JP4282893B2 - Auto cruise equipment - Google Patents

Description

【００４５】
上記ＮＡＲＲＯＷスイッチの操作方法が表１に示される。
【００４６】
連続押し方式は、ＮＡＲＲＯＷスイッチが押されている間のみロックオン範囲が縮小されるもので、ＮＡＲＲＯＷスイッチを離すと元のロックオン範囲に自動復帰する。
【００４７】
１プッシュ方式−１は、ＮＡＲＲＯＷスイッチが押されるとロックオン範囲が縮小され、新しい先行車が確認されると元のロックオン範囲に自動復帰する。
【００４８】
１プッシュ方式−２は、ＮＡＲＲＯＷスイッチが押されるとロックオン範囲が縮小され、一定時間（例えば３０ｓｅｃ）が経過すると元のロックオン範囲に自動復帰する。
【００４９】
押し込み方式は、ＮＡＲＲＯＷスイッチが押されるとロックオン範囲が縮小され、ＮＡＲＲＯＷスイッチが再度押されると元のロックオン範囲に自動復帰する。
【００５０】
上述したＮＡＲＲＯＷスイッチの操作によるロックオン範囲の一時縮小は、先行車を検知していることを条件にして行われるようにしても良い。先行車を検知していなければロックオン範囲を縮小することは不要である。しかしＮＡＲＲＯＷスイッチが常時押されると、いつでもロックオン範囲が縮小された状態になるため、上記条件を入れた方が良いが、上記条件を入れなくても全く問題はない。
【００５１】
図４（Ａ）に示す例は、既存のＲＥＳＵＭＥスイッチに、ロックオン範囲を一時的に縮小するためのＮＡＲＲＯＷスイッチの機能を追加して、ＲＥＳ／ＮＡＲＷスイッチ３７としたものであり、図４（Ｂ）に示す例は、ＡＣＣシステムの操作レバー３５の既存のＲＥＳ／ＡＣＣスイッチに、ロックオン範囲を一時的に縮小するためのＮＡＲＲＯＷスイッチの機能を追加して、ＲＥＳ／ＡＣＣ／ＮＡＲＷスイッチとしたものである。
【００５２】
【表２】

【００５３】
ＮＡＲＲＯＷスイッチの機能を持たない既存のＲＥＳＵＭＥスイッチには表２に示した機能が既に割り振られている。
【００５４】
即ち、(1) ＡＣＣシステムスタンバイ状態での１プッシュあるいは連続押しにより、前回のクルーズで記憶されているセット車速でＡＣＣ走行を開始するＲＥＳＵＭＥ機能と、(2) ＡＣＣシステム作動中での短時間１プッシュにより、セット車速を１ステップ（例えば１ｋｍ／ｈ）上げるＡＣＣＥＬＥＲＡＴＥ機能と、(3) 先行車無しの状態での連続押しにより、セット車速を連続的に上げるＡＣＣＥＬＥＲＡＴＥ機能とを有している。そこで、(5) 未設定−２のＡＣＣシステム作動中での長時間（１ｓｅｃ程度）１プッシュ方式と、(6) の未設定−３の先行車を検知している状態での連続押し方式とを、操作方式として選択する。
【００５５】
【表３】

【００５６】
つまり、表３に示すように、ＲＥＳ／ＮＡＲＷスイッチ（図４（Ａ）参照）あるいはＲＥＳ／ＡＣＣ／ＮＡＲＷスイッチ（図４（Ｂ）参照）を長時間１プッシュ操作すると、ロックオン範囲が一時的に縮小され、その後に新たな先行車が検知されるか、一定時間（例えば３０ｓｅｃ）が経過すると、元のロックオン範囲に復帰する。尚、前記一定時間が経過する前に再度スイッチを長時間１プッシュ操作すると、ロックオン範囲を一時的に縮小する時間が延長され、以下押される度に時間の延長が繰り返される。またＲＥＳ／ＮＡＲＷスイッチあるいはＲＥＳ／ＡＣＣ／ＮＡＲＷスイッチを連続押し操作すると、先行車を検知しているときに限りロックオン範囲が一時的に縮小され、そのスイッチが押され続けていれば、その間に先行車無しの状態になってもロックオン範囲の一時縮小が継続される。このように、先行車を検知しているときに限りロックオン範囲を一時縮小するのは、先行車無しの状態でのＡＣＣＥＬＥＲＡＴＥ機能と区別するためである。そして一時縮小になった後にスイッチが押され続ければ、ドライバーの意志を優先して先行車の有無に関わらずに一時縮小を継続する。
【００５７】
次に、ロックオン範囲を一時的に縮小する４種類の具体的手法を説明する。
【００５８】
通常のロックオン範囲は次のように設定される。左右方向のロックオン範囲は、自車の車速およびヨーレート（または舵角）から自車の走行軌跡を算出し、算出した走行軌跡の左右に車線幅（３．６ｍ）＋マージン分（０．４ｍ）の幅を均等に配分する。従って、ロックオン範囲は自車の走行軌跡の左右両側のそれぞれ幅２ｍの範囲（全幅で４ｍの範囲）となる（図７（Ａ）参照）。通常の前後方向のロックオン範囲は特に制限を設けず、物体検知装置Ｓｔが検知できる範囲が全てロックオン範囲となる。
【００５９】
本実施例で上記ロックオン範囲を縮小する手法は、以下の(1) 〜(4) である。
(1) 左右方向のロックオン範囲を、車線幅（３．６ｍ）を基準にせずに自車幅（２．０ｍ）を基準にして設定する。
【００６０】
自車の車速およびヨーレート（または舵角）から算出した自車の走行軌跡の左右両側に、自車幅（２．０ｍ）＋マージン分（０．６ｍ）の幅（２．６ｍ）を均等に配分する。従って、ロックオン範囲は自車の走行軌跡の左右両側のそれぞれ幅１．３ｍの範囲（全幅で２．６ｍの範囲）となる（図７（Ｂ）参照）。
(2) 左右方向のロックオン範囲を、高規格道路の車線幅（３．６ｍ）を基準にせずに、一般道路の車線幅（２．８ｍ）を基準にする。
【００６１】
算出した走行軌跡の左右に一般道路車線幅（２．８ｍ）＋マージン分（０．４ｍ）の幅を均等に配分する。従って、ロックオン範囲は自車の走行軌跡の左右両側のそれぞれ幅１．６ｍの範囲（全幅で３．２ｍ範囲）となる（図７（Ｃ）参照）。
(3) 左右方向のロックオン範囲を、自車に近い領域で広くし、自車から遠い領域で狭くする。
【００６２】
近距離はヨーレートセンサや舵角センサの誤差の影響が小さいために誤検知の確率が低く、また自車の直前の割り込み車両をできるだけ早く検知するために、近距離でのロックオン範囲を広くしたい。一方、遠距離はヨーレートセンサや舵角センサの誤差の影響が大きいために誤検知の確率が高く、また遠距離での割り込みに対しては時間的余裕があるので検知タイミングを無理に早める必要がない。以上のことから、ロックオン範囲の幅を２０ｍ前方で４．０ｍ、５０ｍ前方で３．２ｍ、１００ｍ前方で２．６ｍに設定する（図７（Ｄ）参照）。
(4) 前後方向のロックオン範囲の上限値を設定車間距離の１２０％に設定する。
【００６３】
【表４】

【００６４】
表４に示すように、ＡＣＣシステムにより定車間走行を行う際の車間距離は一般に車頭時間により規定される。車頭時間は自車が現在の車速で走行した場合に現在の先行車の位置に達するまでの時間で定義されるもので、車間距離が同じでも自車の車速により変化する。表４に示すように、車間距離はドライバーにより例えば「短」、「中」、「遠」の３段階に設定され、車間距離「短」に対応する車頭時間は１．７ｓｅｃ、車間距離「中」に対応する車頭時間は２．０ｓｅｃ、車間距離「遠」に対応する車頭時間は２．５ｓｅｃである。そして自車の車速が例えば９０ｋｍ／ｈであるとき、車頭時間１．７ｓｅｃは車間距離４２．５ｍに対応し、車頭時間２．０ｓｅｃは車間距離５０．０ｍに対応し、車頭時間２．５ｓｅｃは車間距離６２．５ｍに対応する。
【００６５】
車速９０ｋｍ／ｈでの従来のロックオン範囲は、車間距離が「短」、「中」、「遠」の何れの場合でも自車から１００ｍ前方までであったが、本実施例のロックオン範囲は車速９０ｋｍ／ｈでの車間距離の１２０％となるため、車間距離「短」で５１．０ｍ、車間距離「中」で６０．０ｍ、車間距離「遠」で７５．０ｍとなる。図７（Ｅ）には、車速９０ｋｍ／ｈ、車間距離「遠」でロックオン範囲が７５．０ｍの状態が示されている。
【００６６】
尚、図７（Ａ）〜図７（Ｅ）のロックオン範囲は、それらの任意のものを組み合わせて用いることができる。
【００６７】
次に、ロックオン範囲の一時縮小の作用を図５および図６のフローチャートに基づいて説明する。
【００６８】
その前提は、図４（Ａ）あるいは図４（Ｂ）に示すＮＡＲＲＯＷスイッチの機能を有するＲＥＳＵＭＥスイッチを使用し、操作方法は表３に示す連続押し方式であり、物体検知装置Ｓｔが先行車を検知している状態でＮＡＲＲＯＷスイッチが操作された場合に限りロックオン範囲が縮小され、元のロックオン範囲 に復帰するにはＲＥＳＵＭＥスイッチを離すものとする。
【００６９】
図５のメインルーチンのフローチャートにおいて、先ずステップＳ１で物体検知装置Ｓｔにより検知エリア内のターゲットを全て検知してターゲットメモリに記憶し、ステップＳ２で自車の車速およびヨーレート（または舵角）に基づいて自車の走行軌跡を算出する。続くステップＳ３で前回のターゲットデータと今回のターゲットデータとを比較してデータの引き継ぎを行い、ステップＳ４でＲＥＳＵＭＥスイッチ読み込みモジュールを実行した後に、ステップＳ５でターゲットデータと前記自車の走行軌跡から算出したロックオン範囲とから先行車を判定する。ステップＳ４の具体的内容は後から図６のフローチャートに基づいて説明する。
【００７０】
続くステップＳ６で物体検知装置Ｓｔにより先行車が検知されていれば、ステップＳ７で定車間走行制御を実行する。定車間走行制御は、ステップＳ８で先行車との車間距離が設定車間距離を越えていれば、ステップＳ９で加速制御を実行し、ステップＳ８で先行車との車間距離が設定車間距離に一致していれば、ステップＳ１０で定速制御を実行し、ステップＳ８で先行車との車間距離が設定車間距離未満であれば、ステップＳ１１で減速制御を実行し、これにより車間距離を設定車間距離に一致させるものである。
【００７１】
また前記ステップＳ６で先行車が検知されない場合には、ステップＳ１２で定車速走行制御を実行する。定車速走行制御は、ステップＳ１３で自車速がセット車速を越えていればステップＳ１４で減速制御を実行し、ステップＳ１３で自車速がセット車速に一致していればステップＳ１５で定速制御を実行し、ステップＳ１３で自車速がセット車速未満であればステップＳ１６で増速制御を実行し、これにより自車速をセット車速に一致させるものである。
【００７２】
次に、図６のフローチャートに基づいて前記ステップＳ４のＲＥＳＵＭＥスイッチ読み込みモジュールの詳細を説明する。
【００７３】
先ずステップＳ１０１で今回ＮＡＲＲＯＷスイッチ機能を備えたＲＥＳＵＭＥスイッチが押されていなければ、ステップＳ１０４でロックオン範囲を縮小せずに通常範囲とする。ステップＳ１０１で今回ＲＥＳＵＭＥスイッチが押されており、ステップＳ１０２でＲＥＳＵＭＥスイッチが押されていた時間が１．０ｓｅｃ未満であれば、ステップＳ１０３でセット車速を１ステップ（例えば１ｋｍ／ｈ）増加させ、ステップＳ１０４でロックオン範囲を通常範囲とする。
【００７４】
ステップＳ１０２でＲＥＳＵＭＥスイッチが押されていた時間が１．０ｓｅｃ以上であり、ステップＳ１０８で先行車が存在すれば、ステップＳ１０９でロックオン範囲を縮小する。ステップＳ１０８で先行車が存在しなければ、ステップＳ１１０でセット車速を連続で増加させ、ステップＳ１１１でロックオン範囲を通常範囲とする。
【００７５】
ステップＳ１０２でＲＥＳＵＭＥスイッチが前回から連続押しされており、ステップＳ１０５で前回のロックオン範囲が縮小されていれば、ステップＳ１０６でロックオン範囲の縮小を継続する。ステップＳ１０５で前回のロックオン範囲が縮小されておらず、ステップＳ１０７で先行車が存在しなければ前回の状態を継続し、ステップＳ１１０でセット車速を連続で増加させ、ステップＳ１１１でロックオン範囲を通常範囲とする。一方、ステップＳ１０７で先行車が存在すれば定車間走行になってセット車速と実車速とが一致しなくなるため、セット車速の連続増加を中止し、ステップＳ１１１でロックオン範囲を通常範囲とする。
【００７６】
次に、本実施例の効果を図８〜図１０を参照して説明する。
【００７７】
自車の走行軌跡の推定誤差によりロックオン範囲が若干左側にずれ、そのために自車のセット車速より遅い車速で隣り車線を走行する車両を自車線の先行車と誤検知した場合、本実施例により自車の不要な減速が最小限に抑えられる例を示す。
【００７８】
図８は従来例を示すもので、従来のＡＣＣシステムを装備した自車がセット車速である９０ｋｍ／ｈで定車速走行しており、隣り車線を他車がセット車速の９０ｋｍ／ｈよりも遅い７２ｋｍ／ｈで走行している（図８（Ａ）参照）。自車が他車に接近して自車のロックオン範囲に他車が入ると、他車を先行車と誤検知して定車速走行から定車間走行に切り替えられ、自車の車速が９０ｋｍ／ｈから８０ｋｍ／ｈに減少する。（図８（Ｂ）参照）。他車が更に接近してロックオフすると、定車間走行から定車速走行に切り替えられ、自車の車速が８０ｋｍ／ｈから９０ｋｍ／ｈに増加する。（図８（Ｃ）参照）。従って、先行車の誤検知による自車の車速の変動量は１０ｋｍ／ｈになる。
【００７９】
図９は本実施例を示すもので、前記図８（Ａ）と同じ図９（Ａ）の状態から、本実施例のＡＣＣシステムを装備した自車が隣り車線の他車を先行車と誤検知して定車速走行から定車間走行に切り替えられ、自車の減速が開始される（図９（Ｂ）参照）。自車の車速が８６ｋｍ／ｈに低下したときにドライバーが誤検知に気付いてＮＡＲＲＯＷスイッチを操作すると、ロックオン範囲の左右幅が４．０ｍから２．６ｍに縮小し、他車がロックオフして誤検知が解除される（図９（Ｃ）参照）。その結果、定車間走行から定車速走行に切り替えられて自車はセット車速である９０ｋｍ／ｈへと加速する（図８（Ｄ）参照）。従って、先行車の誤検知による自車の車速の変動量は４ｋｍ／ｈになり、従来の１０ｋｍ／ｈに比べて大幅に短縮され、併せて車速が変化する時間も短縮される（図１０参照）。
【００８０】
以上のように本実施例によれば、ＡＣＣシステムの作動中にドライバーがアクセルペダルやブレーキペダルを操作することなく、手動でスイッチ操作を行うだけでロックオン範囲を一時的に縮小することができ、かつ元のロックオン範囲に自動的に復帰することができる。その結果、定車間走行中に先行車が車線変更した場合に、直ちに先行車をロックオフして自車を素早く加速したり、定車速走行中に隣り車線の遅い車両がロックオン範囲に入って先行車と誤検知された場合に、自車が不要な減速を行うのを防止したり、定車速走行中にセット車速よりも遅い先行車の後についたが、直ぐ車線変更して先行車を追い抜く場合に、自車の減速を防止しながら先行車に接近してスムーズな追い越しを行うことができる。
【００８１】
以上、本発明の実施例を詳述したが、本発明はその要旨を逸脱しない範囲で種々の設計変更を行うことが可能である。
【００８２】
例えば、実施例では物体検知装置Ｓｔとしてレーザーレーダー装置を用いているが、ミリ波レーダー装置やテレビカメラを用いることができる。
【００８３】
【発明の効果】
以上のように請求項１〜１４の各発明によれば、車間距離制御手段は、先行車判定手段により先行車が判定されたとき、物体検知装置の検知結果に基づき距離算出手段により算出された車間距離が車間距離設定手段により設定された車間距離に一致するように、車速設定手段により設定された車速を上限として自車を加速あるいは減速して自車を定車間走行させる。また車速制御手段は、先行車判定手段により判定される先行車が無い場合に、車速検知手段により検知された車速が車速設定手段により設定された車速に一致するように自車を加速あるいは減速して自車を定車速走行させる。車間距離制御手段による制御中にドライバーにより手動操作手段が操作されると領域縮小手段が、進行方向予測手段が予測した自車の進行方向を基準に領域設定手段が設定した所定の領域を縮小するので、車間距離制御手段による定車間走行中であっても手動操作手段を操作するだけで先行車を判定する所定の領域を縮小することが可能となり、遅い先行車が車線変更した場合、隣り車線の遅い車両を先行車と誤検知した場合、遅い先行車の後ろに付いた後に車線変更して前記先行車を追い抜く場合等に、自車を速やかに加速したり不要な減速を防止したりすることができる。
【００８４】
また特に請求項１の発明によれば、領域縮小手段は、手動操作手段が操作されている間、前記所定の領域を縮小するので、ドライバーの意志に副った微妙な領域の縮小が可能になる。
【００８５】
また特に請求項２の発明によれば、領域縮小手段は、手動操作手段が再度操作されるまで前記所定の領域を縮小するので、ドライバーの意志に副った微妙な領域の縮小が可能になる。
【００８６】
また特に請求項３の発明によれば、領域縮小手段は、手動操作手段が操作されてから所定時間、前記所定の領域を縮小するので、手動操作手段の操作が楽になる。
【００８７】
また特に請求項４の発明によれば、領域縮小手段は、前記所定時間が経過する前に再度手動操作手段が操作されると、その時点から更に所定時間前記所定の領域を縮小するので、自車の周囲の状況に応じた適切な領域の縮小が可能になる。
【００８８】
また特に請求項５の発明によれば、領域縮小手段は、手動操作手段が操作されてから、先行車判定手段により手動操作手段が操作される以前に判定されていた先行車と異なる先行車が判定されるか、あるいは同一の先行車が再度判定されるまで前記所定の領域を縮小するので、手動操作手段が操作されて前記所定の領域が縮小したとき、新たな先行車あるいは元の先行車が判定されると領域が元の状態に復帰し、従って、自車が先行車に接近し過ぎることが防止される。
【００８９】
また特に請求項６の発明によれば、領域縮小手段は、手動操作手段が所定時間操作されてから一定時間、前記所定の領域を縮小するので、手動操作手段の操作が楽になる。
【００９０】
また特に請求項７の発明によれば、領域縮小手段は、前記一定時間が経過する前に再度手動操作手段が操作されると、前記所定の領域を縮小する時間を延長するので、自車の周囲の状況に応じた適切な領域の縮小が可能になる。
【００９１】
また特に請求項８の発明によれば、領域縮小手段は、手動操作手段が所定時間操作されてから、先行車判定手段により手動操作手段が操作される以前に判定されていた先行車と異なる先行車が判定されるか、あるいは同一の先行車が再度判定されるまで前記所定の領域を縮小するので、手動操作手段が所定時間操作されて前記所定の領域が縮小したとき、新たな先行車あるいは元の先行車が判定されると領域が元の状態に復帰し、従って、自車が先行車に接近し過ぎることが防止される。
【００９２】
また特に請求項９の発明によれば、領域設定手段の設定した所定の領域の幅を自車の車幅方向に縮小するので、先行車を判定する領域を確実に縮小することができる。
【００９３】
また特に請求項１０の発明によれば、領域縮小手段は自車の進行方向を中心に定められた領域の幅を車線幅から自車幅に縮小するので、先行車を判定する領域を確実に縮小することができる。
【００９４】
また特に請求項１１の発明によれば、誤検知の確率が低くかつ自車の直前に割り込む他車を素早く検知する必要がある近距離で領域の幅を広くし、また誤検知の確率が高くかつ割り込み車両の検知タイミングを早める必要のない遠距離での領域を狭くしたので、距離に応じた最適の領域を設定することができる。
【００９５】
また特に請求項１２の発明によれば、領域設定手段の設定した所定の領域の長さを自車の進行方向に縮小するので、先行車を判定する領域を確実に縮小することができる。
【００９６】
また特に請求項１３の発明によれば、縮小された所定の領域の長さは車間距離設定手段により設定された車間距離以上なので、自車よりも遅い先行車を判定したときに、安全な車間距離を確保しながら自車の早すぎる減速を抑制することができる。
【００９７】
また特に請求項１４の発明によれば、手動操作手段が操作されたときに先行車判定手段により先行車が判定されている場合に前記所定の領域を縮小するので、先行車が存在しないために定車速走行が行われているときに、意味のない領域の縮小制御が行われることがない。
【図面の簡単な説明】
【図１】 物体検知装置のブロック図
【図２】 物体検知装置の斜視図
【図３】 新たに追加されたＮＡＲＲＯＷスイッチを示す図
【図４】 ＮＡＲＲＯＷスイッチの機能を追加したＲＥＳＵＭＥスイッチを示す図
【図５】 実施例のメインルーチンのフローチャート
【図６】 ＲＥＳＵＭＥスイッチ読み込みモジュールのフローチャート
【図７】 ロックオン範囲の縮小例を示す図
【図８】 従来のＡＣＣシステムでの先行車の誤検知による自車の車速変化を説明する図
【図９】 実施例のＡＣＣシステムでの先行車の誤検知による自車の車速変化を説明する図
【図１０】 実施例の効果を説明するグラフ
【図１１】 クレーム対応図
【符号の説明】
Ｍ１ 距離算出手段
Ｍ２ 先行車判定手段
Ｍ３ 車間距離設定手段
Ｍ４ 車速検知手段
Ｍ５ 車速設定手段
Ｍ６ 車間距離制御手段
Ｍ７ 車速制御手段
Ｍ８ 手動操作手段
Ｍ９ 進行方向予測手段
Ｍ１０ 領域設定手段
Ｍ１１ 領域縮小手段
Ｓｔ 物体検知装置[0001]
BACKGROUND OF THE INVENTION
  The present invention, for example, performs an ACC system (Adaptive Cruise Control System) that performs constant vehicle speed travel at a preset vehicle speed when there is no preceding vehicle and maintains constant vehicle distance when there is a preceding vehicle. )
[0002]
[Prior art]
  An ACC system capable of switching between constant vehicle speed traveling and constant vehicle traveling according to the presence or absence of a preceding vehicle is known, for example, from Japanese Patent Laid-Open Nos. 11-42957 and 2000-177427.
[0003]
[Problems to be solved by the invention]
  A range (lock-on range) in which the object detection device recognizes the preceding vehicle when a vehicle equipped with such an ACC system is traveling between the preceding vehicles while maintaining a constant inter-vehicle distance. You may want to shrink temporarily.
[0004]
  For example,
(1)When the preceding vehicle changes lanes while traveling between fixed vehicles following a preceding vehicle that is traveling at a vehicle speed slower than the set vehicle speed.
[0005]
  When the preceding vehicle that the vehicle is following changes its lane in order to enter the interchange or service area, the vehicle detects the movement of the preceding vehicle using the ACC system and switches from inter-vehicle driving to constant vehicle speed driving to accelerate to the set vehicle speed. To start. However, the ACC system has a problem that the acceleration timing of the own vehicle is delayed because the ACC system does not switch to the constant vehicle speed until the preceding vehicle surely leaves the own lane in order to ensure safety. In such a case, if the area in which the object detection device recognizes the preceding vehicle can be reduced, it is recognized early that the preceding vehicle that has left the lane of the host vehicle is no longer the preceding vehicle and accelerates to the set vehicle speed. The start timing can be made early.
(2)When a vehicle with a vehicle speed slower than the set vehicle speed of the adjacent lane is detected while driving at a constant vehicle speed at the set vehicle speed.
[0006]
  The ACC system estimates the travel locus of the host vehicle from the yaw rate (or rudder angle) and the vehicle speed, and recognizes an object on the travel locus of the host vehicle as a preceding vehicle among the objects detected by the object detection device. However, there is a case where a vehicle in the adjacent lane is erroneously detected as a preceding vehicle due to prediction of a future travel locus from the current situation of the own vehicle or detection error of the object detection device. Normally, the time for erroneous detection to occur is short, and the erroneous detection is canceled immediately. However, if the vehicle that is slower than the set vehicle speed is erroneously detected as the preceding vehicle, the ACC system will decelerate the vehicle. There is a problem that the driver feels uncomfortable. In such a case, when the driver determines that the object detection device has erroneously detected a vehicle in the adjacent lane as a preceding vehicle, the detection error can be eliminated if the region in which the object detection device recognizes the preceding vehicle can be reduced. Thus, unnecessary deceleration can be prevented and fluctuations in vehicle speed can be reduced.
(3)When you are behind a vehicle that is slower than the set vehicle speed while driving at a fixed vehicle speed at the set vehicle speed, but you want to immediately change the lane and overtake the preceding vehicle.
[0007]
  If you are behind a slow preceding vehicle while traveling with the ACC system and there is no vehicle in the overtaking lane and you can confirm safety, you may want to change the lane before starting the automatic deceleration to overtake the preceding vehicle. However, the ACC system starts gradual automatic deceleration considerably before it detects a preceding vehicle in order to smoothly shift from constant vehicle speed traveling to constant inter-vehicle traveling. For this reason, the ACC system has a problem that acceleration for overtaking is hindered because the driver starts to decelerate from a distance before the driver approaches the preceding vehicle and starts changing lanes. In such a case, when the driver feels that the preceding vehicle is recognized too early by the object detection device, if the area (distance) for recognizing the preceding vehicle can be reduced, the timing for recognizing the preceding vehicle is delayed. Since the vehicle can approach the preceding vehicle as much as possible and the lane change can be started before the ACC system performs automatic deceleration, the time required for overtaking can be shortened.
[0008]
  The conventional ACC system does not have a means to reduce the lock-on range during traveling between fixed vehicles, and in order to obtain the same effect,
・ Operate the accelerator pedal to temporarily set the ACC system to standby.
・ Operate the brake pedal to release the ACC system
-Cancel the ACC system by operating the cancel switch or main switch.
There are three methods.
[0009]
  However, the method of operating the accelerator pedal and the brake pedal is unexpectedly troublesome because it is necessary to use a foot that is not used during operation of the ACC system. Also, the method of operating the brake pedal and the switch is still troublesome because the released ACC system needs to be operated again. In any case, these methods do not reduce the lock-on range during traveling between fixed vehicles, but cancel the operation of the ACC system and eliminate the lock-on range.
[0010]
  The present invention has been made in view of the above circumstances, and an object thereof is to temporarily reduce the lock-on range of a preceding vehicle with a simple operation during operation of an ACC system.
[0011]
[Means for Solving the Problems]
  The present invention achieves the above object by the configuration shown in the claim correspondence diagram of FIG.
[0012]
  That is, according to the invention described in claim 1, an object detection device that detects an object in the traveling direction of the host vehicle, a distance calculation unit that calculates a distance to the object based on a detection result of the object detection device, Travel direction prediction means for predicting the traveling direction of the host vehicle based on the driving state of the host vehicle, area setting means for setting a predetermined area based on the traveling direction of the host vehicle predicted by the travel direction prediction means, and area setting A preceding vehicle determining means for determining a preceding vehicle that the own vehicle should follow based on a predetermined region set by the means and the detection result of the object detecting device; an inter-vehicle distance setting means for setting an inter-vehicle distance from the preceding vehicle; A vehicle speed detecting means for detecting the vehicle speed of the vehicle, a vehicle speed setting means for setting the vehicle speed of the host vehicle, and an inter-vehicle distance calculated by the distance calculating means when the preceding vehicle is determined by the preceding vehicle determining means. Car set by When there is no inter-vehicle distance control means for accelerating or decelerating the host vehicle up to the vehicle speed set by the vehicle speed setting means so as to coincide with the distance, and when there is no preceding vehicle determined by the preceding vehicle determining means, the vehicle speed detecting means In an auto-cruise device comprising vehicle speed control means for accelerating or decelerating the host vehicle so that the detected vehicle speed matches the vehicle speed set by the vehicle speed setting means, manual operation means operated by a driver, and inter-vehicle distance control And an area reduction means for reducing a predetermined area set by the area setting means when the manual operation means is operated during the control by the means.The area reduction means reduces the predetermined area while the manual operation means is operated.An auto-cruise device is proposed.
[0013]
  According to the invention described in claim 2, the object detection device for detecting an object in the traveling direction of the own vehicle, the distance calculation means for calculating the distance to the object based on the detection result of the object detection device, Travel direction prediction means for predicting the traveling direction of the own vehicle based on the driving state of the vehicle, area setting means for setting a predetermined area based on the travel direction of the own vehicle predicted by the travel direction prediction means, and area setting means A preceding vehicle determining means for determining a preceding vehicle to be followed by the own vehicle based on a predetermined region set by the vehicle and a detection result of the object detecting device, an inter-vehicle distance setting means for setting an inter-vehicle distance from the preceding vehicle, and the own vehicle When the preceding vehicle is determined by the vehicle speed detecting means for detecting the vehicle speed, the vehicle speed setting means for setting the vehicle speed of the host vehicle, and the preceding vehicle determining means, the inter-vehicle distance calculated by the distance calculating means is determined by the inter-vehicle distance setting means. Set distance between cars When there is no inter-vehicle distance control means for accelerating or decelerating the host vehicle with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the separation, and when there is no preceding vehicle determined by the preceding vehicle determining means, the vehicle speed detecting means In an auto-cruise device comprising vehicle speed control means for accelerating or decelerating the host vehicle so that the detected vehicle speed matches the vehicle speed set by the vehicle speed setting means, manual operation means operated by a driver, and inter-vehicle distance control And an area reduction means for reducing a predetermined area set by the area setting means when the manual operation means is operated during the control by the means. The area reduction means is operated again by the manual operation means. An auto-cruise device is proposed in which the predetermined area is reduced to the maximum.
[0014]
  According to the invention described in claim 3, an object detection device for detecting an object in the traveling direction of the own vehicle, a distance calculation means for calculating a distance to the object based on a detection result of the object detection device, Travel direction prediction means for predicting the traveling direction of the own vehicle based on the driving state of the vehicle, area setting means for setting a predetermined area based on the travel direction of the own vehicle predicted by the travel direction prediction means, and area setting means A preceding vehicle determining means for determining a preceding vehicle to be followed by the own vehicle based on a predetermined region set by the vehicle and a detection result of the object detecting device, an inter-vehicle distance setting means for setting an inter-vehicle distance from the preceding vehicle, and the own vehicle When the preceding vehicle is determined by the vehicle speed detecting means for detecting the vehicle speed, the vehicle speed setting means for setting the vehicle speed of the host vehicle, and the preceding vehicle determining means, the inter-vehicle distance calculated by the distance calculating means is determined by the inter-vehicle distance setting means. Set distance between cars When there is no inter-vehicle distance control means for accelerating or decelerating the host vehicle with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the separation, and when there is no preceding vehicle determined by the preceding vehicle determining means, the vehicle speed detecting means In an auto-cruise device comprising vehicle speed control means for accelerating or decelerating the host vehicle so that the detected vehicle speed matches the vehicle speed set by the vehicle speed setting means, manual operation means operated by a driver, and inter-vehicle distance control And an area reduction means for reducing a predetermined area set by the area setting means when the manual operation means is operated during the control by the means, the area reduction means after the manual operation means is operated. An auto-cruise device is proposed that reduces the predetermined area for a predetermined time. The predetermined time is set to 30 sec in the embodiment, but is not limited to this in the present invention.
[0015]
  According to a fourth aspect of the present invention, in addition to the feature of the third aspect, when the manual operation means is operated again before the predetermined time elapses, the area reduction means further increases the predetermined value from that point. An auto cruise device is proposed, characterized in that the predetermined area is reduced for a time.
[0016]
  According to the invention described in claim 5, the object detection device for detecting an object in the traveling direction of the own vehicle, the distance calculation means for calculating the distance to the object based on the detection result of the object detection device, Travel direction prediction means for predicting the traveling direction of the own vehicle based on the driving state of the vehicle, area setting means for setting a predetermined area based on the travel direction of the own vehicle predicted by the travel direction prediction means, and area setting means A preceding vehicle determining means for determining a preceding vehicle to be followed by the own vehicle based on a predetermined region set by the vehicle and a detection result of the object detecting device, an inter-vehicle distance setting means for setting an inter-vehicle distance from the preceding vehicle, and the own vehicle When the preceding vehicle is determined by the vehicle speed detecting means for detecting the vehicle speed, the vehicle speed setting means for setting the vehicle speed of the host vehicle, and the preceding vehicle determining means, the inter-vehicle distance calculated by the distance calculating means is determined by the inter-vehicle distance setting means. Set distance between cars When there is no inter-vehicle distance control means for accelerating or decelerating the host vehicle with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the separation, and when there is no preceding vehicle determined by the preceding vehicle determining means, the vehicle speed detecting means In an auto-cruise device comprising vehicle speed control means for accelerating or decelerating the host vehicle so that the detected vehicle speed matches the vehicle speed set by the vehicle speed setting means, manual operation means operated by a driver, and inter-vehicle distance control And an area reduction means for reducing a predetermined area set by the area setting means when the manual operation means is operated during the control by the means, the area reduction means after the manual operation means is operated. A preceding vehicle different from the preceding vehicle determined before the manual operation means is operated by the preceding vehicle determining means is determined, or the same preceding vehicle is determined Auto-cruising device is proposed which is characterized by reducing the predetermined region until the degrees determination.
[0017]
  According to the invention described in claim 6, the object detection device for detecting an object in the traveling direction of the own vehicle, the distance calculation means for calculating the distance to the object based on the detection result of the object detection device, Travel direction prediction means for predicting the traveling direction of the own vehicle based on the driving state of the vehicle, area setting means for setting a predetermined area based on the travel direction of the own vehicle predicted by the travel direction prediction means, and area setting means A preceding vehicle determining means for determining a preceding vehicle to be followed by the own vehicle based on a predetermined region set by the vehicle and a detection result of the object detecting device, an inter-vehicle distance setting means for setting an inter-vehicle distance from the preceding vehicle, and the own vehicle When the preceding vehicle is determined by the vehicle speed detecting means for detecting the vehicle speed, the vehicle speed setting means for setting the vehicle speed of the host vehicle, and the preceding vehicle determining means, the inter-vehicle distance calculated by the distance calculating means is determined by the inter-vehicle distance setting means. Set distance between cars When there is no inter-vehicle distance control means for accelerating or decelerating the host vehicle with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the separation, and when there is no preceding vehicle determined by the preceding vehicle determining means, the vehicle speed detecting means In an auto-cruise device comprising vehicle speed control means for accelerating or decelerating the host vehicle so that the detected vehicle speed matches the vehicle speed set by the vehicle speed setting means, manual operation means operated by a driver, and inter-vehicle distance control And an area reduction means for reducing a predetermined area set by the area setting means when the manual operation means is operated during the control by the means. The area reduction means is configured such that the manual operation means is operated for a predetermined time. An auto-cruise device is proposed in which the predetermined area is reduced for a certain period of time. Note that the predetermined time during which the manual operation means is operated and the fixed time during which the area is reduced are not necessarily the same. In the embodiment, the former predetermined time is set to 1 sec and the latter predetermined time is set to 30 sec. However, the present invention is not limited to this.
[0018]
  According to the seventh aspect of the present invention, in addition to the feature of the sixth aspect, the area reduction means reduces the predetermined area when the manual operation means is operated again before the predetermined time elapses. An auto-cruise device is proposed that extends the time for reduction.
[0019]
  According to the invention described in claim 8, the object detection device that detects an object in the traveling direction of the host vehicle, the distance calculation means that calculates the distance to the object based on the detection result of the object detection device, Travel direction prediction means for predicting the traveling direction of the own vehicle based on the driving state of the vehicle, area setting means for setting a predetermined area based on the travel direction of the own vehicle predicted by the travel direction prediction means, and area setting means A preceding vehicle determining means for determining a preceding vehicle to be followed by the own vehicle based on a predetermined region set by the vehicle and a detection result of the object detecting device, an inter-vehicle distance setting means for setting an inter-vehicle distance from the preceding vehicle, and the own vehicle When the preceding vehicle is determined by the vehicle speed detecting means for detecting the vehicle speed, the vehicle speed setting means for setting the vehicle speed of the host vehicle, and the preceding vehicle determining means, the inter-vehicle distance calculated by the distance calculating means is determined by the inter-vehicle distance setting means. Set distance between cars When there is no inter-vehicle distance control means for accelerating or decelerating the host vehicle with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the separation, and when there is no preceding vehicle determined by the preceding vehicle determining means, the vehicle speed detecting means In an auto-cruise device comprising vehicle speed control means for accelerating or decelerating the host vehicle so that the detected vehicle speed matches the vehicle speed set by the vehicle speed setting means, manual operation means operated by a driver, and inter-vehicle distance control And an area reduction means for reducing a predetermined area set by the area setting means when the manual operation means is operated during the control by the means. The area reduction means is configured such that the manual operation means is operated for a predetermined time. After that, a preceding vehicle different from the preceding vehicle determined before the manual operation means is operated by the preceding vehicle determining means is determined, or the same Auto-cruising device is proposed which is characterized by reducing the predetermined region to the line car is again determined.
[0020]
  According to the above configuration, the inter-vehicle distance control means sets the inter-vehicle distance calculated by the distance calculation means based on the detection result of the object detection device by the inter-vehicle distance setting means when the preceding vehicle is determined by the preceding vehicle determination means. The vehicle is accelerated or decelerated with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the inter-vehicle distance, and the vehicle travels between fixed vehicles. The vehicle speed control means accelerates or decelerates the own vehicle so that the vehicle speed detected by the vehicle speed detection means coincides with the vehicle speed set by the vehicle speed setting means when there is no preceding vehicle determined by the preceding vehicle determination means. To drive the vehicle at a constant speed. When the manual operation means is operated by the driver during the control by the inter-vehicle distance control means, the area reduction means reduces the predetermined area set by the area setting means based on the traveling direction of the host vehicle predicted by the traveling direction prediction means. Therefore, even when the inter-vehicle distance control means is running between fixed vehicles, it is possible to reduce the predetermined area for determining the preceding vehicle only by operating the manual operation means. When a slow-moving vehicle is mistakenly detected as a preceding vehicle, the vehicle is quickly accelerated or an unnecessary deceleration is prevented, for example, when a lane change is made after passing behind a slower preceding vehicle to overtake the preceding vehicle. be able to.
[0021]
  In particular, according to the configuration of the first aspect, since the area reduction means reduces the predetermined area while the manual operation means is operated, it is possible to reduce the subtle area according to the will of the driver. Become.
[0022]
  In particular, according to the configuration of the second aspect, since the area reduction means reduces the predetermined area until the manual operation means is operated again, it is possible to reduce the subtle area according to the will of the driver. .
[0023]
  In particular, according to the configuration of the third aspect, since the area reduction means reduces the predetermined area for a predetermined time after the manual operation means is operated, the operation of the manual operation means becomes easy.
[0024]
  In particular, according to the configuration of claim 4, if the manual operation means is operated again before the predetermined time elapses, the area reduction means further reduces the predetermined area for a predetermined time from that point. An appropriate area can be reduced according to the situation around the vehicle.
[0025]
  In particular, according to the configuration of claim 5, the area reduction means includes a preceding vehicle that is different from the preceding vehicle determined before the manual operation means is operated by the preceding vehicle determination means after the manual operation means is operated. The predetermined area is reduced until it is determined or the same preceding vehicle is determined again, so that when the manual operation means is operated and the predetermined area is reduced, a new preceding vehicle or the original preceding vehicle Is determined, the area is restored to the original state, and therefore the host vehicle is prevented from being too close to the preceding vehicle.
[0026]
  In particular, according to the configuration of the sixth aspect, since the area reduction means reduces the predetermined area for a predetermined time after the manual operation means is operated for a predetermined time, the operation of the manual operation means becomes easy.
[0027]
  In particular, according to the configuration of claim 7, if the manual operation means is operated again before the fixed time has elapsed, the area reduction means extends the time for reducing the predetermined area. An appropriate area can be reduced according to the surrounding situation.
[0028]
  In particular, according to the configuration of the eighth aspect, the area reducing means is different from the preceding vehicle that is determined before the manual operating means is operated by the preceding vehicle determining means after the manual operating means is operated for a predetermined time. Since the predetermined area is reduced until a vehicle is determined or the same preceding vehicle is determined again, when the manual operation means is operated for a predetermined time and the predetermined area is reduced, a new preceding vehicle or When the original preceding vehicle is determined, the area is restored to the original state, and therefore the host vehicle is prevented from being too close to the preceding vehicle.
[0029]
  AlsoClaim 9According to the invention, claim 1Any of ~ 8In addition to the configuration, an auto-cruise device is proposed in which the area reduction means reduces the width of the predetermined area set by the area setting means in the vehicle width direction of the host vehicle.,thisAccording to the configuration, since the width of the predetermined area set by the area setting means is reduced in the vehicle width direction of the own vehicle, the area for determining the preceding vehicle can be surely reduced.
[0030]
  AlsoOf claim 10According to the invention, the claims9In addition to the above configuration, the predetermined area set by the area setting means has a predetermined lane width centered on the traveling direction of the own vehicle, and the area reducing means reduces the area width from the lane width to the own vehicle width. An auto-cruise device characterized by,thisAccording to the configuration, the area reducing means reduces the width of the area defined around the traveling direction of the own vehicle from the lane width to the own vehicle width, so that the area for determining the preceding vehicle can be reliably reduced.
[0031]
  AlsoOf claim 11According to the invention, the claims9 or 10In addition to the above structure, an auto-cruise device is proposed in which the area reduction means narrows the width of the area at a long distance from the own vehicle rather than the width of the area at a short distance from the own vehicle.,thisAccording to the configuration, the probability of false detection is low, and it is necessary to quickly detect other vehicles that interrupt immediately before the own vehicle. Since the area at a long distance that does not need to be accelerated is narrowed, an optimum area can be set according to the distance.
[0032]
  AlsoOf claim 12According to the invention, the claimsAny of 1-11In addition to the above configuration, an auto-cruise device is proposed in which the area reducing means reduces the length of the predetermined area set by the area setting means in the traveling direction of the host vehicle.,thisAccording to the configuration, since the length of the predetermined area set by the area setting means is reduced in the traveling direction of the own vehicle, the area for determining the preceding vehicle can be reliably reduced.
[0033]
  AlsoEspecially in claim 13According to the invention, the claims12In addition to the above configuration, an auto-cruise device is proposed in which the area reduction means reduces the length of the predetermined area so as to be equal to or greater than the inter-vehicle distance set by the inter-vehicle distance setting means.,thisAccording to the configuration, the length of the reduced predetermined area is equal to or greater than the inter-vehicle distance set by the inter-vehicle distance setting means. Therefore, when a preceding vehicle that is slower than the own vehicle is determined, the vehicle is secured while ensuring a safe inter-vehicle distance. Too early deceleration of the car can be suppressed.
[0034]
  AlsoClaim 14According to the invention, the claimsAny one of 1-13In addition to the above structure, the area reduction means reduces the predetermined area when the preceding vehicle is determined by the preceding vehicle determination means when the manual operation means is operated. Proposed,thisAccording to the configuration, the predetermined area is reduced when the preceding vehicle is determined by the preceding vehicle determination unit when the manual operation unit is operated, and therefore, the constant vehicle speed traveling is performed because there is no preceding vehicle. In such a case, the reduction control of the meaningless area is not performed.
[0035]
  The manual operation means M8 in the invention described in claims 1 to 15 includes the NARROW switch 34 in FIGS. 3 (A) and 3 (B), the operation lever 35 in FIG. 3 (C), and FIG. RES / NARW switch 37 in FIG. 4 and the operation lever 35 in FIG.
[0036]
DETAILED DESCRIPTION OF THE INVENTION
  Embodiments of the present invention will be described below based on the embodiments of the present invention shown in the accompanying drawings.
[0037]
  FIGS. 1 to 10 show an embodiment of the present invention, FIG. 1 is a block diagram of an object detection device, FIG. 2 is a perspective view of the object detection device, and FIG. 3 is a diagram showing a newly added NARROW switch. 4 is a diagram showing a RESUME switch to which a function of a NARROW switch is added, FIG. 5 is a flowchart of a main routine of the embodiment, FIG. 6 is a flowchart of a RESUME switch reading module, and FIG. 7 is a diagram showing a reduction example of a lock-on range. FIG. 8 is a diagram for explaining a change in the vehicle speed due to erroneous detection of the preceding vehicle in the conventional ACC system, and FIG. 9 is a diagram for explaining a change in the vehicle speed due to erroneous detection of the preceding vehicle in the ACC system of the embodiment. FIG. 10 and FIG. 10 are graphs for explaining the effects of the embodiment.
[0038]
  As shown in FIGS. 1 and 2, the object detection device St for detecting the distance and direction of an object ahead of the host vehicle includes a laser radar device, and includes a light transmission unit 1, a light transmission scanning unit 2, It comprises a light receiving unit 3, a light receiving scanning unit 4, and a distance measurement processing unit 5. The light transmission unit 1 includes a laser diode 11 integrally provided with a light transmission lens, and a laser diode drive circuit 12 that drives the laser diode 11. The light transmission scanning unit 2 includes a light transmission mirror 13 that reflects the laser output from the laser diode 11, a motor 15 that reciprocates the light transmission mirror 13 about the vertical axis 14, and a motor drive that controls the driving of the motor 15. Circuit 16. The light transmission beam emitted from the light transmission mirror 13 is limited in the left-right width and has an elongated pattern in the vertical direction, which reciprocates in the left-right direction in a predetermined cycle to scan the object.
[0039]
  The light receiving unit 3 includes a light receiving lens 17, a photodiode 18 that receives a reflected wave converged by the light receiving lens 17 and converts it into an electrical signal, and a light receiving amplifier circuit 19 that amplifies an output signal of the photodiode 18. The light receiving scanning unit 4 controls the driving of the light receiving mirror 20 that reflects the reflected wave from the object and guides it to the photodiode 18, the motor 22 that reciprocates the light receiving mirror 20 around the left and right axis 21, and the driving of the motor 22. And a motor drive circuit 23. The light receiving area having a vertically narrowed pattern with a narrow vertical width is scanned back and forth in the vertical direction by the light receiving mirror 20 in a predetermined cycle.
[0040]
  The distance measurement processing unit 5 includes a communication circuit 26 that performs communication between the control circuit 24 that controls the laser diode drive circuit 12 and the motor drive circuits 16 and 23 and the electronic control unit 25 that controls the adaptive cruise control device. A counter circuit 27 that counts the time from laser light transmission to light reception, and a central processing unit 28 that calculates the distance to the object and the direction of the object.
[0041]
  Thus, the portion where the light transmission area elongated in the vertical direction and the light receiving area elongated in the left-right direction becomes an instantaneous detection area, and this detection area has a horizontal width equal to the horizontal scanning width of the light transmission beam, The entire detection area having the vertical width equal to the vertical scanning width of the light receiving area is moved zigzag to scan the object. The distance to the object is detected based on the time from when the light transmission beam is transmitted to when the reflected wave reflected by the object is received, and the instantaneous detection area at that time is detected. The direction of the object is detected based on the direction.
[0042]
  Next, a switch for temporarily reducing the lock-on range during traveling by the ACC system will be described.
[0043]
  3 (A) and 3 (B) are examples for temporarily reducing the lock-on range adjacent to the SET switch 31, RESUME switch 32, and CANCEL switch 33 provided on the steering wheel 30. A NARROW switch 34 is newly provided. In the example shown in FIG. 3C, the operation lever 35 of the ACC system is used, and the CRUISE ON / OFF switch is operated by the button 36 of the operation lever 35 as in the conventional case, and the operation lever 35 is operated downward. The SET / COAST switch is activated, the RES / ACC switch is activated by operating the operating lever 35 upward, and the CANCEL switch is operated by operating the operating lever 35 forward. A new NARROW switch is operated by operating the lever 35 to the other side. In addition, the NARROW switch can be arranged at a position where the driver can easily operate, such as an instrument panel or a shift knob.
[0044]
[Table 1]

[0045]
  Table 1 shows the operation method of the NARROW switch.
[0046]
  In the continuous pressing method, the lock-on range is reduced only while the NARROW switch is pressed. When the NARROW switch is released, the original lock-on range is automatically restored.
[0047]
  In the 1-push method-1, the lock-on range is reduced when the NARROW switch is pressed, and automatically returns to the original lock-on range when a new preceding vehicle is confirmed.
[0048]
  In the 1-push method-2, the lock-on range is reduced when the NARROW switch is pressed, and automatically returns to the original lock-on range when a certain time (for example, 30 sec) elapses.
[0049]
  In the push-in method, the lock-on range is reduced when the NARROW switch is pressed, and automatically returns to the original lock-on range when the NARROW switch is pressed again.
[0050]
  The temporary reduction of the lock-on range by the operation of the NARROW switch described above may be performed on condition that a preceding vehicle is detected. If no preceding vehicle is detected, it is not necessary to reduce the lock-on range. However, if the NARROW switch is always pressed, the lock-on range is always reduced, so it is better to include the above conditions, but there is no problem even if the above conditions are not included.
[0051]
  The example shown in FIG. 4A is a RES / NARW switch 37 obtained by adding a function of a NARROW switch for temporarily reducing the lock-on range to an existing RESUME switch. In the example shown in B), the function of the NARROW switch for temporarily reducing the lock-on range is added to the existing RES / ACC switch of the operation lever 35 of the ACC system to form a RES / ACC / NARW switch. Is.
[0052]
[Table 2]

[0053]
  The functions shown in Table 2 are already allocated to the existing RESUME switch that does not have the function of the NARROW switch.
[0054]
  That is, (1) RESUME function to start ACC running at the set vehicle speed memorized in the previous cruise by one push or continuous push in ACC system standby state, and (2) Short time 1 during ACC system operation. It has an Accelerate function that raises the set vehicle speed by one step (for example, 1 km / h) by pushing, and (3) an Accelerate function that continuously raises the set vehicle speed by continuously pushing without a preceding vehicle. Therefore, (5) 1-push method for a long time (about 1 sec) while the ACC system of unset-2 is in operation, and (6) continuous push-up method in the state of detecting the preceding vehicle of unset-3 Is selected as the operation method.
[0055]
[Table 3]

[0056]
  That is, as shown in Table 3, when the RES / NARW switch (refer to FIG. 4A) or the RES / ACC / NARW switch (refer to FIG. 4B) is pushed once for a long time, the lock-on range becomes temporary. After that, when a new preceding vehicle is detected or a certain time (for example, 30 sec) elapses, the original lock-on range is restored. If the switch is pushed once again for a long time before the predetermined time elapses, the time for temporarily reducing the lock-on range is extended, and the extension of the time is repeated each time the switch is pressed. If the RES / NARW switch or the RES / ACC / NARW switch is continuously pressed, the lock-on range is temporarily reduced only when the preceding vehicle is detected. If the switch continues to be pressed, Even when there is no preceding vehicle, the temporary reduction of the lock-on range continues. Thus, the reason why the lock-on range is temporarily reduced only when the preceding vehicle is detected is to distinguish it from the ACCELATE function in a state where there is no preceding vehicle. If the switch continues to be pressed after the temporary reduction, the driver's will is given priority and the temporary reduction is continued regardless of the presence or absence of a preceding vehicle.
[0057]
  Next, four specific methods for temporarily reducing the lock-on range will be described.
[0058]
  The normal lock-on range is set as follows. For the lock-on range in the left-right direction, the travel locus of the host vehicle is calculated from the vehicle speed and yaw rate (or rudder angle) of the host vehicle, and the lane width (3.6 m) + margin (0.4 m) ) Is evenly distributed. Accordingly, the lock-on range is a range having a width of 2 m on each of the left and right sides of the travel locus of the host vehicle (a range having a total width of 4 m) (see FIG. 7A). The normal lock-on range in the front-rear direction is not particularly limited, and all the ranges that can be detected by the object detection device St are lock-on ranges.
[0059]
  The methods for reducing the lock-on range in this embodiment are the following (1) to (4).
(1)The lock-on range in the left-right direction is set based on the vehicle width (2.0 m) without using the lane width (3.6 m) as a reference.
[0060]
  The vehicle width (2.0m) + margin (0.6m) width (2.6m) should be evenly distributed on the left and right sides of the vehicle's travel locus calculated from the vehicle speed and yaw rate (or rudder angle). To distribute. Accordingly, the lock-on range is a range having a width of 1.3 m (a range having a total width of 2.6 m) on both the left and right sides of the traveling locus of the host vehicle (see FIG. 7B).
(2)The lock-on range in the left-right direction is based on the lane width (2.8 m) of a general road without using the lane width (3.6 m) of a high-standard road as a reference.
[0061]
  A general road lane width (2.8 m) + a margin (0.4 m) is equally distributed to the left and right of the calculated travel locus. Accordingly, the lock-on range is a range of 1.6 m in width on each of the left and right sides of the travel locus of the vehicle (a range of 3.2 m in total width) (see FIG. 7C).
(3)The lock-on range in the left-right direction is widened in a region close to the own vehicle and narrowed in a region far from the own vehicle.
[0062]
  Because the influence of errors in the yaw rate sensor and rudder angle sensor is small at short distances, the probability of false detection is low, and in order to detect an interrupting vehicle immediately before the own vehicle as soon as possible, I want to widen the lock-on range at short distances . On the other hand, because the influence of the error of the yaw rate sensor and rudder angle sensor is large at a long distance, the probability of false detection is high, and there is a time margin for interruption at a long distance, so it is necessary to forcibly advance the detection timing. Absent. From the above, the width of the lock-on range is set to 4.0 m 20 m forward, 3.2 m 50 m forward, and 2.6 m 100 m forward (see FIG. 7D).
(Four) The upper limit value of the lock-on range in the front-rear direction is set to 120% of the set inter-vehicle distance.
[0063]
[Table 4]

[0064]
  As shown in Table 4, the inter-vehicle distance when performing the constant inter-vehicle travel by the ACC system is generally defined by the vehicle head time. The vehicle head time is defined as the time required to reach the current position of the preceding vehicle when the vehicle travels at the current vehicle speed, and varies depending on the vehicle speed of the vehicle even if the inter-vehicle distance is the same. As shown in Table 4, the inter-vehicle distance is set by the driver in three stages, for example, “short”, “medium”, and “far”, and the head time corresponding to the inter-vehicle distance “short” is 1.7 sec, and the inter-vehicle distance “medium” The vehicle head time corresponding to "" is 2.0 seconds, and the vehicle head time corresponding to the inter-vehicle distance "far" is 2.5 seconds. When the vehicle speed of the host vehicle is 90 km / h, for example, the vehicle head time 1.7 sec corresponds to the inter-vehicle distance 42.5 m, the vehicle head time 2.0 sec corresponds to the inter-vehicle distance 50.0 m, and the vehicle head time 2.5 sec. Corresponds to a distance of 62.5m.
[0065]
  The conventional lock-on range at a vehicle speed of 90 km / h was 100 m forward from the host vehicle when the inter-vehicle distance was “short”, “medium”, or “far”. Is 120% of the inter-vehicle distance at a vehicle speed of 90 km / h, so the inter-vehicle distance “short” is 51.0 m, the inter-vehicle distance “medium” is 60.0 m, and the inter-vehicle distance “far” is 75.0 m. FIG. 7E shows a state where the vehicle speed is 90 km / h, the inter-vehicle distance is “far”, and the lock-on range is 75.0 m.
[0066]
  7A to 7E can be used in combination with any of them.
[0067]
  Next, the operation of temporarily reducing the lock-on range will be described with reference to the flowcharts of FIGS.
[0068]
  The premise is that the RESUME switch having the function of the NARROW switch shown in FIG. 4 (A) or FIG. 4 (B) is used, the operation method is the continuous push method shown in Table 3, and the object detection device St moves the preceding vehicle. The lock-on range is reduced only when the NARROW switch is operated in the detected state, and the RESUME switch is released to return to the original lock-on range.
[0069]
  In the flowchart of the main routine of FIG. 5, first, in step S1, all the targets in the detection area are detected by the object detection device St and stored in the target memory, and based on the vehicle speed and yaw rate (or steering angle) of the own vehicle in step S2. To calculate the trajectory of the vehicle. In the following step S3, the previous target data is compared with the current target data and the data is taken over. After the RESUME switch reading module is executed in step S4, the target data and the travel locus of the vehicle are calculated in step S5. The preceding vehicle is determined from the lock-on range. The specific contents of step S4 will be described later based on the flowchart of FIG.
[0070]
  If the preceding vehicle is detected by the object detection device St in the subsequent step S6, the constant inter-vehicle travel control is executed in step S7. In the inter-vehicle running control, if the inter-vehicle distance with the preceding vehicle exceeds the set inter-vehicle distance in step S8, acceleration control is executed in step S9, and the inter-vehicle distance with the preceding vehicle matches the set inter-vehicle distance in step S8. If so, constant speed control is executed in step S10, and if the inter-vehicle distance from the preceding vehicle is less than the set inter-vehicle distance in step S8, deceleration control is executed in step S11, thereby setting the inter-vehicle distance to the set inter-vehicle distance. To match.
[0071]
  If no preceding vehicle is detected in step S6, constant vehicle speed traveling control is executed in step S12. In constant vehicle speed running control, if the host vehicle speed exceeds the set vehicle speed in step S13, deceleration control is executed in step S14, and if the host vehicle speed matches the set vehicle speed in step S13, constant speed control is executed in step S15. If the host vehicle speed is lower than the set vehicle speed in step S13, the speed increase control is executed in step S16, thereby matching the host vehicle speed with the set vehicle speed.
[0072]
  Next, the details of the RESUME switch reading module in step S4 will be described based on the flowchart of FIG.
[0073]
  First, in step S101, if the RESUME switch having the NARROW switch function is not pressed at this time, the lock-on range is set to the normal range without being reduced in step S104. If the RESUME switch is pressed this time in step S101, and the time during which the RESUME switch is pressed in step S102 is less than 1.0 sec, the set vehicle speed is increased by one step (eg, 1 km / h) in step S103, and step In S104, the lock-on range is set to the normal range.
[0074]
  If the time during which the RESUME switch is pressed in step S102 is 1.0 sec or more and there is a preceding vehicle in step S108, the lock-on range is reduced in step S109. If no preceding vehicle exists in step S108, the set vehicle speed is continuously increased in step S110, and the lock-on range is set to the normal range in step S111.
[0075]
  If the RESUME switch has been continuously pressed from the previous time in step S102 and the previous lock-on range has been reduced in step S105, the lock-on range is continuously reduced in step S106. If the previous lock-on range has not been reduced in step S105 and there is no preceding vehicle in step S107, the previous state is continued, the set vehicle speed is continuously increased in step S110, and the lock-on range is set in step S111. The normal range. On the other hand, if there is a preceding vehicle in step S107, the vehicle travels between fixed vehicles and the set vehicle speed does not match the actual vehicle speed. Therefore, the continuous increase in the set vehicle speed is stopped, and the lock-on range is set to the normal range in step S111.
[0076]
  Next, the effect of the present embodiment will be described with reference to FIGS.
[0077]
  This example is when the lock-on range slightly shifts to the left side due to an estimation error of the traveling track of the own vehicle, and thus a vehicle traveling in the adjacent lane at a vehicle speed slower than the set vehicle speed of the own vehicle is erroneously detected as a preceding vehicle of the own lane. Shows an example in which unnecessary deceleration of the vehicle can be minimized.
[0078]
  FIG. 8 shows a conventional example. A vehicle equipped with a conventional ACC system is running at a constant vehicle speed of 90 km / h, which is the set vehicle speed, and other vehicles are slower than the set vehicle speed of 90 km / h in the adjacent lane. The vehicle is traveling at 72 km / h (see FIG. 8A). When the vehicle approaches another vehicle and enters another vehicle within the lock-on range of the vehicle, the other vehicle is mistakenly detected as a preceding vehicle, and the vehicle is switched from constant vehicle speed driving to constant vehicle driving. Decrease from h to 80 km / h. (See FIG. 8B). When another vehicle approaches and locks off further, it is switched from constant-vehicle travel to constant vehicle speed travel, and the vehicle speed of the host vehicle increases from 80 km / h to 90 km / h. (See FIG. 8C). Therefore, the amount of change in the vehicle speed due to erroneous detection of the preceding vehicle is 10 km / h.
[0079]
  FIG. 9 shows the present embodiment. From the state of FIG. 9A, which is the same as FIG. 8A, the own vehicle equipped with the ACC system of the present embodiment mistakes another vehicle in the adjacent lane as a preceding vehicle. The vehicle is detected and switched from constant vehicle speed travel to constant vehicle travel, and deceleration of the host vehicle is started (see FIG. 9B). When the driver notices a false detection when the vehicle speed drops to 86 km / h and operates the NARROW switch, the left-right width of the lock-on range is reduced from 4.0 m to 2.6 m, and the other cars are locked off. Thus, erroneous detection is canceled (see FIG. 9C). As a result, the vehicle is switched from the constant vehicle travel to the constant vehicle speed travel, and the host vehicle accelerates to the set vehicle speed of 90 km / h (see FIG. 8D). Therefore, the fluctuation amount of the vehicle speed of the own vehicle due to erroneous detection of the preceding vehicle is 4 km / h, which is greatly reduced compared to the conventional 10 km / h, and the time for the vehicle speed to change is also reduced (see FIG. 10). ).
[0080]
  As described above, according to the present embodiment, the lock-on range can be temporarily reduced only by manually operating the switch without operating the accelerator pedal or the brake pedal while the ACC system is operating. And automatically return to the original lock-on range. As a result, if the preceding vehicle changes lanes while traveling between fixed vehicles, the preceding vehicle is immediately locked off to accelerate the vehicle quickly, or a vehicle with a slow lane is entering the lock-on range while driving at constant vehicle speed. If it is mistakenly detected as a preceding vehicle, it will prevent the vehicle from decelerating unnecessarily, or it will follow the preceding vehicle that is slower than the set vehicle speed while driving at constant speed, but immediately change the lane and change the preceding vehicle. When overtaking, it is possible to perform a smooth overtaking by approaching the preceding vehicle while preventing the own vehicle from decelerating.
[0081]
  As mentioned above, although the Example of this invention was explained in full detail, this invention can perform a various design change in the range which does not deviate from the summary.
[0082]
  For example, although a laser radar device is used as the object detection device St in the embodiment, a millimeter wave radar device or a television camera can be used.
[0083]
【The invention's effect】
  As aboveEach of claims 1-14According to the invention, the inter-vehicle distance control means sets the inter-vehicle distance calculated by the distance calculation means based on the detection result of the object detection device by the inter-vehicle distance setting means when the preceding vehicle is determined by the preceding vehicle determination means. The host vehicle is accelerated or decelerated with the vehicle speed set by the vehicle speed setting means as an upper limit so as to coincide with the inter-vehicle distance, and the host vehicle travels between fixed vehicles. The vehicle speed control means accelerates or decelerates the own vehicle so that the vehicle speed detected by the vehicle speed detection means coincides with the vehicle speed set by the vehicle speed setting means when there is no preceding vehicle determined by the preceding vehicle determination means. To drive the vehicle at a constant speed. When the manual operation means is operated by the driver during the control by the inter-vehicle distance control means, the area reduction means reduces the predetermined area set by the area setting means based on the traveling direction of the host vehicle predicted by the traveling direction prediction means. Therefore, even when the inter-vehicle distance control means is running between fixed vehicles, it is possible to reduce the predetermined area for determining the preceding vehicle only by operating the manual operation means. When a slow-moving vehicle is mistakenly detected as a preceding vehicle, the vehicle is quickly accelerated or an unnecessary deceleration is prevented, for example, when a lane change is made after passing behind a slower preceding vehicle to overtake the preceding vehicle. be able to.
[0084]
  In particular, according to the invention of claim 1, the area reducing means reduces the predetermined area while the manual operation means is being operated, so that the area can be subtly reduced according to the will of the driver. Become.
[0085]
  In particular, according to the invention of claim 2, since the area reduction means reduces the predetermined area until the manual operation means is operated again, it is possible to reduce the subtle area according to the will of the driver. .
[0086]
  In particular, according to the invention of claim 3, since the area reduction means reduces the predetermined area for a predetermined time after the manual operation means is operated, the operation of the manual operation means becomes easy.
[0087]
  In particular, according to the invention of claim 4, when the manual operation means is operated again before the predetermined time elapses, the area reduction means further reduces the predetermined area for a predetermined time from that point. An appropriate area can be reduced according to the situation around the vehicle.
[0088]
  In particular, according to the invention of claim 5, the area reduction means is configured to detect a preceding vehicle that is different from the preceding vehicle determined before the manual operation means is operated by the preceding vehicle determination means after the manual operation means is operated. Since the predetermined area is reduced until it is determined or the same preceding vehicle is determined again, when the manual operation means is operated and the predetermined area is reduced, a new preceding vehicle or the original preceding vehicle Is determined, the area is restored to the original state, and therefore the host vehicle is prevented from being too close to the preceding vehicle.
[0089]
  In particular, according to the invention of claim 6, since the area reduction means reduces the predetermined area for a predetermined time after the manual operation means is operated for a predetermined time, the operation of the manual operation means becomes easy.
[0090]
  Further, according to the invention of claim 7, if the manual operation means is operated again before the fixed time has elapsed, the area reduction means extends the time for reducing the predetermined area. An appropriate area can be reduced according to the surrounding situation.
[0091]
  In particular, according to the invention of claim 8, the area reducing means is different from the preceding vehicle that is determined before the manual operating means is operated by the preceding vehicle determining means after the manual operating means is operated for a predetermined time. Since the predetermined area is reduced until the vehicle is determined or the same preceding vehicle is determined again, when the manual operation means is operated for a predetermined time and the predetermined area is reduced, a new preceding vehicle or When the original preceding vehicle is determined, the area is restored to the original state, and therefore the host vehicle is prevented from being too close to the preceding vehicle.
[0092]
  AlsoEspecially in claim 9According to the invention, since the width of the predetermined area set by the area setting means is reduced in the vehicle width direction of the own vehicle, the area for determining the preceding vehicle can be surely reduced.
[0093]
  AlsoEspecially in claim 10According to the invention, since the area reducing means reduces the width of the area determined around the traveling direction of the own vehicle from the lane width to the own vehicle width, the area for determining the preceding vehicle can be reliably reduced.
[0094]
  AlsoEspecially in claim 11According to the invention, the probability of erroneous detection is low, and it is necessary to quickly detect another vehicle that immediately interrupts the own vehicle. Since the area at a long distance that does not need to be accelerated is narrowed, an optimum area can be set according to the distance.
[0095]
  AlsoEspecially in claim 12According to the invention, since the length of the predetermined area set by the area setting means is reduced in the traveling direction of the own vehicle, the area for determining the preceding vehicle can be reliably reduced.
[0096]
  AlsoEspecially in claim 13According to the invention, since the length of the reduced predetermined area is equal to or greater than the inter-vehicle distance set by the inter-vehicle distance setting means, when determining a preceding vehicle that is slower than the own vehicle, the vehicle is secured while ensuring a safe inter-vehicle distance. Too early deceleration of the car can be suppressed.
[0097]
  AlsoEspecially in claim 14According to the invention, the predetermined area is reduced when the preceding vehicle is determined by the preceding vehicle determining means when the manual operation means is operated, and therefore, the constant vehicle speed travel is performed because there is no preceding vehicle. In such a case, no reduction control of a meaningless area is performed.
[Brief description of the drawings]
FIG. 1 is a block diagram of an object detection device.
FIG. 2 is a perspective view of an object detection device.
FIG. 3 is a diagram showing a newly added NARROW switch.
FIG. 4 is a diagram showing a RESUME switch to which a function of a NARROW switch is added.
FIG. 5 is a flowchart of a main routine of the embodiment.
FIG. 6 is a flowchart of a RESUME switch reading module.
FIG. 7 is a diagram showing an example of reducing the lock-on range.
FIG. 8 is a diagram for explaining a change in the vehicle speed due to erroneous detection of a preceding vehicle in a conventional ACC system.
FIG. 9 is a diagram for explaining changes in the vehicle speed due to erroneous detection of a preceding vehicle in the ACC system of the embodiment.
FIG. 10 is a graph illustrating the effect of the example.
FIG. 11 Correspondence diagram
[Explanation of symbols]
M1 distance calculation means
M2 preceding vehicle judgment means
M3 inter-vehicle distance setting means
M4 vehicle speed detection means
M5 vehicle speed setting means
M6 inter-vehicle distance control means
M7 vehicle speed control means
M8 manual operation means
M9 Travel direction prediction means
M10 area setting means
M11 area reduction means
St object detection device

Claims (14)

An object detection device (St) for detecting an object in the traveling direction of the own vehicle;
Distance calculating means (M1) for calculating the distance to the object based on the detection result of the object detection device (St);
Traveling direction prediction means (M9) for predicting the traveling direction of the host vehicle based on the driving state of the host vehicle;
An area setting means (M10) for setting a predetermined area based on the traveling direction of the host vehicle predicted by the traveling direction prediction means (M9);
A preceding vehicle determining means (M2) for determining a preceding vehicle to be followed by the own vehicle based on the predetermined area set by the area setting means (M10) and the detection result of the object detection device (St);
An inter-vehicle distance setting means (M3) for setting an inter-vehicle distance from the preceding vehicle;
Vehicle speed detection means (M4) for detecting the vehicle speed of the host vehicle;
Vehicle speed setting means (M5) for setting the vehicle speed of the own vehicle;
When the preceding vehicle is determined by the preceding vehicle determining means (M2), the vehicle speed is set so that the inter-vehicle distance calculated by the distance calculating means (M1) matches the inter-vehicle distance set by the inter-vehicle distance setting means (M3). An inter-vehicle distance control means (M6) for accelerating or decelerating the host vehicle with the vehicle speed set by the means (M5) as an upper limit;
When there is no preceding vehicle determined by the preceding vehicle determining means (M2), the host vehicle is accelerated so that the vehicle speed detected by the vehicle speed detecting means (M4) matches the vehicle speed set by the vehicle speed setting means (M5). or in the auto-cruise device having a <br/> the vehicle speed control means (M7) to decelerate,
Manual operation means (M8) operated by a driver;
When manual operation means during the control by the inter-vehicle distance control means (M6) (M8) is operated, and a region reduction means (M11) for reducing a predetermined area set in the area setting means (M10) ,
The area reduction means (M11) reduces the predetermined area while the manual operation means (M8) is being operated . An object detection device (St) for detecting an object in the traveling direction of the own vehicle;
Distance calculating means (M1) for calculating the distance to the object based on the detection result of the object detection device (St);
Traveling direction prediction means (M9) for predicting the traveling direction of the host vehicle based on the driving state of the host vehicle;
An area setting means (M10) for setting a predetermined area based on the traveling direction of the host vehicle predicted by the traveling direction prediction means (M9);
A preceding vehicle determining means (M2) for determining a preceding vehicle to be followed by the own vehicle based on the predetermined area set by the area setting means (M10) and the detection result of the object detection device (St);
An inter-vehicle distance setting means (M3) for setting an inter-vehicle distance from the preceding vehicle;
Vehicle speed detection means (M4) for detecting the vehicle speed of the host vehicle;
Vehicle speed setting means (M5) for setting the vehicle speed of the own vehicle;
When the preceding vehicle is determined by the preceding vehicle determining means (M2), the vehicle speed is set so that the inter-vehicle distance calculated by the distance calculating means (M1) matches the inter-vehicle distance set by the inter-vehicle distance setting means (M3). An inter-vehicle distance control means (M6) for accelerating or decelerating the host vehicle with the vehicle speed set by the means (M5) as an upper limit;
When there is no preceding vehicle determined by the preceding vehicle determining means (M2), the host vehicle is accelerated so that the vehicle speed detected by the vehicle speed detecting means (M4) matches the vehicle speed set by the vehicle speed setting means (M5). or in the auto-cruise device having a <br/> the vehicle speed control means (M7) to decelerate,
Manual operation means (M8) operated by a driver;
When manual operation means during the control by the inter-vehicle distance control means (M6) (M8) is operated, and a region reduction means (M11) for reducing a predetermined area set in the area setting means (M10) ,
The area reduction means (M11) reduces the predetermined area until the manual operation means (M8) is operated again . An object detection device (St) for detecting an object in the traveling direction of the own vehicle;
Distance calculating means (M1) for calculating the distance to the object based on the detection result of the object detection device (St);
Traveling direction prediction means (M9) for predicting the traveling direction of the host vehicle based on the driving state of the host vehicle;
An area setting means (M10) for setting a predetermined area based on the traveling direction of the host vehicle predicted by the traveling direction prediction means (M9);
A preceding vehicle determining means (M2) for determining a preceding vehicle to be followed by the own vehicle based on the predetermined area set by the area setting means (M10) and the detection result of the object detection device (St);
An inter-vehicle distance setting means (M3) for setting an inter-vehicle distance from the preceding vehicle;
Vehicle speed detection means (M4) for detecting the vehicle speed of the host vehicle;
Vehicle speed setting means (M5) for setting the vehicle speed of the own vehicle;
When the preceding vehicle is determined by the preceding vehicle determining means (M2), the vehicle speed is set so that the inter-vehicle distance calculated by the distance calculating means (M1) matches the inter-vehicle distance set by the inter-vehicle distance setting means (M3). An inter-vehicle distance control means (M6) for accelerating or decelerating the host vehicle with the vehicle speed set by the means (M5) as an upper limit;
When there is no preceding vehicle determined by the preceding vehicle determining means (M2), the host vehicle is accelerated so that the vehicle speed detected by the vehicle speed detecting means (M4) matches the vehicle speed set by the vehicle speed setting means (M5). or in the auto-cruise device having a <br/> the vehicle speed control means (M7) to decelerate,
Manual operation means (M8) operated by a driver;
When manual operation means during the control by the inter-vehicle distance control means (M6) (M8) is operated, and a region reduction means (M11) for reducing a predetermined area set in the area setting means (M10) ,
The auto-cruise device, wherein the area reducing means (M11) reduces the predetermined area for a predetermined time after the manual operation means (M8) is operated . The area reduction means (M11) further reduces the predetermined area for a predetermined time from the time when the manual operation means (M8) is operated again before the predetermined time elapses. 3. The auto cruise device according to 3. An object detection device (St) for detecting an object in the traveling direction of the own vehicle;
Distance calculating means (M1) for calculating the distance to the object based on the detection result of the object detection device (St);
Traveling direction prediction means (M9) for predicting the traveling direction of the host vehicle based on the driving state of the host vehicle;
An area setting means (M10) for setting a predetermined area based on the traveling direction of the host vehicle predicted by the traveling direction prediction means (M9);
A preceding vehicle determining means (M2) for determining a preceding vehicle to be followed by the own vehicle based on the predetermined area set by the area setting means (M10) and the detection result of the object detection device (St);
An inter-vehicle distance setting means (M3) for setting an inter-vehicle distance from the preceding vehicle;
Vehicle speed detection means (M4) for detecting the vehicle speed of the host vehicle;
Vehicle speed setting means (M5) for setting the vehicle speed of the own vehicle;
When the preceding vehicle is determined by the preceding vehicle determining means (M2), the vehicle speed is set so that the inter-vehicle distance calculated by the distance calculating means (M1) matches the inter-vehicle distance set by the inter-vehicle distance setting means (M3). An inter-vehicle distance control means (M6) for accelerating or decelerating the host vehicle with the vehicle speed set by the means (M5) as an upper limit;
When there is no preceding vehicle determined by the preceding vehicle determining means (M2), the host vehicle is accelerated so that the vehicle speed detected by the vehicle speed detecting means (M4) matches the vehicle speed set by the vehicle speed setting means (M5). or in the auto-cruise device having a <br/> the vehicle speed control means (M7) to decelerate,
Manual operation means (M8) operated by a driver;
When manual operation means during the control by the inter-vehicle distance control means (M6) (M8) is operated, and a region reduction means (M11) for reducing a predetermined area set in the area setting means (M10) ,
The area reduction means (M11) is different from the preceding vehicle determined before the manual operation means (M8) is operated by the preceding vehicle determination means (M2) after the manual operation means (M8) is operated. An auto-cruise device that reduces the predetermined area until a vehicle is determined or the same preceding vehicle is determined again . An object detection device (St) for detecting an object in the traveling direction of the own vehicle;
Distance calculating means (M1) for calculating the distance to the object based on the detection result of the object detection device (St);
Traveling direction prediction means (M9) for predicting the traveling direction of the host vehicle based on the driving state of the host vehicle;
An area setting means (M10) for setting a predetermined area based on the traveling direction of the host vehicle predicted by the traveling direction prediction means (M9);
A preceding vehicle determining means (M2) for determining a preceding vehicle to be followed by the own vehicle based on the predetermined area set by the area setting means (M10) and the detection result of the object detection device (St);
An inter-vehicle distance setting means (M3) for setting an inter-vehicle distance from the preceding vehicle;
Vehicle speed detection means (M4) for detecting the vehicle speed of the host vehicle;
Vehicle speed setting means (M5) for setting the vehicle speed of the own vehicle;
When the preceding vehicle is determined by the preceding vehicle determining means (M2), the vehicle speed is set so that the inter-vehicle distance calculated by the distance calculating means (M1) matches the inter-vehicle distance set by the inter-vehicle distance setting means (M3). An inter-vehicle distance control means (M6) for accelerating or decelerating the host vehicle with the vehicle speed set by the means (M5) as an upper limit;
When there is no preceding vehicle determined by the preceding vehicle determining means (M2), the host vehicle is accelerated so that the vehicle speed detected by the vehicle speed detecting means (M4) matches the vehicle speed set by the vehicle speed setting means (M5). or in the auto-cruise device having a <br/> the vehicle speed control means (M7) to decelerate,
Manual operation means (M8) operated by a driver;
When manual operation means during the control by the inter-vehicle distance control means (M6) (M8) is operated, and a region reduction means (M11) for reducing a predetermined area set in the area setting means (M10) ,
The area reduction means (M11) reduces the predetermined area for a predetermined time after the manual operation means (M8) is operated for a predetermined time . The area reduction means (M11) extends the time for reducing the predetermined area when the manual operation means (M8) is operated again before the predetermined time elapses. The described auto cruise device. An object detection device (St) for detecting an object in the traveling direction of the own vehicle;
Distance calculating means (M1) for calculating the distance to the object based on the detection result of the object detection device (St);
Traveling direction prediction means (M9) for predicting the traveling direction of the host vehicle based on the driving state of the host vehicle;
An area setting means (M10) for setting a predetermined area based on the traveling direction of the host vehicle predicted by the traveling direction prediction means (M9);
A preceding vehicle determining means (M2) for determining a preceding vehicle to be followed by the own vehicle based on the predetermined area set by the area setting means (M10) and the detection result of the object detection device (St);
An inter-vehicle distance setting means (M3) for setting an inter-vehicle distance from the preceding vehicle;
Vehicle speed detection means (M4) for detecting the vehicle speed of the host vehicle;
Vehicle speed setting means (M5) for setting the vehicle speed of the own vehicle;
When the preceding vehicle is determined by the preceding vehicle determining means (M2), the vehicle speed is set so that the inter-vehicle distance calculated by the distance calculating means (M1) matches the inter-vehicle distance set by the inter-vehicle distance setting means (M3). An inter-vehicle distance control means (M6) for accelerating or decelerating the host vehicle with the vehicle speed set by the means (M5) as an upper limit;
When there is no preceding vehicle determined by the preceding vehicle determining means (M2), the host vehicle is accelerated so that the vehicle speed detected by the vehicle speed detecting means (M4) matches the vehicle speed set by the vehicle speed setting means (M5). or in the auto-cruise device having a <br/> the vehicle speed control means (M7) to decelerate,
Manual operation means (M8) operated by a driver;
When manual operation means during the control by the inter-vehicle distance control means (M6) (M8) is operated, and a region reduction means (M11) for reducing a predetermined area set in the area setting means (M10) ,
The area reduction means (M11) is a preceding vehicle determined before the manual operation means (M8) is operated by the preceding vehicle determination means (M2) after the manual operation means (M8) is operated for a predetermined time. An auto-cruise device that reduces the predetermined area until a different preceding vehicle is determined or the same preceding vehicle is determined again . Region reduction means (M11) is characterized by reducing the width of a predetermined region set the region setting means (M10) in the vehicle width direction of the vehicle, according to any one of claims 1-8 Auto cruise equipment. The predetermined area set by the area setting means (M10) has a predetermined lane width centered on the traveling direction of the own vehicle, and the area reducing means (M11) changes the width of the area from the lane width to the own vehicle width. The auto-cruise device according to claim 9 , wherein the auto-cruise device is reduced. Region reduction means (M11) is greater than the width of the region in a short distance relative to the vehicle, characterized by narrowing the width of the region in the far against the vehicle, to claim 9 or claim 10 The described auto cruise device. Region reduction means (M11), characterized in that to reduce the length of the predetermined region set by the region setting means (M10) in the traveling direction of the vehicle, any one of claims 1 to 11 Auto cruise device as described in The auto-cruise according to claim 12 , wherein the area reduction means (M11) reduces the length of the predetermined area so as to be equal to or greater than the inter-vehicle distance set by the inter-vehicle distance setting means (M3). Equipment . The area reduction means (M11) reduces the predetermined area when the preceding vehicle is determined by the preceding vehicle determination means (M2) when the manual operation means (M8) is operated. The auto cruise device according to any one of claims 1 to 13 .

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