JPH07333330A - Leading vehicle distance detection device - Google Patents

Abstract

(57) [Summary] [Purpose] To prevent a vehicle in another lane on the curve from being mistaken as a preceding vehicle. Make the detection area in front longer. [Configuration] Distance measuring device (1L, 1C, 1R) that projects electromagnetic waves (L, C, R) in multiple directions in front of the vehicle and measures the distance (Ld, Cd, Rd); Recognition device (5,3); and
For each of the detection areas (L, C, R), the closest intersection to the vehicle (9) among the intersections of the outermost line and the lane marking recognized by the lane marking recognition device (5, 3). (AR2, BC2, CL
2 / AR1, BC1 / AR0 / AL0 / AL1, BC1 / AL2, BC2, CR2),
A first means (3) for selecting a measurement distance (Ld, Cd, Rd) is provided. Further, it is provided with a second means (3) for selecting the measurement distance (Ld, Cd, Rd) of the additional areas LAa, CAa, RAa.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a laser, an electric wave, etc.
The preceding vehicle distance that calculates the distance of the vehicle in front by emitting an electromagnetic wave with relatively small attenuation to the propagation distance in front of the vehicle, detecting the reflected wave, measuring the time from emission to receiving the reflected wave For the measurement of the preceding vehicle, in particular, in order to prevent detection failure of the preceding vehicle, electromagnetic waves are emitted in multiple directions in front of the vehicle to measure the distance of the preceding vehicle in each direction, and the vehicle with the shortest distance is detected as the preceding vehicle. Regarding More specifically, although not intended to be limited to this, a vehicle traveling immediately before the own vehicle on the own vehicle travel lane for vehicle-to-vehicle control or constant-speed control (hereinafter referred to as the preceding vehicle). Of distance detection.

[0002]

2. Description of the Related Art An apparatus for detecting a distance of a preceding vehicle by emitting a laser beam in a plurality of directions ahead of the vehicle is already known.
For example, JP 61-278775 A and JP 6
No. 2-36581. Immediately before the laser emission source, the detection range in the vehicle width direction by one laser beam is narrow, and the detection failure of the preceding vehicle is likely to occur. To compensate for this, for example, three laser beams are fired in the forward direction (center beam), slightly leftward direction (left beam) and slightly rightward direction (right beam), and each laser beam is emitted. Although the front object distance is detected by light, the detection range expands in the vehicle width direction as the distance increases, so that the vehicle outside the own vehicle lane is also detected this time. Therefore, in the preceding vehicle detection devices disclosed in the above-mentioned JP-A-61-28777 and JP-A-62-36581, the detection distances by the three beams are compared to determine whether or not the front objects are the same object. To track the same front object. Grasping the beam most suitable for the object, comparing the detection distance by the beam and the detection distance by the adjacent beam, and grasping the matching beam when the front object moves in the vehicle width direction. The same object is continuously tracked even if the front object moves in the vehicle width direction as seen from the own vehicle by the curve of the road.

[0003]

In the case of traveling in a curve, for example, in the case of the left curve, the preceding vehicle detected by the center beam is detected by the left beam and is not detected by the right beam. . The light beam is another ray outside the curve.
The probability of detecting a vehicle in the vehicle increases. For example, when the own vehicle is traveling in the left lane of two lanes, when the preceding vehicle (left lane) is traveling in parallel with the vehicle in the right lane or the vehicle in the right lane is being driven in the curve. When crossing over, there is a risk that the vehicle in the right lane may be mistaken for the preceding vehicle in the vehicle traveling lane (left lane). If the low-speed vehicle in the right lane is mistakenly recognized as the preceding vehicle when the host vehicle is performing headway control, the host vehicle may suddenly decelerate.

A first object of the present invention is to prevent erroneous recognition of a preceding vehicle in the curve, and to lengthen the preceding vehicle detection area on the vehicle running lane.

[0005]

A preceding vehicle distance detecting device according to a first aspect of the present invention is designed to detect electromagnetic waves in a plurality of directions in front of a vehicle (9).
Distance measuring device (1L, 1C, 1R) that measures (Ld, Cd, Rd) by detecting the reflected wave from the front by projecting (L, C, R); the vehicle (9) A lane marking recognition device (5, 3) for recognizing a traveling lane marking; and the detection areas (L, C,
For each of the (R), the closest intersection (AR2, BC2, CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / CL2 / AR1, BC1 / AR0 /
AL0 / AL1, BC1 / AL2, BC2, CR2), the distance measuring device before
First means (3) for selecting the distance (Ld, Cd, Rd) of the front object measured by (1L, 1C, 1R).

In the preceding vehicle distance detecting device according to the second aspect of the present invention, one of the two detection areas (L, C, R) in the plurality of directions, which directions are different from each other, further includes the closest intersection of the other areas. In the case where the other region is the front of the farthest farthest intersection of the intersections of the outermost line and the travel lane markings in the other region, a region included in the one region but not included in the other region (LAa, (CAa, RAa)
, The distance of the front object measured by the distance measuring device (Ld, Cd, R
The second means (3) for selecting d) is provided.

In order to facilitate understanding, the corresponding elements or matters of the embodiments shown in the drawings and described later are added in parentheses for reference.

[0008]

According to the first aspect of the present invention, a lane marking recognition device
(5, 3) recognizes the lane markings, and the first means (3) defines the outermost contour line and the lane marking recognition device (for each of the detection areas (L, C, R) in the plurality of directions. Of the intersections with the lane markings recognized by (5, 3), the closest intersection (AR
2, BC2, CL2 / AR1, BC1 / AR0 / AL0 / AL1, BC1 / AL2, BC2, CR2), the distance (Ld, Cd) of the front object measured by the distance measuring device (1L, 1C, 1R) , Rd). This allows
When the lane marking is curved, the long area (CL2 / CR2) in the direction close to the inside of the curve (L / R) and the direction close to the outside of the curve (R / L) ), The distance (Ld, Cd, Rd) of the front object in the short area (AR2 / Al2) is selected. For example, when the host vehicle is traveling in the left lane and traveling in the left curve, as shown in (A1) of FIG.
In (L), the long area (CL2) is closer to the outside of the curve (R).
Is selected the distance (Ld, Cd, Rd) of the front object in the short area (AR2). The shaded area indicates the distance (Ld, Cd, R
This is an area where d) is selected, and this area (effective area) covers the left lane in which the vehicle travels to the front, but substantially excludes the right lane area.

Therefore, in a preferred embodiment of the present invention, the first means (3) uses the distances (Ld, Cd, Rd) measured by the distance measuring device (1L, 1C, 1R) to measure the effective Select the shortest one in the area. That is, the distance of the preceding vehicle is selected. Therefore, in the mode shown in (A1) of FIG. 4, the probability that the vehicle in front of the right lane is mistakenly recognized as the preceding vehicle (vehicle in the own vehicle lane) is reduced. As shown in (B5) of FIG. 7, when the host vehicle travels in the right lane and is in the right lane, the probability of erroneously recognizing a vehicle in the left lane as a preceding vehicle is reduced.

According to the second aspect of the present invention, referring to (A1) of FIG. 4, for example, the distances (Ld, Cd, Rd) of the respective directions measured by the distance measuring device (1L, 1C, 1R) are measured. When either one is within the effective area shown by the shaded area, the first means (3)
Selects the preceding vehicle distance in the same manner, but when neither is within the effective area, the distance in the direction (L) closer to the inside of the curve
If the distance (Cd) in the direction (Ld) or the direction (C) is within the additional area LAa or CAa indicated by solid dots, this is selected as the tip vehicle distance. When the curve is steep, the vehicle in the right lane may be erroneously detected as the preceding vehicle even in the direction (L) close to the inside of the curve, so the first effective area (CL2) and the second effective area (BC2) is determined so that the effective areas in the directions (L) and (C) are within the left lane area, but in this case, the additional areas LAa and CAa are masked. The second mode also detects the preceding vehicles in the additional areas LAa and CAa. That is, the preceding vehicle detection range is rather wide. 7 (B
As shown in 5), even when the host vehicle is traveling in the right lane and is in the right lane, the preceding vehicles in the additional areas RAa and CAa on the right lane are also detected, and the preceding vehicle detection range is rather wide.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

[0012]

FIG. 1 shows an embodiment of the present invention. 3 sets
The lasers 1L, 1C, 1R are connected to an input / output interface (input signal processing circuit & output signal processing circuit) 2. Each of the laser radars 1L, 1C, 1R is
Energize the laser emitter LE to launch a laser beam,
The elapsed time until the laser receiver LR detects the reflection laser is measured. Then, the measured time is converted into the distance to the front reflector. These laser radars 1L, 1C,
The CPU 3 is connected to the 1R via the input / output interface 2.
Gives a distance measurement instruction, and the laser radars 1L, 1C, 1R are
When the distance is measured, the distance data is displayed as the input / output interface.
Transfer to the CPU 3 via the switch 2.

Referring to FIG. 2, laser radars 1L, 1
The laser emitter LE and the receiver LR connected to each of C and 1R are installed in the grill of the vehicle (hereinafter referred to as the own vehicle or the own vehicle) 9, and the laser emitter LE is provided.
Fires a laser in the pointing direction (one-dot chain line) shown in FIG. The object detection area by each laser is shown in FIG.
Shown as 10L, 10c and 10R. Hereinafter, the direction of the laser emitted to the front left of the host vehicle 9 is the L (left) direction, the direction of the laser emitted to the front of the vehicle is the C (center) direction, and the laser emitted to the right side. The direction of the Z is called the R (light) direction.

Referring again to FIG. 2, the input / output interface 2 is connected with an operation / display board 4 for giving operation instructions and setting conditions to the CPU 3.
The mode 4 is provided with an automatic control start instruction switch, a stop instruction switch, a left / right lane designating switch (one switch: on to designate the right lane, and off to designate the left lane) and an indicator light. The CPU 3 reads the operation or the state of the switch via the input / output interface 2, turns on / off the indicator light correspondingly, and performs the "inter-vehicle distance control" and the "constant speed control" described later. To do. Via the input / output interface 2, the CPU 3 is supplied with a vehicle speed synchronizing pulse that generates one pulse for each rotation of the axle by a predetermined small angle. The CPU 3 calculates the vehicle speed by counting the pulse cycle of the vehicle speed synchronization pulse. Further, the steering angle sensor 5 generates an analog signal representing a rotation angle of a steering wheel (not shown) of the vehicle 9, and supplies it to the CPU 3. In this embodiment, the CPU 3 digitally converts the analog signal and reads the analog signal each time the vehicle speed synchronization pulse arrives. "Vehicle distance control" described later
In the "constant speed control", the CPU 3 gives a signal to the throttle controller 6 to instruct acceleration, hold or deceleration. The throttle controller 6 controls the actuator driver 7 in response to this signal. The driver 7 drives a throttle actuator 8 connected to a throttle valve (not shown). For example, CP
When U3 instructs acceleration, throttle controller 6,
Through the driver 7 and the throttle actuator 8, the throttle valve is driven to open, the throttle valve is held at the opening when the hold is instructed, and the throttle valve is closed when deceleration is instructed.

The internal memory of the CPU 3 stores programs and reference data for performing signal processing and control operations described later. Here, first, a memory area storing a group of effective distance data (a type of reference data) for detecting the distance to the preceding vehicle is called a table, and the structure of the data group will be described. As shown in FIG. 3, the table includes a left lane table to be referred to while the vehicle is traveling in the left lane (to be precise, when the left / right lane designating switch of the operation / display board 4 is off), There are two types of right lane tables to refer to while traveling in the right lane (to be precise, when the left / right lane designating switch is ON).

-Significance of left and right lane table data-Each effective distance data on each table is specified by a steering angle and a distance measuring direction (L, C, R). . In this embodiment, the steering angle is 2 on the left side (left steer target).
1), left 1 (left slow turn), neutral 0 (straight ahead), right 1 (right slow turn) and right 2 (right steep turn). Effective distance data at these steering angles
The values represented by the symbols (A1) to (A5) in FIG. 4 and FIG. 5 and FIG.
And (B1) to (B5) of FIG. That is, while the vehicle is traveling in the left lane with the left curve, the area excluding the right lane area is set as the effective area (area shaded with diagonal lines or dots) in response to the curve of the curve (A
2, A1), while the right lane is traveling in the right lane, the area excluding the left lane area is defined as the effective area (area shaded with diagonal lines or dots) in response to the curve of the curve. As shown in the figure, a long effective distance (first CL2 / CR2, second DL / DR) is used in the direction close to the inside of the curve, and in the direction close to the outside of the curve. It defines a short effective distance (AR2 / Al2).

-Main routine for control 1- FIG. 8 shows the control operation of the CPU 3 shown in FIG. When the power is turned on to itself, the CPU 3 clears the internal register, the counter, etc., and sets the signal level of the input / output port to the input / output interface 2 to that of the standby state (step 1). In the following description, when the step number is written in parentheses, the word "step" is omitted and only the number is written. Next, the CPU 3 permits the interrupt (1) (2). -Interrupt (1)
Content of-By the permission of the interrupt (1), the CPU 3 executes the interrupt (1) each time one vehicle speed synchronization pulse arrives thereafter. In this interrupt (1), the vehicle speed VSR = A / CCR is calculated from the count data CCR (time of one cycle of the vehicle speed synchronization pulse) of the clock counter CCR and written in the register VSR, and the clock counter CCR is cleared and reset again. Start timing. Since this interrupt (1) is executed each time one vehicle speed synchronizing pulse is generated, the register VSR always stores the data VSR representing the vehicle speed (current vehicle speed) at that time.

-Control main routine 2-The CPU 3 waits for the start input (3) after permitting the interrupt (1). That is, it waits until the start instruction switch of the operation / display board 4 is operated. When there is a start input, the CPU 3 writes the data of the vehicle speed register VSR at that time into the target speed register TSR (5). The vehicle speed data TSR of the target speed register TSR becomes the target vehicle speed when the "constant speed control" is performed thereafter. Next, the CPU 3 permits the interrupt (2) and prohibits the interrupt (1).

-Contents of Interrupt (2)-Fig. 9 shows the contents of the interrupt (2). C at this interrupt (2)
PU2, first, similarly to the interrupt (1), the clock counter CC
The vehicle speed VSR = A / CCR is calculated from the R count data CCR (the time of one cycle of the vehicle speed synchronizing pulse) and written in the register VSR (15), the clock counter CCR is cleared and the clock is started again (16). . Next, the steering angle sensor 5
The digital signal of the analog signal is read in by digital conversion, and it is determined whether this data is in the steering area left 2, left 1, neutral 0, right 1 or right 2. That is, the steering angle is determined (17). Then, next, the state of the left / right lane designating switch (on to right lane designation, off to left lane designation) of the operation / display board 4 is read. Next, CP3 designates the left lane table ((A) in FIG. 3) when the left lane is designated, and designates the right lane table ((B) in FIG. 3) when the right lane is designated. From the designated table, the effective distance data corresponding to the steering angle determined in step 17 is read for each direction L, C, R and written in the registers RR, RF, RC, RL and RD. The relationship between the register to be written and the data is shown in blocks 19L and 1 in FIG.
Shown in 9R.

The effective distance data is the distance data shown in FIGS. AR2 of these distance data is
As shown in (A1) of FIG. 4, the left lane and the left curve (2)
Represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (two points) of the outermost contour line of the region R and the lane dividing line during traveling. BC2 is an estimated intersection point (2) between the outermost line of the area C and the lane marking line while the left lane and the left curve (2) are traveling.
The distance of the estimated intersection closest to the vehicle 9 among the points). CL2 is the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (2 points) of the outermost contour line of the region L and the lane dividing line while the left lane and the left curve (2) are traveling. Represents F2
Is the distance of the estimated intersection farthest from the vehicle 9 among the estimated intersections (2 points) of the outermost contour line of the region R and the lane dividing line while the left lane and the left curve (2) are traveling. Represent. DL is the distance of the estimated intersection farthest from the vehicle 9 among the estimated intersections (2 points) of the outermost line of the area C and the lane dividing line while the left lane and the left curve (2) are traveling. Represents

AR1 is, as shown in (A2) of FIG.
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (two points) of the outermost contour line of the region R and the lane dividing line while the left lane and the left curve (1) are traveling. BC1 is in the left lane,
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (two points) of the outermost contour line of the area C and the lane dividing line while the left car (1) is traveling. F1 is the distance of the estimated intersection farthest from the vehicle 9 among the estimated intersections (2 points) of the outermost contour line and the lane dividing line of the region R while the left lane and the left curve (1) are traveling. Represents

AR0 is, as shown in (A3) of FIG.
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (two points) of the outermost contour line of the region R and the lane dividing line while the left lane and the left curve (1) are traveling.

AL0 is, as shown in (B3) of FIG.
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (two points) of the outermost contour line of the region L and the lane dividing line while the right lane and the right curve (1) are traveling.

AL1 is, as shown in (B4) of FIG.
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (two points) of the outermost contour line of the region L and the lane dividing line while the right lane and the right curve (1) are traveling. BC1 is in the right lane,
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (2 points) between the outermost contour line of the region C and the lane dividing line while the right curve (1) is traveling. F1 is the distance of the estimated intersection farthest from the vehicle 9 among the estimated intersections (2 points) of the outermost contour line of the region L and the lane dividing line while the right lane and the right curve (1) are traveling. Represents

AL2 is, as shown in (B5) of FIG.
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (2 points) of the outermost contour line of the region L and the lane dividing line while the right lane and the right curve (2) are traveling. BC2 is in the right lane,
It represents the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (2 points) between the outermost contour line of the region C and the lane dividing line while the right curve (2) is traveling. CR2 is the distance of the estimated intersection closest to the vehicle 9 among the estimated intersections (2 points) of the outermost contour line of the region R and the lane dividing line while the right lane and the right curve (2) are traveling. Represents F2 is the distance of the estimated intersection farthest from the vehicle 9 among the estimated intersections (2 points) of the outermost contour line of the region L and the lane dividing line while the right lane and the right curve (2) are traveling. Represents DR is in the right lane, while traveling on the right curve (2),
Estimated intersections (2 points) between the outermost contour line of area C and the lane markings
Of these, the distance of the estimated intersection farthest from the vehicle 9 is represented.

The data E is the shortest one of the maximum distance-measurable distances in each of the directions L, C and R. Hereinafter, the data E will be referred to as the limit distance.

By the processing of this interrupt (2), data representing the current vehicle speed value is stored in the vehicle speed register VSR,
Data representing the current steering angle (either left 2 to right 2) is saved in the CPU 2 and the register R
Effective distance data corresponding to the current traveling curve (steering angle) is stored in D, RL, RC, RF and RR.

-Control main routine 3- Referring again to FIG. When the CPU 3 permits the interrupt (2), the timer T of the T time limit (T = 50 msec in this embodiment) is set.
(6) and then the front object distance is detected (7). In this case, first, the radar 1L is instructed to measure the distance, and when the radar 1L transfers the measured distance data Ld, it is read and saved in the register Ld, and then the radar 1L. 1
When the radar 1C transfers the measured distance data Cd to the C, it reads the data and saves it in the register Cd, and then instructs the radar 1R to measure the distance. When the data 1R transfers the measured distance data Rd, it reads it and saves it in the register Lc. Next, the CPU 3 causes the steering angle being saved, the registers RD, RL, RC, RR.
And the data of the registers Ld, Cd, and Rd are used to determine the distance of the preceding vehicle. That is, the preceding vehicle is specified and its distance is determined (8).

-Front Vehicle Identification (8) -The contents are shown in FIGS. 10 and 11. First, referring to FIG. 10, the distance data Ld (L direction), Cd (C direction), and Rd (R direction) are effective distances R in the L direction, respectively.
It is checked whether the effective distance RC in the L and C directions is equal to or less than the effective distance RR in the R direction (21 to 23, 27, 28, 3).
0). That is, it is checked whether or not it is within the effective area shown by hatching in FIGS. Ld, Cd, Rd 3
Or both parties are within the effective area, select the shortest of them (determine that there is a preceding vehicle at the distance in the direction of obtaining the shortest distance), and select this distance. Is set as the distance of the preceding vehicle and the process proceeds to "inter-vehicle distance control" 9 (24). 1
If only the person in the vehicle is in the effective area, select it and set the distance as the distance of the preceding vehicle and proceed to the "inter-vehicle distance control" 9 (2
4). Distance data (Ld, Cd,
Rd) is changed to data representing the distance INF larger than the limit distance E (25, 26, 29, 31, 35, 3).
8, 42, 46, 49, 53).

When all three of Ld, Cd, and Rd are outside the effective area (hatched area in FIGS. 4 to 7),
Check the state of the left / right lane designating switch and the steering angle (32, 39, 43, 50).

Left lane designation and left 2 ((A in FIG. 4
In (1)), it is checked whether the distance Cd in the C direction is in the area (area CAa) from RC (= BC2) to RF (= F2) (33). If it is in this range, it is possible that a vehicle outside the left lane may be detected.
It is checked whether d is in the range from RC (= BC2) to RF (= F2) (34), and if so, it is considered that a vehicle outside the left lane is detected, and RC (= BC
2) The distance data Cd is changed to INF in order to invalidate the above detected distance (35). Distance C in C direction
If d is not in the area from RC (= BC2) to RF (= F2), it is considered that there is a vehicle in area CAa, and RC in the C direction
Distance data C in the range of (= BC2) to RF (= F2)
d is valid (Cd is not changed to INF).

When the distance Cd in the C direction is not in the area (area CAa) from RC (= BC2) to RF (= F2), it is checked whether the distance Ld in the L direction is in the area LAa (36). That is, the distance Ld in the L direction is RL (=
It is checked whether it is in the range of CL2) to RD (= DL). Within this range, it may be possible to detect a vehicle outside the left lane, so the distance Cd in the C direction is RL (=
It is checked whether it is in the range from CL2) to RD (= DL) (37), and if so, it is considered that a vehicle outside the left lane is detected, and a distance of RL (= CL2) or more in the L direction. In order to invalidate the detection distance of, the distance data Ld is set to I
Change to NF (38) and proceed to "constant speed control" 10. C
The distance Cd in the direction is from RL (= CL2) to RD (= DL)
If it is not in the area L, it is considered that there is a vehicle in the area LAa, and L
The distance data Ld in the range of RL (= CL2) to RD (= DL) in the direction is validated (without changing Ld to INF), and the shortest one among Ld, Cd, and Rd is selected. Set the distance to the distance of the preceding vehicle and proceed to "Vehicle distance control" 9 (2
4).

Next, referring to FIG. When the left lane is designated and the left lane is 1 ((A2) in FIG. 4), the distance Cd in the C direction
Is the region from RC (= BC1) to RF (= F1) (region C
It is checked whether it is in Aa) (40). Within this range, it may be possible to detect a vehicle outside the left lane, so the distance Cd in the C direction is from RC (= BC1) to RF.
It is checked whether it is in the area of (= F1) (41), and if so, it is considered that a vehicle outside the left lane is detected, and the detection distance of RC (= BC1) or more in the C direction is set. In order to invalidate, the distance data Cd is changed to INF (42). The distance Cd in the C direction is from RC (= BC1) to R
If the vehicle is not in the area F (= F1), it is considered that there is a vehicle in the area CAa, and RC (= BC1) to RF (= F) in the C direction.
Validate the distance data Cd in the range of 1) (Cd is IN
(Without changing to F), select the shortest one of Ld, Cd, and Rd, and use this distance as the distance of the preceding vehicle to perform "inter-vehicle distance control" 9
Proceed to (24).

Right lane designation and right 2 ((B in FIG. 7
In (5)), it is checked whether the distance Cd in the C direction is in the area (area CAa) from RC (= BC2) to RF (= F2) (44). Within this range, it may be possible to detect a vehicle outside the right lane, so the distance C in the C direction
It is checked whether d is in the region of RC (= BC2) to RF (= F2) (45), and if so, it is considered that the vehicle outside the right lane is detected, and RC (= in the C direction) BC
2) The distance data Cd is changed to INF in order to invalidate the above detected distance (46). Distance C in C direction
If d is not in the area from RC (= BC2) to RF (= F2), it is considered that there is a vehicle in area CAa, and RC in the C direction
Distance data C in the range of (= BC2) to RF (= F2)
d is valid (Cd is not changed to INF).

When the distance Cd in the C direction is not in the area (area CAa) from RC (= BC2) to RF (= F2), it is checked whether the distance Rd in the R direction is in the area RAa (47). That is, the distance Rd in the R direction is RR (=
It is checked whether it is in the range of CR2) to RD (= DR). In this range, there is a possibility that a vehicle outside the right lane may be detected. Therefore, the distance Cd in the C direction is RR (=
It is checked whether it is in the range from CR2) to RD (= DR) (48), and if so, it is considered that a vehicle outside the right lane is detected, and a distance of RR (= CR2) or more in the R direction. In order to invalidate the detection distance of, the distance data Rd is set to I
Change to NF (49). The distance Cd in the C direction is RR (=
If it is not in the area from CR2) to RD (= DR), the area RA
It is considered that there is a vehicle in a, and the distance data Rd in the range from RR (= CR2) to RD (= DR) in the R direction is valid (without changing Rd to INF) and Ld, Cd, and Rd are The shortest one is selected, and this distance is set as the distance of the preceding vehicle, and the process proceeds to "inter-vehicle distance control" 9 (24).

Right lane designation and right 1 ((B in FIG. 7
In 4)), it is checked whether the distance Cd in the C direction is in the area (area CAa) from RC (= BC1) to RF (= F1) (51). Within this range, it may be possible to detect a vehicle outside the right lane, so the distance C in the C direction
It is checked whether d is in the range from RC (= BC1) to RF (= F1) (52), and if so, it is considered that a vehicle outside the right lane is detected, and RC (= in the C direction) BC
1) The distance data Cd is changed to INF in order to invalidate the detected distance above the distance (53). Distance C in C direction
If d is not in the area from RC (= BC1) to RF (= F1), it is considered that there is a vehicle in area CAa, and RC in the C direction
Distance data C in the range of (= BC1) to RF (= F1)
With d enabled (without changing Cd to INF), Ld, C
The shortest one of d and Rd is selected, and this distance is set as the distance of the preceding vehicle, and the process proceeds to "inter-vehicle distance control" 9 (24).

None of Ld, Cd, and Rd exists in the effective area (the shaded area in FIGS. 4 to 7), and the extended area (LAa, CAa in FIG. 4 and CAa, RAa in FIG. 7).
If it is not, "Constant speed control" 1
Go to 0.

-Vehicle distance control (9) -In the "vehicle distance control" (9), the "front vehicle identification" described above is performed.
The CPU 3 compares the distance (one of Ld, Cd, and Rd) selected in (8) with the inter-vehicle distance target value and finds that the selected distance deviates to a short distance side from the allowable range centered on the target value. A deceleration instruction is given to the throttle controller 6, an acceleration instruction is given to the throttle controller 6 if it is out of the allowable range, and a hold instruction is given to the throttle controller 6 when it is within the allowable range. .

-Constant speed control (10) -When proceeding to this, the CPU 3 causes the vehicle speed register VSR
Target vehicle speed data (current vehicle speed) of the target vehicle speed register TSR (vehicle speed when the start instruction is input:
Compared to step 4), if the current vehicle speed is outside the permissible range centered on the target vehicle speed, the CPU 3 gives a deceleration instruction to the throttle controller 6, and if outside the permissible range, the CPU 3 accelerates. Instruct the throttle controller 6
If it is within the allowable range, a hold instruction is given to the throttle controller 6.

-Control main routine 4- Referring again to FIG. When the "front vehicle identification" (8) and the "inter-vehicle distance control" (9) or the "constant speed control" (10) have passed, the CPU 3 checks whether the timer T has time-over (11) and time-overs. If you don't,
The operation waits for the switch and monitors the operation of the stop switch of the operation / display board 4 during that time (12). Timer T is time out
If so, the process returns to step 6, and the control from the timer T-start (6) onward is similarly executed. When the stop switch is operated, the process returns to initialization (1).

According to the above-described embodiment, the area of another lane adjacent to the traveling lane of the own vehicle is set outside the effective area in the case of the curve traveling, so that other areas The probability of erroneously recognizing the vehicle in the lane as the vehicle in the own lane is reduced. When the curve is steep (for example, (A1) in FIG. 4), the effective distance CL2 (inclination area) that is set so as not to erroneously detect the vehicle in the right lane becomes short, so that the laser beam in the L direction is used. Even if it can be detected, vehicles exceeding the effective distance CL2 will be excluded from the detection, but the effective area (hatched area)
In addition to the detection area (dotted areas CAa, LA
When a) is added and the vehicle is detected there, it is selected as the preceding vehicle, so that the distance in which the preceding vehicle can be detected is extended without erroneously detecting the vehicle in the adjacent lane. This enhances the stability of the headway distance control and the constant speed control.

Although three sets of radars are used in the above embodiment, the number of sets may be two or four or more, and one set of radars may be used as the pointing direction of the vehicle. A mode of scanning in the width direction may be adopted. In any case, the present invention can be implemented in the same manner as described above.

[0043]

According to the first aspect of the present invention, when the traveling lane marking is curved, the direction (L
/ R) has a long area (CL2 / CR2) in the direction close to the outside of the curve.
(R / L) has a short area (AR2 / Al2) and the distance (Ld, C
d, Rd) will be selected. For example, when the vehicle is traveling in the left lane and traveling in the left curve, as shown in (A1) of FIG. 4, a long area in the direction (L) close to the inside of the curve.
In the direction (R) of (CL2) near the outside of the curve, a short area (AR
The distance (Ld, Cd, Rd) of the front object in 2) is selected. The shaded area is the area for selecting the distance (Ld, Cd, Rd) of the front object, and this area (effective area) covers the left lane where the vehicle is traveling to the front, but the right lane area. It is virtually excluded. Therefore, for example, in the mode shown in (A1) of FIG. 4, the probability of erroneously recognizing a vehicle in front of the right lane as a preceding vehicle (vehicle in the own vehicle lane) is reduced. As shown in (B5) of FIG. 7, when the host vehicle travels in the right lane and is in the right lane, the probability of erroneously recognizing a vehicle in the left lane as a preceding vehicle is reduced.

According to the second aspect of the present invention, for example, referring to (A1) of FIG. 4, the preceding vehicles in the additional areas LAa and CAa are also detected. That is, the preceding vehicle detection range becomes longer in the vehicle traveling direction. As shown in (B5) of FIG. 7, even when the vehicle travels in the right lane and is in the right lane, the preceding vehicles in the additional areas RAa and CAa on the right lane are also detected, and the preceding vehicle detection range is It becomes longer in the vehicle traveling direction.

[Brief description of drawings]

FIG. 1 is a block diagram showing an outline of a configuration of an embodiment of the present invention.

FIG. 2 is a plan view showing a vehicle equipped with the preceding vehicle distance detection device shown in FIG. 1 and a distance measurement area.

3 is a plan view showing data on left and right lane tables allocated to a memory of a CPU 3 shown in FIG. 1. FIG.

FIG. 4 is a plan view corresponding to a road plan view showing an effective region (diagonal line-filled region) and an additional region (dotted-fill region) in distance measurement determined by the data shown in FIG.

FIG. 5 is a plan view corresponding to a road plan view showing an effective area (diagonal area) and an additional area (dotted area) for distance measurement determined by the data shown in FIG.

FIG. 6 is a plan view corresponding to a road plan view showing an effective area (diagonal area) and an additional area (dotted area) in the distance measurement determined by the data shown in FIG.

7 is a plan view corresponding to a road plan view showing an effective region (diagonal line-filled region) and an additional region (dot-filled region) for distance measurement determined by the data shown in FIG.

8 is a flowchart showing an information processing operation relating to the headway distance control and the constant speed control of the CPU 3 shown in FIG.

9 is a flowchart showing the contents of an interrupt (2) executed by the CPU 3 shown in FIG. 1 in response to a vehicle speed synchronization pulse.

FIG. 10 is a flowchart showing a part of the contents of “forward vehicle identification” 8 shown in FIG.

FIG. 11 is a flowchart showing the rest of the content of “forward vehicle identification” 8 shown in FIG.

[Explanation of symbols]

1L, 1C, 1R: Laser radar LE:
Laser emitter LR: Laser receiver 2: Input / output interface 3: CPU 4: Operation / display board 5: Steering angle sensor 6: Throttle controller 7: Actuator driver 8: Throttle actuator -T9: Vehicle

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Yasuo Imai 1 Toyota-cho, Toyota-shi, Aichi Toyota Motor Co., Ltd. (72) Inventor Kazuya Sasaki 1 Toyota-cho, Toyota-shi, Aichi Toyota Auto Car Co., Ltd. (72) Inventor Hiroki Miyakoshi 1 Toyota Town, Toyota City, Aichi Prefecture Toyota Motor Co., Ltd.

Claims (2)

[Claims] 1. A distance measuring device for projecting electromagnetic waves in a plurality of directions in front of a vehicle and detecting reflected waves from the front to measure the distance of a front object; lane marking recognition for recognizing a traveling lane marking in which the vehicle is traveling. Device; and for each of the detection areas in the plurality of directions, the distance measurement before the closest intersection closest to the vehicle among the intersections of the outermost line and the travel lane marking recognized by the lane marking recognition device. First to select the distance of the front object measured by the instrument
A preceding vehicle distance detecting device comprising: 2. When one of two areas in different directions of the detection areas of the plurality of directions includes the closest intersection of another area, the farthest of the intersections of the outermost contour line of the other area and the travel lane markings. Before the farthest intersection point of, the second means for selecting the distance of the front object measured by the distance measuring device, of the area included in the one area but not included in the other area, further comprising: The preceding vehicle distance detection device according to claim 1.