping capability of high-speed mode to a large order, low-speed mode, there are three types of intermittent mode, it is operated by a driver, the low-speed mode A setting unit configured to set whether or not the control release target mode is set; and when the low speed mode is set to the control release target mode by the setting unit. Cancels the inter-vehicle distance control for maintaining the target inter-vehicle distance only when the operation state in the high-speed mode or the low-speed mode is detected by the wiper operation state detection unit, When the mode is not set to the control release target mode, the operation state in the high speed mode is detected by the wiper operation state detection means. There, characterized in that it is configured to cancel the inter-vehicle distance control for maintaining the target inter-vehicle distance only when it is detected.
[0007]
Here, as the at least two types of operation modes having different wiping capabilities, for example, there are two types of modes, a high speed mode and a low speed mode, due to a difference in wiper wiping speed. Furthermore, since there is an intermittent mode as an operation mode that is currently generally adopted, three types including this may be used. And when it sees as wiping ability, it becomes high speed mode-> low speed mode-> intermittent mode in order with high wiping power. In the intermittent mode, the wiper operates intermittently at a predetermined interval, whereas the high speed mode and the low speed mode operate continuously. In that sense, two types of modes, a continuous mode and an intermittent mode, can be considered theoretically. However, there are currently two types of high-speed mode and low-speed mode, or three types including intermittent mode, and their wiping capacity is as described above. The following explanation will be made based on the relationship.
[0008]
According to the inter-vehicle distance control device of the present invention, it is possible to execute inter-vehicle distance control for driving the host vehicle while maintaining the target inter-vehicle distance. However, the wiper operation state is detected by detecting the operation state of the wiper. Accordingly, the inter-vehicle distance control is canceled or continued as it is. Specifically, the inter-vehicle distance control is canceled only when an operation state in an operation mode with relatively large wiping ability is detected, and the control release is canceled when an operation state in other operation modes is detected. do not do.
[0009]
More specifically, for example, assuming that there are three types of wiper operation modes, high speed mode, low speed mode, and intermittent mode, in order of relatively large wiping capability, only when the operation state in the high speed mode is detected. It is conceivable to cancel the inter-vehicle distance control and continue the inter-vehicle distance control as it is without releasing the control in other operation modes, that is, in the low speed mode and the intermittent mode. Alternatively, the inter-vehicle distance control is canceled only when the operation state in the high-speed mode or the low-speed mode is detected, and the inter-vehicle distance control is performed as it is without releasing the control in the other operation modes, that is, in the intermittent mode. It may be possible to continue. For example, if there are only two types of wiper operation modes, high speed mode and low speed mode, in order of relatively large wiping capability, control is canceled in the high speed mode, and control is canceled in the low speed mode. It is possible not to do.
[0010]
That is, if the wiper is operating, the inter-vehicle distance control is not canceled uniformly, but is canceled or continued as it is according to the operation mode. This is because the situation where the wiper is operated is estimated to be raining or snowing, but as described above, there is a considerable difference in the degree of raining or snowing. That is, when there are three operation modes of the wiper, the high speed mode, the low speed mode, and the intermittent mode, the driver selects according to the rain or snow condition at that time. In the case of the high-speed mode, it is presumed that the rain or snow is in a considerable state, but in the intermittent mode, the rain or snow is not so much. Therefore, in such a situation, the driver does not feel so dangerous even if the inter-vehicle distance control is performed. In that case, the device automatically cancels the inter-vehicle distance control, which is not suitable for the driver's feeling. That is, when the wiper is operated in the intermittent mode while the inter-vehicle distance control is being executed, the vehicle is released without permission even though it wants to continue the inter-vehicle distance control.
[0011]
On the other hand, according to the inter-vehicle distance control device of the present invention, the degree of rain or snow at that time is estimated by the operation mode of the wiper, and continuation or cancellation of inter-vehicle distance control is determined according to the degree. Thus, it is possible to realize control that matches the feeling of the driver. That is, since it is estimated that the driver wants to continue the inter-vehicle distance control as long as the wiper is operated in the intermittent mode, the inter-vehicle distance control is continued in that case. In addition, since it is estimated that the driver still wants to continue the inter-vehicle distance control even in the low speed mode, the inter-vehicle distance control can be continued in that case.
[0012]
In addition , when there are three types of wiper operation modes, high speed mode, low speed mode, and intermittent mode, in order of relatively large wiping capability, the inter-vehicle distance control is unconditionally canceled for the high speed mode with the largest wiping capability. For the intermittent mode with the smallest wiping capability, it is considered preferable to continue the inter-vehicle distance control unconditionally, but for the intermediate low-speed mode, it is better to cancel the inter-vehicle distance control. On the other hand, some drivers think it is better to continue. Therefore, it is preferable that the driver himself can set whether or not to cancel in the low speed mode. Therefore, in the inter-vehicle distance control device of the present invention , the driver can set whether or not the low-speed mode is set as the control release target mode by operating the setting means. When the low speed mode is set to the control release target mode by the setting means, the control canceling means is the target only when the operation state in the high speed mode or the low speed mode is detected by the wiper operation state detecting means. Cancel the inter-vehicle distance control to maintain the inter-vehicle distance. On the other hand, when the low speed mode is not set as the control release target mode by the setting means, the target inter-vehicle distance is maintained only when the operation state in the high speed mode is detected by the wiper operation state detection means.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Next, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a system block diagram of an auto cruise control apparatus 1 to which the present invention is applied. The auto-cruise control device 1 is a device configured to execute control for maintaining an appropriate inter-vehicle distance when a preceding vehicle is captured during constant speed traveling control.
[0014]
The auto cruise control device 1 is configured with a computer 4 as the center, and includes a scanning distance measuring device 6, a steering angle sensor 8, a vehicle speed sensor 10, a cruise control switch 12, an operation detection switch 13 for detecting a driver's operation, and a display 14. A brake control unit 18, a wiper drive control unit 19, and an engine output control unit 20 are provided. A wiper switch 13c and a wiper drive control unit 19 to be described later in the driver operation detection switch 13 are configured to be used even in a situation unrelated to auto-cruise control (including inter-vehicle distance control), but here the wiper switch Since the control for canceling or continuing the inter-vehicle distance control is performed according to the detection result of 13c, the description will proceed as a component of the auto-cruise control device 1.
[0015]
The computer 4 includes an input / output interface (I / O) and various drive circuits and detection circuits. Since these hardware configurations are general, detailed description thereof is omitted. Note that the computer 4 performs constant-speed traveling control that maintains the vehicle speed at the set speed when the preceding vehicle is not captured, together with the inter-vehicle distance control described in the present embodiment.
[0016]
Here, the scanning distance measuring device 6 corresponds to a distance measuring means, and includes a transmission / reception unit 6a and a distance / angle calculation unit 6b, and scans laser light from the transmission / reception unit 6a to the front of the vehicle within a predetermined angle range. And detecting the reflected light and detecting the relative speed and distance of the object ahead, and also the position coordinates based on the time until the reflected light is captured by the distance / angle calculation unit 6b. It is. Such an apparatus is already well known and will not be described in detail. In addition to the one using the scanning laser light, a range finder using a radio wave such as a microwave or an ultrasonic wave may be used.
[0017]
The steering angle sensor 8 detects a change amount of the steering angle of the steering wheel, and can detect a relative steering angle from the value. Therefore, when the power supply of the auto cruise control device 1 is turned on, “0” is set to the steering angle storage address in the memory, and thereafter, the deviation of the neutral position of the steering angle is the steering angle data during traveling. The relative steering angle is determined by integrating the detected amount of change in the steering angle while correcting by the average value calculation. Based on this steering angle, it is possible to detect data (curve data) relating to the turning situation of the own vehicle such as the turning direction and turning radius of the own vehicle. This curve data is used when determining whether or not the preceding vehicle detected by the scanning distance measuring device 6 is subject to inter-vehicle distance control. More specifically, when the host vehicle is turning to the right, the forward vehicle captured to the left of the center of the distance measurement range is determined as a vehicle in another lane, and this is excluded from the target of inter-vehicle distance control. In other words, the vehicle is used in such a manner as to grasp the forward vehicle captured on the right side as an object of inter-vehicle distance control. In other words, the curve data is data necessary for grasping the traveling direction of the own vehicle and identifying the forward vehicle existing in the traveling direction of the own vehicle.
[0018]
The vehicle speed sensor 10 is a sensor that detects a signal corresponding to the rotational speed of the wheel.
The operation detection switch 13 detects a driver's manual operation. The brake switch 13a detects a manual operation of a foot brake, an exhaust brake or a retarding device, an accelerator switch 13b detects an accelerator operation, and a wiper. The wiper switch 13c detects an operation on the operation lever. In addition, in the case of a vehicle equipped with a manual transmission, a clutch switch that detects a shift up or down operation of the clutch is further included, but here, a vehicle equipped with an automatic transmission is targeted. The wiper switch 13c detects which one of (1) intermittent mode, (2) low-speed mode, and (3) high-speed mode as the three wiper driving modes is selected.
[0019]
On the other hand, the cruise control switch 12 includes a main switch 12a, a set switch 12b, a resume switch 12c, a cancel switch 12d, a tap switch 12e, and a cancel mode setting switch 12f. The role of each switch will be described in turn.
[0020]
First, the main switch 12a is a switch for making it possible to start cruise control. By turning on the main switch 12a, the constant speed running control can be started. The inter-vehicle distance control process is also executed within the constant speed traveling control.
[0021]
The set switch 12b is a switch that, when pressed, causes the vehicle speed Vn at that time to be taken in, sets the vehicle speed Vn to the target vehicle speed Vm, and starts constant speed traveling control.
The resume switch 12c is for returning the vehicle speed from the current vehicle speed to the target vehicle speed Vm when the target vehicle speed Vm is stored in the state where the cruise control is released and this is pressed.
[0022]
The cancel switch 12d is for stopping constant speed traveling control when it is pressed during cruise control.
The tap switch 12e is for setting the distance from the preceding vehicle.
Finally, the cancel mode setting switch 12f will be described. In the present embodiment, as described above, there are the intermittent mode, the low speed mode, and the high speed mode as the three drive modes of the wiper. Among these, the intermittent mode is set as a mode for continuing the inter-vehicle distance control unconditionally. The high-speed mode is set as a mode for canceling the inter-vehicle distance control unconditionally. Therefore, the cancel mode setting switch 12f is a switch for the driver himself to set whether the low-speed mode is set to the mode for continuing the inter-vehicle distance control or the mode for canceling.
[0023]
The display 14 can display a set vehicle speed, a current inter-vehicle distance, a sensor abnormality, and the like.
The engine output control unit 20 adjusts the degree of throttle valve engagement in the case of a gasoline internal combustion engine, and the control rack position in the case of a diesel internal combustion engine. It shall be for speed control by adjusting the output. It is also possible to select the gear position of the automatic transmission and adjust the engine output.
[0024]
The brake control unit 18 adjusts the pressure of each wheel wheel cylinder in accordance with an instruction from the computer 4. The brake control may be an exhaust brake or a retarding device that is widely used in large vehicles.
The wiper drive control unit 19 adjusts the drive timing and drive speed of the wiper according to instructions from the computer 4. As described above, there are three wiper drive modes. When the intermittent mode is selected, the wiper is controlled to reciprocate once at a predetermined speed every predetermined time. In both the low speed mode and the high speed mode, the wiper is continuously reciprocated. However, the driving speed is relatively low in the low speed mode and relatively high in the high speed mode.
[0025]
The computer 4 includes a power switch (not shown), and is configured to start power supply by the ON operation and start predetermined processing.
With this configuration, the computer 4 executes processing as an auto cruise control device and constant speed traveling control processing.
[0026]
FIG. 2 shows a flowchart of processing for canceling the control from the inter-vehicle distance control in the control logic of the computer 4.
In the inter-vehicle distance control (S10), the vehicle is instructed to decelerate when approaching the preceding vehicle, and conversely, if it is delayed from the preceding vehicle, the acceleration is instructed to maintain an appropriate inter-vehicle distance with respect to the preceding vehicle. Execute control. The specific contents of this inter-vehicle distance control are shown in FIG.
[0027]
In the inter-vehicle distance control, first, an appropriate target inter-vehicle distance for the preceding vehicle is calculated from the traveling state of the preceding vehicle and the speed of the host vehicle (S110). Next, the host vehicle's acceleration / deceleration for calculating an appropriate inter-vehicle distance is calculated (S120), and the target vehicle speed is calculated by integrating the acceleration / deceleration (S130).
[0028]
Then, the actual vehicle speed is compared with the target vehicle speed (S140), and if the actual vehicle speed <the target vehicle speed, an acceleration command is output to the engine output control unit 20 (S150). On the other hand, if the actual vehicle speed> the target vehicle speed, a deceleration command is output to the brake control unit 18 (S160). When the actual vehicle speed is equal to the target vehicle speed, no acceleration / deceleration command is issued.
[0029]
Under the situation where the inter-vehicle distance control is executed in this manner, as shown in FIG. 2, it is determined whether or not the driver has operated the brake (S20). When the driver brakes and the brake switch 13a is turned on (S20: YES), the process proceeds to S70, and the inter-vehicle distance control is released.
[0030]
On the other hand, when the brake switch 13a is not ON (S20: NO), the process proceeds to S30 to determine whether or not the wiper switch 13c is turned on. This determination does not distinguish whether the wiper switch 13c is selected from (1) intermittent mode, (2) low-speed mode, and (3) high-speed mode, and any operation mode is selected. Is determined to be “ON”.
[0031]
If the wiper switch 13c is not ON (S30: NO), the inter-vehicle distance control in S10 is continued. If the wiper switch 13c is ON (S30: YES), the process proceeds to S40.
In S40, it is determined whether the cancel flag is “0” or “1”. This cancel flag indicates the state set by the cancel mode setting switch 12f described above. When the low speed mode is set to a mode for continuing the inter-vehicle distance control, the cancel flag is set to “0”. When the low speed mode is set to a mode for canceling the inter-vehicle distance control, the cancel flag is set to “1”. That is, when the cancel flag is “0”, the inter-vehicle distance control is canceled only in the high-speed mode, and when the cancel flag is “1”, the inter-vehicle distance control is canceled in the high-speed mode and the low-speed mode. The Rukoto.
[0032]
Therefore, if the result of determination in S40 is that the cancel flag is “0”, the process proceeds to S50 to determine whether or not the drive mode is the high speed mode. When the drive mode is the high speed mode (S50: YES), the process proceeds to S70, and the inter-vehicle distance control is canceled. On the other hand, if the drive mode is not the high speed mode (S50: NO), that is, if the drive mode is the low speed mode or the intermittent mode, the inter-vehicle distance control in S10 is continued.
[0033]
As a result of the determination in S40, if the cancel flag is “1”, the process proceeds to S60, and it is determined whether the drive mode is the intermittent mode. When the drive mode is the intermittent mode (S60: YES), the inter-vehicle distance control in S10 is continued. On the other hand, when the driving mode is not the intermittent mode (S60: NO), that is, when the driving mode is the low speed mode or the high speed mode, the process proceeds to S70 and the inter-vehicle distance control is released.
[0034]
As described above, according to the inter-vehicle distance control by the auto-cruise control device 1, when the wiper is turned on during the inter-vehicle distance control, the inter-vehicle distance control is canceled according to the operation state of the wiper or as it is. Or continue. Specifically, the inter-vehicle distance control is canceled only when an operation state in an operation mode having a relatively large wiping ability is detected, and the control is not canceled when an operation state in any other operation mode is detected. . Specifically, if the wiper operation mode is the high speed mode, the inter-vehicle distance control is canceled. If the wiper operation mode is the intermittent mode, the inter-vehicle distance control is continued without being canceled. In the low-speed mode, the control may be canceled or continued depending on the user setting.
[0035]
That is, if the wiper is operating, the inter-vehicle distance control is not canceled uniformly, but is canceled or continued as it is according to the operation mode. The situation where the wiper is operated is presumed to be raining or snowing, but there is a considerable difference in the degree of rain or snowing. The operation mode of the wiper is selected by the driver according to the current rainfall or snowfall situation. In the high-speed mode, it is estimated that there is a considerable rain or snow condition. In this case, it is estimated that the rain or snow condition is not so much.
[0036]
Therefore, even if the inter-vehicle distance control is performed in the condition of the wiper operation in the intermittent mode, the driver does not feel so dangerous, and conversely, the device automatically cancels the inter-vehicle distance control in that case This is not suitable for the driver's feeling. That is, when the wiper is operated in the intermittent mode while the inter-vehicle distance control is being executed, the vehicle is released without permission even though it wants to continue the inter-vehicle distance control.
[0037]
On the other hand, according to the inter-vehicle distance control by the auto-cruise control device 1, the degree of rain or snow at that time is estimated by the operation mode of the wiper, and the inter-vehicle distance control is continued or canceled according to the degree. By determining the control, it is possible to realize control that more matches the feeling of the driver. That is, since it is estimated that the driver wants to continue the inter-vehicle distance control as long as the wiper is operated in the intermittent mode, the inter-vehicle distance control is continued in that case. In addition, since it is estimated that the driver still wants to continue the inter-vehicle distance control even in the low speed mode, the inter-vehicle distance control can be continued in that case.
[0038]
In addition, as described above, in the case of the present embodiment, there are three types of wiper operation modes in the order of relatively large wiping capability: the high speed mode, the low speed mode, and the intermittent mode. Cancels the inter-vehicle distance control unconditionally, and continues the inter-vehicle distance control unconditionally for the intermittent mode with the smallest wiping ability. And for the middle low speed mode, some drivers think that it is better to cancel the inter-vehicle distance control, and some drivers think that it is better to continue, so in this low speed mode, The driver can set whether or not to cancel.
[0039]
The embodiments of the present invention have been described above. However, the present invention is not limited thereto, and it is needless to say that the present invention can be implemented in various forms without departing from the scope of the invention.
For example, in the embodiment described above, there are the intermittent mode, the low speed mode, and the high speed mode as the three drive modes of the wiper. However, for example, two types of the high speed mode and the low speed mode may be used. In this case, the inter-vehicle distance control is unconditionally canceled for the high speed mode, and the inter-vehicle distance control is continued unconditionally for the low speed mode. The same applies to the two cases of the high speed mode and the intermittent mode.
[Brief description of the drawings]
FIG. 1 is a system block diagram according to an embodiment.
FIG. 2 is a control flowchart in the embodiment.
FIG. 3 is a control flowchart in the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Auto-cruise control device 4 ... Computer 6 ... Scanning distance measuring device 6a ... Transmission / reception part 6b ... Distance and angle calculation part 8 ... Steering angle sensor 10 ... Vehicle speed sensor 12 ... Cruise control switch 12f ... Cancel mode setting switch 13 ... Operation detection Switch 13a ... Brake switch 13c ... Wiper switch 14 ... Indicator 18 ... Brake control unit 19 ... Wiper drive control unit 20 ... Engine output control unit

Claims (1)

Preceding vehicle information detecting means for detecting the inter-vehicle distance and relative speed with the preceding vehicle, vehicle speed detecting means for detecting the speed of the host vehicle,
Accelerating means and decelerating means that can be operated independently of acceleration and braking operations by the driver;
The inter-vehicle distance control for controlling the inter-vehicle distance to drive the host vehicle while maintaining the target inter-vehicle distance by controlling the acceleration and the decelerating means based on the detection results of the preceding vehicle information detecting means and the vehicle speed detecting means. Means,
In the inter-vehicle distance control device comprising:
Wiper operation state detection means for detecting an operation state of a wiper having at least two types of operation modes having different wiping capabilities;
Control release means for releasing the inter-vehicle distance control for maintaining the target inter-vehicle distance only when the operation state in the operation mode having a relatively large wiping ability is detected by the wiper operation state detection means,
There are three types of wiper operation modes: high speed mode, low speed mode, and intermittent mode in order of relatively large wiping capability.
It is operated by a driver and includes setting means for setting whether or not the low-speed mode is set as a target mode for the control release,
In the control release means, when the low speed mode is set to the control release target mode by the setting means, the operation state in the high speed mode or the low speed mode is detected by the wiper operation state detection means. Only when the vehicle distance control for maintaining the target vehicle distance is canceled, and when the low speed mode is not set to the control release target mode by the setting means, the wiper operation state detection means The inter-vehicle distance control device is configured to cancel the inter-vehicle distance control for maintaining the target inter-vehicle distance only when the operating state in the high-speed mode is detected by

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