JP3901035B2 - Vehicle information providing device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle information providing apparatus that provides information on a vehicle traveling in front of the host vehicle.
[0002]
[Prior art]
As a conventional vehicle information providing apparatus, for example, a device described in Japanese Patent Application Laid-Open No. 2001-88777 (hereinafter referred to as a conventional example) is known. In the conventional example, the operation support system operating state such as an indicator that lights when the driving support system is in the driving support control ON state or an indicator that lights up when the driving support system is in the driving support OFF state is displayed on the LCD provided with the time display unit. The display means is disclosed, and when the operation state of the driving support system is switched, the time display unit on the LCD is temporarily switched to display a transition, and then the display of the current operation state is disclosed.
[0003]
[Problems to be solved by the invention]
However, in the above-described conventional example, only the operation state is changed, so that, for example, when notifying the state in which the preceding vehicle has been switched, it is described how the switching has been performed only by turning on the indicator for switching the preceding vehicle. There is a problem that the cause of the transition is unknown and it is difficult for the driver to understand the meaning of the information.
[0004]
The present invention has been made to solve such a conventional problem, and its purpose is to notify a vehicle occupant of the cause of the transition when the preceding vehicle is switched. An object of the present invention is to provide a vehicular information providing apparatus.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is obtained from a control system that detects the inter-vehicle distance between the host vehicle and the preceding vehicle using a distance sensor and performs follow-up control so that the inter-vehicle distance becomes the target inter-vehicle distance. In the vehicle information providing device for presenting information to the passenger of the own vehicle, the preceding vehicle switching determining means for determining whether or not the preceding vehicle subject to the follow-up control has been switched, and the preceding vehicle switching determining means, When it is determined that has changed, Based on the difference between the inter-vehicle distance before the preceding vehicle is switched and the inter-vehicle distance after the preceding vehicle is switched, the cause of the switching of the preceding vehicle is classified into at least two causes of the preceding vehicle leaving and the preceding vehicle entering A switching state estimation unit for estimating a switching state, and a switching state notification unit for presenting an estimation result by the switching state estimation unit to an occupant of the own vehicle by an indicator display are provided.
[0006]
【The invention's effect】
According to the vehicle information providing device of the present invention, when the preceding vehicle is switched when the preceding vehicle is captured and the follow-up control is performed, it is not only notified that the preceding vehicle has been switched, Since the situation at that time is displayed by an indicator, the passenger of the own vehicle can easily and reliably recognize the situation when the preceding vehicle is switched.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the vehicle information providing apparatus according to the first embodiment of the present invention. As shown in the figure, the vehicle information providing apparatus 100 includes an inter-vehicle distance between a distance sensor 1 for obtaining an inter-vehicle distance between the own vehicle and a preceding vehicle and a preceding vehicle detected by the distance sensor 1. Based on a change in distance, a preceding vehicle switching determination unit (preceding vehicle switching determination unit) 2 that determines whether or not the preceding vehicle has switched, and a switching state estimation unit (switching state estimation unit) 3 that estimates a situation when the preceding vehicle switches. And a display unit (switching state notifying means) 4 for notifying the passenger of the own vehicle by means of an indicator that the preceding vehicle has been switched and the situation at that time.
[0008]
The distance sensor 1 is configured by a laser radar, a millimeter wave radar, or the like.
[0009]
The switching state estimation unit 3 determines whether the reason why the preceding vehicle has changed is due to the departure of the preceding vehicle (reference 3a) or because another vehicle has interrupted (entered) the front of the own vehicle (reference 3b). ) Or for other reasons (symbol 3c).
[0010]
The display unit 4 indicates that the state of switching of the preceding vehicle estimated by the switching state estimation unit 3 indicates that the preceding vehicle has departed and the far vehicle (that is, the vehicle traveling in front of the leaving vehicle) is replaced with a new preceding vehicle. At least three types of indicators are displayed to the occupant: whether the vehicle was caught as a vehicle, another vehicle that was interrupted between the preceding vehicle and the vehicle was caught as a preceding vehicle, or was switched for other reasons To do.
[0011]
FIG. 2 is a block diagram illustrating a configuration of a vehicle follow-up control device in which information is presented by the vehicle information providing device 100 according to the present embodiment.
[0012]
As shown in the figure, the vehicle follow-up control device 200 has a follow-up control controller 11 that performs overall control, and the follow-up control controller 11 is connected to a preceding vehicle given by the distance sensor 1. In response to the inter-vehicle distance signal, the vehicle signal 12 such as the traveling speed of the own vehicle, the brake operation signal, and the signal from the set switch 13 and the cancel switch 14, the engine output control device 15, the transmission control device 16, and the braking A control signal is output to each of the control devices 17. Then, control is performed so that the vehicle travels following the preceding vehicle.
[0013]
FIG. 3 is a flowchart showing a control operation by the vehicle follow-up control device 200 and a flow of processing for presenting a situation change related to the follow-up control operation to the passenger of the own vehicle. Hereinafter, the processing operation will be described with reference to the flowchart.
[0014]
First, when the set switch 13 shown in FIG. 2 is turned on and the following tracking control is started in step S1, the following vehicle is tracked while maintaining the distance between the preceding vehicle and the target vehicle. Speed control is performed. This control detects the traveling speed of the own vehicle, further detects the inter-vehicle distance from the preceding vehicle by the distance sensor 1 such as millimeter wave radar or laser radar, and based on the detected own vehicle speed and inter-vehicle distance, Vehicle speed control is performed so that the distance matches the set target inter-vehicle distance.
[0015]
Next, in step S3, the preceding vehicle switching determination unit 2 determines whether the preceding vehicle to be followed has been switched. If the preceding vehicle is not switched, this determination is repeated until the follow-up control is completed as shown in step S2.
[0016]
On the other hand, if it is determined that the preceding vehicle has been switched, the process proceeds to a process of estimating the state in which the preceding vehicle has been switched in step S4. Hereinafter, this process will be described with reference to FIG.
[0017]
FIG. 4 is a flowchart illustrating a processing procedure when the preceding vehicle switching determination unit 2 determines switching of the preceding vehicle.
[0018]
In step S11, tracking control is started. In step S11, it is confirmed that tracking control is currently being performed. If control is in progress, it is determined in step S13 that the vehicle is different from the vehicle being tracked. It is determined whether or not the distance sensor 1 detects the vehicle (second candidate) to be played. If not detected, the second candidate detection check is continued until the follow-up control is stopped in step S12.
[0019]
If it is determined in step S13 that the second candidate has been detected, whether or not the first candidate (the preceding vehicle to be followed at this time) can no longer be detected in step S14. Judgment is made.
[0020]
If the first candidate preceding vehicle is not detected, YES is determined in step S14, and it is determined in step S16 that the preceding vehicle has been switched from the first candidate to the second candidate.
[0021]
On the other hand, if the first candidate preceding vehicle has been detected, NO is determined in step S14, and in step S15, the second candidate preceding vehicle is constant at a position closer to the host vehicle than the first candidate preceding vehicle. When the time is detected, it is determined that the second candidate is closer to the host vehicle than the first candidate preceding vehicle, and it is determined in step S16 that the preceding vehicle has been switched.
[0022]
Next, a method for estimating the preceding vehicle switching state shown in steps S5 to S7 in FIG. 3 will be described. The preceding vehicle switching state can be roughly divided into the following three switching state patterns. That is, a state in which the preceding vehicle has left in step S5, a case in which another vehicle has entered (interrupted) between the preceding vehicle and the host vehicle in step S6, and a case other than that in step S7. .
[0023]
Hereinafter, the processing operation for determining these will be described with reference to the flowchart shown in FIG. First, inter-vehicle tracking control is started in step S21, and it is determined whether or not the preceding vehicle has been switched in step S23. If the preceding vehicle is not switched, the control ends when the follow-up control is stopped in step S22.
[0024]
On the other hand, when it is determined in step S23 that the preceding vehicle has been switched, the inter-vehicle distance X0 before the preceding vehicle is switched and the inter-vehicle distance X1 after the preceding vehicle is switched are obtained in step S24.
[0025]
Next, in step S25, a process of comparing the inter-vehicle distance X0 and the inter-vehicle distance X1 is performed.
[0026]
And as shown in step S5 of FIG. 3, as an example when a preceding vehicle leaves | separates from the own vehicle lane, for example, it is a case where another vehicle existing far from the own vehicle lane is regarded as a new preceding vehicle. . In this case, when it is determined that the preceding vehicle is switched, the distance between the preceding vehicle and the inter-vehicle distance X0 before switching to the preceding vehicle and the inter-vehicle distance X1 immediately after switching (X1-X0) is a constant value. In the above case, that is, in the case shown in step S27 shown in FIG.
[0027]
As shown in step S6 in FIG. 3, the second switching state is a case where another vehicle has interrupted (entered) between the preceding vehicle currently following and the host vehicle. In this case, when the switching of the preceding vehicle is determined, the inter-vehicle distance X0 between the preceding vehicle and the own vehicle before the preceding vehicle is switched, and the inter-vehicle distance X1 between the preceding vehicle and the own vehicle immediately after the switching. When the distance difference (X0−X1) is greater than or equal to a certain value, that is, in the case shown in step S27 of FIG. That is, when the inter-vehicle distance is suddenly shortened, it is determined that the preceding vehicle interruption pattern.
[0028]
Then, as shown in step S7 of FIG. 3, when the distance difference between the inter-vehicle distance X0 and the inter-vehicle distance X1 is equal to or smaller than a certain value, that is, when shown in step S27 of FIG. 5, otherwise (step S5 , Other than the reason of S6), it is determined that the preceding vehicle has been switched.
[0029]
This case may be, for example, a case where a motorcycle and a car are running in parallel, and the following vehicle is switched from the motorcycle to the car.
[0030]
Thereafter, in step S8 of FIG. 3 and step S29 of FIG. 5, based on the switching state estimated by the preceding vehicle switching state estimation unit 3, the preceding vehicle switching state is displayed by the display unit 4 provided in the speedometer. By displaying the indicator, the vehicle passenger is notified. Hereinafter, display modes on the display unit 4 will be described.
[0031]
FIG. 6 is an explanatory diagram illustrating a specific display example of the display unit 4 capable of displaying an indicator. As shown in the figure, the display unit 4 includes a vehicle speed meter 21, and further includes a host vehicle mark 22, a preceding vehicle 24 in the near center, a far preceding vehicle 24, and a left side vehicle. Each indicator of the preceding vehicle 25 and the preceding vehicle 26 on the right side can be displayed by turning on and off. That is, an indicator representing the host vehicle, an indicator representing the set inter-vehicle distance, and an indicator representing the direction of the detected preceding vehicle are shown, and the left-center-right directionality is further indicated by the three central vehicles. expressing.
[0032]
Moreover, it has the arrows 27 and 29 which show the entrance / exit from the left side of the driving lane of the own vehicle, and the arrows 28 and 30 which show the entrance / exit from the right side. Then, as will be described later, these indicators 23 to 30 are turned on or off to notify the occupant of the own vehicle of the state of switching of the preceding vehicle.
[0033]
FIG. 7 is an explanatory diagram illustrating another display mode of the display unit. As shown in the figure, the display unit 4 'includes a speedometer 31, a nearby preceding vehicle 32, a distant preceding vehicle 33, arrows 34 and 35 indicating entry / exit from the left side, and entry / exit from the right side. Each of the indicators 36 and 37 indicating the above is provided. Furthermore, it has curves 38, 39, and 40 toward the center and left and right.
[0034]
Then, by turning on or off each of these indicators 32 to 40, the state of switching of the preceding vehicle, that is, the position of the preceding vehicle, interruption, and separation are identified, and this is notified to the passenger of the own vehicle. .
[0035]
Hereinafter, a notification method for each switching state when the display unit 4 shown in FIG. 6 is used will be described based on typical scenes.
[0036]
FIG. 8 is an explanatory view showing a first example of the preceding vehicle interruption state, and shows a state when another vehicle is interrupted from the left side of the own vehicle.
[0037]
FIG. 5A shows a situation where the host vehicle is traveling following a preceding vehicle having a relatively long inter-vehicle distance. That is, the display unit 4 is in a state in which the indicator of the distant preceding vehicle 24 is lit.
[0038]
Also, in such a situation, as shown in the same figure (b), another vehicle has interrupted from the left of the junction of the highway, and as shown in the same figure (c), When the vehicle enters, first, as shown in FIG. 5B, the left leading vehicle 25 and the indicators 29 of the arrow 29 pointing from the left to the center blink.
[0039]
When a predetermined time has elapsed after completion of the interruption, as shown in FIG. 4C, the indicator of the far preceding vehicle 24 is turned off and the indicator of the preceding vehicle 23 in the near center is turned on. Thereby, the display operation for indicating the switching state of the preceding vehicle is completed.
[0040]
FIG. 9 is an explanatory view showing a second example of the preceding vehicle interruption state, and shows a situation when another vehicle is interrupted from the right side of the own vehicle, contrary to the case shown in FIG. . As shown in FIG. 5A, when the preceding vehicle running on the right lane has not started interrupting, the indicator of the distant preceding vehicle 24 on the display unit 4 is lit. . When the preceding vehicle starts interrupting, as shown in FIG. 4B, the right-side preceding vehicle 26 and the indicators of the arrow 30 from the right to the center blink. Thereafter, when the interruption ends, the indicator of the preceding vehicle 23 in the near center is lit on the display unit 4 as shown in FIG.
[0041]
Next, an example when the preceding vehicle leaves will be described. FIG. 10 is an explanatory diagram illustrating a first example when a preceding vehicle traveling in front of the host vehicle leaves.
[0042]
FIG. 5A shows a state in which the indicator of a nearby preceding vehicle 23 is lit while the vehicle is following a preceding vehicle having a short inter-vehicle distance.
[0043]
In this situation, when the preceding vehicle leaves in the left direction at the exit point of the expressway and the object to be tracked is switched to a distant preceding vehicle, as shown in FIG. And the arrow 27 pointing from the center to the left start to flash. Then, when the disengagement of the preceding vehicle is completed and a distant preceding vehicle is detected and a predetermined time has elapsed, as shown in FIG. 5C, the indicator of the nearby preceding vehicle 23 is turned off, and the distant preceding vehicle The 24 indicator lights, and the switching display notification is completed.
[0044]
FIG. 11 is an explanatory diagram illustrating a second example when a preceding vehicle traveling in front of the host vehicle leaves. In this example, in contrast to the case shown in FIG. 10, the case where the preceding vehicle leaves the right side is shown.
[0045]
FIG. 5A shows a state in which the indicator of a nearby preceding vehicle 23 is lit while the vehicle is following a preceding vehicle having a short inter-vehicle distance. In this situation, when the preceding vehicle leaves the right side and the object to be tracked is switched to a far preceding vehicle, as shown in FIG. 5B, the indicator of the center leading vehicle 26 and the center to the right side. The pointing arrow 28 begins to flash. When a certain time has elapsed after the preceding vehicle has been separated and a distant preceding vehicle has been detected, the indicator of the near preceding vehicle 23 is turned off, as shown in FIG. The indicator of the vehicle 24 is turned on and the switching display notification is completed.
[0046]
In this way, the occupant of the own vehicle sees the change of the indicator as shown in (a) to (c) of each of FIGS. 8 to 11, so that another vehicle interrupts in front of the own vehicle. In this case, it is possible to easily grasp the situation when the preceding vehicle is separated or the preceding vehicle to be followed is switched.
[0047]
Next, a notification method for each switching state when the display unit 4 ′ shown in FIG. 7 is used will be described.
[0048]
FIG. 12 is an explanatory diagram showing a first example of the preceding vehicle interruption state, and shows a state when another vehicle is interrupted from the left side of the own vehicle.
[0049]
FIG. 5A shows a situation where the host vehicle is traveling following a preceding vehicle having a relatively long inter-vehicle distance. That is, the display unit 4 ′ is in a state where the indicator of the distant preceding vehicle 33 and the indicator of the curve 38 are lit.
[0050]
Also, in such a situation, as shown in the same figure (b), another vehicle has interrupted from the left of the junction of the highway, and as shown in the same figure (c), When entering, first, as shown in FIG. 5B, the indicators of the arrow 35 pointing from the left side to the center and the curve 40 pointing to the right side flash.
[0051]
When a predetermined time has elapsed after completion of the interruption, as shown in FIG. 5C, the indicator of the far preceding vehicle 33 is turned off and the indicator of the near preceding vehicle 32 and the curve 38 are turned on. Thereby, the display operation for indicating the switching state of the preceding vehicle is completed.
[0052]
FIG. 13 is an explanatory view showing a second example of the preceding vehicle interruption state, and shows a state where another vehicle is interrupted from the right side of the own vehicle.
[0053]
FIG. 5A shows a situation where the host vehicle is traveling following a preceding vehicle having a relatively long inter-vehicle distance. That is, the display unit 4 ′ is in a state where the indicator of the distant preceding vehicle 33 and the indicator of the curve 38 are lit.
[0054]
Also, in such a situation, as shown in the same figure (b), when another vehicle has interrupted from the right lane and enters the front of the host vehicle as shown in the same figure (c), First, as shown in FIG. 5B, the indicators 37 of the arrow 37 pointing from the right side to the center and the curve 40 pointing to the right side are blinked.
[0055]
Then, when a predetermined time has elapsed after completion of the interruption, as shown in FIG. 5C, the indicator of the distant preceding vehicle 33 is turned off, and the indicator of the nearby preceding vehicle 32 and the curve 38 are turned on. Thereby, the display operation for indicating the switching state of the preceding vehicle is completed.
[0056]
Next, an example when the preceding vehicle leaves will be described. FIG. 14 is an explanatory view showing a first example when a preceding vehicle traveling in front of the host vehicle leaves, and takes as an example a case where the preceding vehicle leaves on the left side.
[0057]
FIG. 5A shows a state in which an indicator of a nearby preceding vehicle 32 is lit while the vehicle is following a preceding vehicle having a short inter-vehicle distance.
[0058]
In this situation, when the preceding vehicle leaves in the left direction at the exit point of the expressway and the object to be tracked switches to a distant preceding vehicle, an arrow pointing from the center to the left as shown in FIG. 34 and the indicator of the curve 39 pointing to the left start to flash. When the disengagement of the preceding vehicle is completed and a distant preceding vehicle is detected and a predetermined time has elapsed, the indicator of the nearby preceding vehicle 32 is turned off as shown in FIG. 33 and the indicator of the curve 38 are lit, and the switching display notification is completed.
[0059]
FIG. 15 is an explanatory diagram showing a second example when a preceding vehicle traveling in front of the host vehicle leaves, and takes as an example a case where the preceding vehicle leaves on the right side.
[0060]
FIG. 5A shows a state in which an indicator of a nearby preceding vehicle 32 is lit while the vehicle is following a preceding vehicle having a short inter-vehicle distance.
[0061]
In this situation, if the preceding vehicle changes lanes to the right lane, leaves the traveling lane of its own vehicle, and the subject to be tracked switches to a distant preceding vehicle, as shown in FIG. The indicator of the arrow 36 pointing to the right side and the curve 39 pointing to the left side starts blinking. When the disengagement of the preceding vehicle is completed and a distant preceding vehicle is detected and a predetermined time has elapsed, the indicator of the nearby preceding vehicle 32 is turned off as shown in FIG. 33 and the indicator of the curve 38 are lit, and the switching display notification is completed.
[0062]
In the above description, the situation where the preceding vehicle is switched is exemplified by the case where another person interrupts or the preceding vehicle leaves. On the other hand, in other cases, that is, as shown in step S28 of FIG. 5, when the absolute value of the difference between the inter-vehicle distances X0 and X1 is equal to or less than a certain value, for other reasons, For example, this is notified to the occupant of the vehicle by a process such as blinking an indicator of a nearby preceding vehicle.
[0063]
A flowchart showing the operation of the display pattern described above is shown in FIG. When control is started in step S31 shown in the figure, in step S32, a process of turning on an indicator of any preceding or following vehicle according to the position of the preceding vehicle is performed. That is, in the example of the display 4 shown in FIG. 6, when the preceding vehicle is at a far position, the indicator of the far preceding vehicle 24 is turned on, and when the preceding vehicle is at a near position, the near The indicator of the preceding vehicle 23 is turned on.
[0064]
Next, in step S33, it is determined whether or not the preceding vehicle has been switched. If there is no switching, this state is maintained until the control is turned off in step S34. On the other hand, if the preceding vehicle has switched, the switching state is determined in step S36. That is, a determination is made as to whether the preceding vehicle has left, another vehicle has entered between the preceding vehicle and the host vehicle, or for some other reason.
[0065]
If it is determined that the vehicle is due to the departure of the preceding vehicle, a process of blinking the indicator of the departure direction and the indicator of the departure vehicle is performed in step S37. If it is determined that the interrupt is due to an interruption, a process of blinking the indicator of the interruption direction and the indicator of the interruption vehicle is performed in step S39.
[0066]
Further, if it is determined that the reason is due to other reasons, in step S38, a process of blinking an indicator of a nearby preceding vehicle is performed. Then, in step S40, until the time T counted from the time when the preceding vehicle is switched until the predetermined time tx is reached, if the control is turned on in step S35, If the process is repeated and the predetermined time tx is reached, the indicator of either the far or near preceding vehicle is turned on according to the position of the preceding vehicle that has been switched.
[0067]
Thereafter, when the control is turned off in step S42, the control is ended in step S43.
[0068]
Thus, in the vehicle information providing apparatus according to the present embodiment, when the preceding vehicle is switched when the preceding vehicle is captured and the follow-up control is performed, it is simply notified that the preceding vehicle has been switched. In addition, since the situation at that time is displayed by an indicator, the vehicle occupant can easily and reliably recognize the situation when the preceding vehicle is switched.
[0069]
Further, as described in claim 2, the reason why the preceding vehicle is switched is due to the departure of the preceding vehicle, due to the other person entering between the own vehicle and the preceding vehicle, or other Since three types of states depending on the reason are displayed as indicators, the occupant can grasp the situation when the preceding vehicle is switched in more detail.
[0070]
Further, as described in claim 3, as a means for notifying the state of the preceding vehicle switching, when the preceding vehicle switching is determined, a notification sound (voice) is used to notify the passenger of the own vehicle. By doing so, it is possible to notify that the preceding vehicle has been switched not only visually but also by hearing, and it becomes easier to recognize the switching of the preceding vehicle. Furthermore, it is also possible to adopt a configuration in which the occupant is notified of this by changing the directionality and tone color of the sound for each pattern in which the preceding vehicle is switched (for each pattern such as interruption or departure).
[0071]
In addition, as described in claim 4, since it is configured to notify the entry and exit of the preceding vehicle by blinking the indicator of the arrows 27 to 30 or the arrows 34 to 37, the occupant can enter and exit the preceding vehicle. Can be recognized easily and reliably.
[0072]
Further, as described in claim 5, the indicator of the preceding vehicle as indicated by reference numerals 23, 24, 25, and 26 in FIG. Since the four display patterns on the right side are used, the position of the preceding vehicle can be visually recognized.
[0073]
Next, a second embodiment of the present invention will be described. FIG. 17 is a block diagram illustrating a configuration of the vehicle information providing apparatus according to the second embodiment. As shown in the figure, the vehicular information providing apparatus 101 further includes a calculation unit 5, a control state change estimation unit 6, and a state change forecast notification unit 7 in addition to the one shown in FIG. ing.
[0074]
When the preceding vehicle switching determination unit 2 detects the switching of the preceding vehicle, the calculation unit 5 calculates the traveling speed of the host vehicle, the inter-vehicle distance, the traveling speed of the preceding vehicle, and the acceleration of the preceding vehicle immediately after the switching. To do.
[0075]
The control state change estimation unit 6 changes the current follow-up control state based on the data of the traveling speed of the host vehicle, the inter-vehicle distance, the traveling speed of the preceding vehicle, and the acceleration of the preceding vehicle detected by the computing unit 5. Estimate whether or not.
[0076]
When the control state change estimation unit 6 estimates that the control state changes, the state change forecast notification unit 7 notifies the passenger of the vehicle of this fact.
[0077]
Next, the operation of the second embodiment will be described with reference to the flowchart shown in FIG. First, when inter-vehicle tracking control is started in step S51, it is determined in step S53 whether or not the preceding vehicle has been switched. If the preceding vehicle is not switched, this process is repeated until the follow-up control is stopped in step S52.
[0078]
On the other hand, when the preceding vehicle is switched, the following process is performed at this point. First, in step S54, the vehicle speed V0 of the host vehicle immediately after switching and the inter-vehicle distance X (0) between the host vehicle and the preceding vehicle are calculated.
[0079]
Further, the vehicle speed V ′ and acceleration G ′ of the preceding vehicle at that time are calculated based on the distance change measured by the distance sensor 1. In step S55, the current set vehicle speed Vs and the set inter-vehicle distance Xs, the inter-vehicle distance X (0) between the host vehicle speed V0 and the preceding vehicle immediately after the preceding vehicle change, and the preceding vehicle speed. Using V ′ and acceleration G ′, the vehicle speed of the preceding vehicle and the vehicle speed of the host vehicle at that time after a predetermined time T seconds (for example, 5 seconds) are calculated after the preceding vehicle is switched, and the estimated inter-vehicle distance Xt at that time Is calculated.
[0080]
Next, in step S56, the estimated intervehicular distance Xt is compared with the set intervehicular distance Xs. If the estimated intervehicular distance Xt is larger than the set intervehicular distance Xs, the follow-up control cannot be performed. An occupant is notified by voice message or screen display that there is a possibility of change.
[0081]
This process is repeated for a certain period T1 (for example, T1 = 10 seconds) immediately after the preceding vehicle is switched. However, when a new preceding vehicle switchover occurs during the certain period T1 or when the control is canceled, a response corresponding to the state change is performed.
[0082]
Thus, in the vehicle information providing apparatus 101 of the second embodiment according to claim 6, when the preceding vehicle is switched, the distance between the vehicles, the traveling speed of the host vehicle and the preceding vehicle, acceleration, etc. Based on the various data, it is determined whether or not the control state changes, and if a change occurs in the control state, this is notified to the occupant. Therefore, an occupant of the own vehicle can immediately recognize that the control state has been switched, and it can be expected that the situation change accompanying the state change can be easily recognized and the response change can be quickly handled.
[0083]
Next, a third embodiment of the present invention will be described. In the third embodiment, when the preceding vehicle change determining unit 2 determines that the preceding vehicle has changed, when the relative speed between the new preceding vehicle and the host vehicle is smaller than a certain value, the preceding vehicle is a low-speed vehicle. This is to notify that there is. The apparatus configuration is the same as that shown in FIG.
[0084]
The operation of this embodiment will be described below with reference to the flowchart shown in FIG. First, when inter-vehicle tracking control is started in step S61, it is determined in step S63 whether or not the preceding vehicle has been switched. If the preceding vehicle is not switched, this process is repeated until the follow-up control is stopped in step S62.
[0085]
On the other hand, when the preceding vehicle is switched, the preceding vehicle switching determination unit 2 performs the following process when the preceding vehicle is switched. That is, in step S64, the vehicle speed V0 of the host vehicle immediately after the preceding vehicle is switched is calculated. Then, the vehicle speed V ′ of the preceding vehicle at that time is calculated from the distance change measured by the distance sensor 1.
[0086]
Next, in step S65, the current set vehicle speed Vs and the preceding vehicle speed V ′ are compared, and if the difference (Vs−V ′) is equal to or greater than a certain value Y, that is, the preceding vehicle speed is the own vehicle speed. If it is extremely late, it is determined in step S66 that the preceding vehicle is a low-speed vehicle.
[0087]
If it is determined that the preceding vehicle is a low-speed vehicle, in step S67, the vehicle speed V0 and the vehicle speed V ′ of the preceding vehicle are compared at any time immediately after the preceding vehicle is switched, and the vehicle speed V of the preceding vehicle is further compared. Only when 'is low, in step S68, the vehicle occupant is notified by voice message or screen display that the preceding vehicle is a low-speed vehicle.
[0088]
Thus, in the vehicle information providing apparatus according to the third embodiment of the present invention, when the preceding vehicle is switched, and when the new preceding vehicle is slower (low speed) than the traveling speed of the own vehicle, Since this is notified to the passenger of the own vehicle, drivability can be further improved.
[0089]
In addition, it is possible to expect an effect that the driver can consider in advance whether to follow the low-speed vehicle or perform overtaking.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a vehicular information providing apparatus according to a first embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a vehicle follow-up control apparatus in which information is presented by the vehicle information providing apparatus according to the present embodiment.
FIG. 3 is a flowchart showing a processing operation of the vehicular information providing apparatus according to the first embodiment.
FIG. 4 is a flowchart showing a process for determining switching of a preceding vehicle.
FIG. 5 is a flowchart showing a process for estimating a preceding vehicle switching state.
FIG. 6 is an explanatory diagram showing a specific configuration of a display unit.
FIG. 7 is an explanatory diagram illustrating another example of a specific configuration of the display unit.
FIG. 8 is a display example of the display unit 4 shown in FIG. 6 and shows a state when another vehicle enters from the left side of the own vehicle.
FIG. 9 is a display example of the display unit 4 shown in FIG. 6 and shows a state when another vehicle enters from the right side of the own vehicle.
FIG. 10 is a display example of the display unit 4 shown in FIG. 6 and shows a state where a vehicle traveling in front of the host vehicle leaves the left side.
11 is a display example of the display unit 4 shown in FIG. 6 and shows a state where a vehicle traveling in front of the host vehicle leaves the right side.
12 is a display example of the display unit 4 ′ shown in FIG. 7, and shows a state when another vehicle is interrupted from the left side of the own vehicle.
FIG. 13 is a display example of the display unit 4 ′ shown in FIG. 7 and shows a state when another vehicle enters from the right side of the own vehicle.
14 is a display example of the display unit 4 ′ shown in FIG. 6 and shows a state where a vehicle traveling in front of the host vehicle leaves the left side.
FIG. 15 is a display example of the display unit 4 ′ shown in FIG. 6 and shows a state where a vehicle traveling in front of the host vehicle leaves the right side.
FIG. 16 is a flowchart showing an operation of setting a display pattern when a preceding vehicle is switched.
FIG. 17 is a block diagram showing a configuration of a vehicle information providing apparatus according to a second embodiment of the present invention.
FIG. 18 is a flowchart showing a processing operation of the vehicle information providing apparatus according to the second embodiment.
FIG. 19 is a flowchart showing a processing operation of the vehicle information providing apparatus according to the third embodiment.
[Explanation of symbols]
1 Distance sensor
2 Predecessor vehicle change judging section (preceding vehicle change judging means)
3 switching state estimation unit (switching state estimation means)
4 Display (Switching status notification means)
5 Calculation unit
6 Control state change estimation unit
7 State change forecast notification section
11 Controller for tracking control
12 Vehicle signal
13 Set switch
14 Cancel switch
15 Engine output control device
16 Transmission control device
17 Braking control device
100, 101 Information providing device for vehicle
200 Vehicle Tracking Control Device

Claims (7)

A vehicle that uses a distance sensor to detect the inter-vehicle distance between the host vehicle and the preceding vehicle, and presents information obtained from a control system that performs follow-up control so that the inter-vehicle distance becomes the target inter-vehicle distance to the vehicle occupant. In the information providing device,
A preceding vehicle switching judgment means for judging whether or not the preceding vehicle subject to the follow-up control has been switched;
When the preceding vehicle switching determining means determines that the preceding vehicle has switched, the switching of the preceding vehicle is based on the difference between the inter-vehicle distance before the preceding vehicle switches and the inter-vehicle distance after the preceding vehicle switches. A switching state estimating means for estimating the switching state by classifying the cause into at least two causes of the preceding vehicle leaving and the preceding vehicle entering ;
A switching state informing means for presenting an estimation result by the switching state estimating means to an occupant of the own vehicle in an indicator display;
An information providing device for a vehicle, comprising:   In the switching state notification means, the reason why the preceding vehicle has switched is due to the departure of the preceding vehicle, the other vehicle entering between the vehicle and the preceding vehicle, or other reasons The vehicle information providing apparatus according to claim 1, wherein at least three types of states are displayed as indicators.   3. The vehicle according to claim 1, wherein when the preceding vehicle switching determining unit determines that the preceding vehicle has been switched, the vehicle occupant is notified of this by voice. 4. Information provision device.   The switching state informing means has a plurality of arrow-shaped indicators that indicate directions in which the preceding vehicle leaves or enters the host vehicle lane, and blinks each of the indicators, thereby driving the host vehicle. The vehicle information providing device according to any one of claims 1 to 3, wherein the vehicle is notified of departure from the lane to the left or right or entry into the host vehicle lane from the left or right.   The switching state informing means has a vehicle-shaped indicator at each of the positions of the preceding vehicle far from the own vehicle, the near center of the own vehicle, the near left side, and the near right side, and the vehicle shape 5. The vehicle according to claim 4, wherein blinking of the indicator and the arrow-shaped indicator notifies the departure from the own vehicle travel lane to the left or right, or the approach to the own vehicle travel lane from the left or right. Information provision device. When it is determined by the preceding vehicle switching determination means that the preceding vehicle has been switched, based on the inter-vehicle distance between the new preceding vehicle after the switching and the host vehicle, the traveling speed of the new preceding vehicle, and the acceleration , Comprising a control state change estimating means for estimating whether the follow-up control state of the preceding vehicle changes,
When the control state change estimation means determines that the control state is changed, the control state change estimating means notifies the passenger of the own vehicle that the control state is changed. The vehicle information providing device according to Item.   When the preceding vehicle switching determining means determines that the preceding vehicle has been switched, the traveling speed of the new preceding vehicle after the switching is obtained, and based on the traveling speed, between the new preceding vehicle and the own vehicle 6. The vehicle according to claim 1, wherein, when the relative speed is equal to or less than a predetermined value, the occupant of the vehicle is notified that the new preceding vehicle is traveling at a low speed. Vehicle information providing device.

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