JPH1131299A - Vehicle traveling controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the load on a driver, for example, at the time of passing another vehicle. SOLUTION: When the speed displacement of a front object is less than a prescribed value in a direction approaching its own vehicle, it is judged as a faced vehicle (S209), a time until collision (a collision time) is calculated from the traveling speed of its own vehicle, inter-vehicle distance, and the relative speed of the approaching faced vehicle (S211), and a time (a time to spare) for escaping from the faced vehicle with a time to spare by its own vehicle is calculated (S212). Then, when it is judged that any time to spare for escaping from the faced vehicle by its own vehicle is absent (S213), the approach of the faced vehicle is warned to the driver (S214), and the existence of its own vehicle is reported to the faced vehicle (S215). The existence of its own vehicle is reported to the faced vehicle so that it is expected that the faced vehicle can escape the collision with its own vehicle, and a load on the driver can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cruise control system for a vehicle, and more particularly to a cruise control system for a vehicle which is suitable for use in overtaking.

[0002]

2. Description of the Related Art At the time of passing, the condition of an oncoming vehicle is determined,
As disclosed in Japanese Patent Application Laid-Open No. 1-298500, a warning device that gives a warning to a driver when there is no room for safe overtaking, as disclosed in Japanese Patent Application Laid-Open No. 1-298500. There is an example considered as an application of the measuring device. That is, the inter-vehicle distance between the oncoming vehicle and the own vehicle is constantly monitored, and it is determined whether or not the own vehicle can safely interrupt the front vehicle before meeting the oncoming vehicle.

[0003]

In the above configuration, since the distance between the oncoming vehicle and the own vehicle is constantly monitored, it is necessary to determine whether the own vehicle can safely interrupt the vehicle ahead. It is not necessary to pay close attention, and the effect of reducing driver fatigue can be expected. However, there is a problem that it is difficult to notify the oncoming vehicle of the own vehicle or to avoid a collision with the oncoming vehicle in advance only by giving a warning to the driver. The present invention has been made in order to solve such a conventional problem, and a traveling control device for a vehicle capable of notifying an oncoming vehicle of the existence of the own vehicle and of avoiding a collision with the oncoming vehicle beforehand. The purpose is to provide.

[0004]

According to a first aspect of the present invention, there is provided a traveling control device for a vehicle, comprising: an inter-vehicle distance detecting means for detecting an inter-vehicle distance to an object ahead of the host vehicle; Vehicle speed detecting means for detecting the vehicle speed, relative speed detecting means for detecting the relative speed between the own vehicle and the preceding object from the detection results of the following distance detecting means and the vehicle speed detecting means, and the detection result of the relative speed detecting means Based on the detection results of the oncoming vehicle detecting means for detecting the oncoming vehicle and the following distance detecting means, the own vehicle speed detecting means and the relative speed detecting means, it is determined whether or not the own vehicle has room to avoid the oncoming vehicle. An on-vehicle margin determining means, an on-vehicle notifying means for notifying the oncoming vehicle of the presence of the own vehicle, and an on-coming vehicle when the on-vehicle margin determining means determines that the on-vehicle cannot afford to avoid the oncoming vehicle. Announce the existence of In which a control means for controlling the vehicle informing means cormorants.

According to a second aspect of the present invention, there is provided a vehicle traveling control apparatus according to the first aspect, further comprising an alarming means for issuing an alarm to a driver, and a margin for the own vehicle to avoid an oncoming vehicle by the avoidance margin determining means. When it is determined that there is no warning, the control means further controls the warning means so as to issue a warning to the driver.

According to a third aspect of the present invention, there is provided a traveling control device for a vehicle, comprising: an inter-vehicle distance detecting means for detecting an inter-vehicle distance to an object ahead in front of the own vehicle; Detecting means, relative speed detecting means for detecting the relative speed between the own vehicle and the preceding object from the detection results of the following distance detecting means and own vehicle speed detecting means, and detecting the oncoming vehicle from the detection results of the relative speed detecting means. Oncoming vehicle detecting means, an inter-vehicle distance detecting means, an avoidance margin determining means for determining whether or not the own vehicle has a margin to avoid an oncoming vehicle based on the detection results of the own vehicle speed detecting means and the relative speed detecting means, Braking means for decelerating the own vehicle, and control means for controlling the braking means so as to decelerate the own vehicle when the avoidance margin determining means determines that the own vehicle cannot afford to avoid the oncoming vehicle. Is

According to a fourth aspect of the present invention, in the vehicle travel control apparatus according to the third aspect of the present invention, it is determined whether or not the operator has performed an opposing operation with respect to continuing the braking state by the braking means. The apparatus further includes a driver's will determination means, and when the driver's intention determination means determines that the driver has performed an opposing operation, the control means further cancels the control of the braking means.

According to a fifth aspect of the present invention, there is provided a vehicle travel control device according to the third or fourth aspect, further comprising: own vehicle notification means for notifying an oncoming vehicle of the presence of the own vehicle;
When the avoidance margin determining means determines that the own vehicle has no room to avoid the oncoming vehicle, the control means further controls the own vehicle notifying means so as to notify the oncoming vehicle of the presence of the own vehicle.

According to a sixth aspect of the present invention, there is provided a vehicle travel control device according to any one of the third to fifth aspects, further comprising an alarm unit for issuing an alarm to a driver, and the own vehicle being opposed by the avoidance margin determining unit. When it is determined that there is no room to avoid the car, the control means controls the warning means so as to further issue a warning to the driver.

According to a seventh aspect of the present invention, there is provided a traveling control device for a vehicle, comprising: an inter-vehicle distance detecting means for detecting an inter-vehicle distance to a forward object existing in front of the own vehicle; Detecting means, relative speed detecting means for detecting the relative speed between the own vehicle and the preceding object based on the detection results of the following distance detecting means and own vehicle speed detecting means, and opposing detecting the oncoming vehicle based on the detection results of the relative speed detecting means. Vehicle detection means; avoidance margin determination means for determining whether or not the own vehicle has room to avoid an oncoming vehicle based on the detection results of the following distance detection means, the own vehicle speed detection means, and the relative speed detection means; A steering unit that steers the vehicle so as to avoid the oncoming vehicle, and a steering unit such that the own vehicle avoids the oncoming vehicle when the avoidance margin determining unit determines that the own vehicle has no room to avoid the oncoming vehicle. Control hand to control It is those with a door.

According to an eighth aspect of the present invention, in the vehicle traveling control apparatus according to the seventh aspect of the present invention, it is determined whether or not the operator has performed an opposing operation with respect to continuing the steering state by the steering means. The apparatus further includes a driver's intention determining means, and when the driver's intention determining means determines that the driver has performed an opposing operation, the control means further cancels the control of the steering means.

According to a ninth aspect of the present invention, in the vehicle traveling control device according to the seventh or eighth aspect of the present invention, there is further provided a self-vehicle notifying means for notifying the oncoming vehicle of the existence of the own vehicle,
When the avoidance margin determining means determines that the own vehicle has no room to avoid the oncoming vehicle, the control means further controls the own vehicle notifying means so as to notify the oncoming vehicle of the presence of the own vehicle.

According to a tenth aspect of the invention, there is provided a vehicle travel control device according to any one of the seventh to ninth aspects, further comprising an alarming means for issuing an alarm to the driver, and the own vehicle being opposed by the avoidance margin determining means. When it is determined that there is no room to avoid the car, the control means controls the warning means so as to further issue a warning to the driver.

According to an eleventh aspect of the present invention, there is provided a running control apparatus for a vehicle, comprising: an inter-vehicle distance detecting means for detecting an inter-vehicle distance to an object ahead in front of the own vehicle; Detecting means, relative speed detecting means for detecting the relative speed between the own vehicle and the preceding object based on the detection results of the following distance detecting means and own vehicle speed detecting means, and opposing detecting the oncoming vehicle based on the detection results of the relative speed detecting means. Vehicle detection means; avoidance margin determination means for determining whether or not the own vehicle has room to avoid an oncoming vehicle based on the detection results of the following distance detection means, the own vehicle speed detection means, and the relative speed detection means; Braking means for decelerating the vehicle, steering means for steering the own vehicle so as to avoid the oncoming vehicle, and decelerating the own vehicle when the avoidance margin determining means determines that there is no room for the own vehicle to avoid the oncoming vehicle. To let It controls the braking means, the vehicle is and control means for controlling the steering means to avoid oncoming vehicle.

According to a twelfth aspect of the present invention, in the vehicle traveling control apparatus according to the eleventh aspect of the present invention, it is determined whether or not the operator has performed an opposing operation with respect to continuing the braking state by the braking means. The apparatus further includes a driver's will determination means, and when the driver's intention determination means determines that the driver has performed an opposing operation, the control means further cancels the control of the braking means.

According to a thirteenth aspect of the present invention, in the vehicle traveling control apparatus according to the eleventh aspect of the present invention, it is determined whether or not the operator has performed an opposing operation with respect to continuing the steering state by the steering means. The apparatus further includes a driver's intention determining means, and when the driver's intention determining means determines that the driver has performed an opposing operation, the control means further cancels the control of the steering means.

According to a fourteenth aspect of the present invention, there is provided a vehicle travel control device according to any one of the eleventh to thirteenth aspects, further comprising a vehicle notification means for notifying an oncoming vehicle of the presence of the vehicle, and having a margin for avoidance. When the determination means determines that the own vehicle has no room to avoid the oncoming vehicle, the control means further controls the own vehicle notification means to notify the oncoming vehicle of the existence of the own vehicle.

According to a fifteenth aspect of the present invention, there is provided a vehicle travel control device according to any one of the eleventh to fourteenth aspects, further comprising an alarm means for issuing an alarm to the driver, and the own vehicle being opposed by the avoidance margin determining means. When it is determined that there is no room to avoid the car, the control means controls the warning means so as to further issue a warning to the driver.

[0019]

An embodiment of the present invention will be described below with reference to the drawings.

Embodiment 1 FIG. 1 is a system configuration diagram of a vehicle travel control device according to a first embodiment of the present invention. In the figure, reference numeral 11 denotes an inter-vehicle distance detection sensor. The inter-vehicle distance detection sensor 11 is, for example, a radar device, and drives a near-infrared light emitting diode (LED) to irradiate a forward object of the vehicle with a pulse, and detects a reflected wave from the forward object with a light receiver. By measuring the time from the irradiation to the light reception, an inter-vehicle distance to a preceding object is detected.

Reference numeral 12 denotes a vehicle speed detection sensor for detecting the vehicle speed of the vehicle. The vehicle speed detection sensor 12 includes a wheel speed sensor 12a for detecting a wheel speed of each wheel, and a vehicle speed sensor 12b for detecting a vehicle speed. 13
Is a sensor related to the steering angle (steering angle) of the host vehicle. The sensor 13 includes a steering angle sensor 13a for detecting the steering angle of the host vehicle, and a steering angular speed sensor 13b for detecting the steering angular speed of the host vehicle. Reference numeral 14 denotes an accelerator position sensor for detecting a driver's accelerator operation amount. Reference numeral 15 denotes a brake switch for detecting the presence or absence of a driver's brake operation.

Reference numeral 16A denotes a control unit which detects an oncoming vehicle based on outputs from an inter-vehicle distance detection sensor 11, a vehicle speed detection sensor 12, a sensor 13 relating to a steering angle, an accelerator position sensor 14, a brake switch 15, and the like. Calculates the time until the oncoming vehicle collides with the oncoming vehicle.If the oncoming vehicle cannot afford to avoid the oncoming vehicle, it issues a warning to the driver and informs the oncoming vehicle of the existence of the own vehicle. Things. 17 is the control unit 1
This is an alarm means for giving an alarm to the driver by a control signal from 6A. The warning by the warning means 17 is performed, for example, by voice, sound, vibration, fragrance, lighting of a lamp, or the like. Reference numeral 18 denotes a notifying unit for notifying the oncoming vehicle of the presence of the own vehicle based on a control signal from the control unit 16A. The notification by the notification means 18 is performed by driving a lamp, for example, a headlight, a direction indicator, or a horn.

The control unit 16A includes a microprocessor 19 and the microprocessor 19
ROM 20, which stores an operation program, and the like, a RAM 21 as a work area for performing calculations and the like, an input interface 22 for supplying outputs of respective sensors to a microprocessor 19, An output interface 23 for supplying a control signal to the notification means 18 is provided.

An outline of the operation of the vehicle travel control device shown in FIG. 1 will be described. First, when the engine is started, electric power is supplied from an automobile alternator (not shown),
Each control device starts operating, and the microprocessor 19 executes a main routine process. Here, when the vehicle is running, a pulse train signal having a frequency proportional to the running speed is input from the wheel speed sensor 12a, so that the wheel speed sensor process is performed separately from the main routine process described above. That is, every time a pulse train signal is input, an interrupt process is performed by the microprocessor 19, and a period (T) of the pulse train signal is obtained by a timer (not shown), and then the process proceeds to a main routine process. .

Next, an example of the main routine processing is shown in FIG.
This will be specifically described with reference to the flowchart of FIG. In the main routine process, after initialization (not shown), a calculation process is performed for each inter-vehicle distance detection cycle.
First, in step S201, a detected inter-vehicle distance to a preceding object detected by the inter-vehicle distance detection sensor 11 is read and stored in the RAM 21. The RAM 21 is configured so that the past measured values can be updated a predetermined number of times, and the past inter-vehicle distance detection value can be read from the microprocessor 19 at any time.

Subsequently, in step S202, the wheel speed of each wheel is obtained from the latest pulse cycle T obtained from the above-described interrupt processing. Then, the traveling speed of the own vehicle is calculated from the wheel speed of each wheel and the vehicle speed detected by the vehicle speed sensor 12b, and the detected traveling speed value is also stored in the RAM 21. Subsequently, in step S203, a difference between the current inter-vehicle distance detection value and the immediately preceding inter-vehicle distance detection value is determined. This difference is a change in the inter-vehicle distance for each inter-vehicle distance calculation cycle, and corresponds to the relative speed between the host vehicle and the preceding object. This relative speed value is stored in the RAM 21.

Subsequently, in step S204, step S
The running speed of the own vehicle calculated in step 202 is added to step S203.
Add the relative speed obtained in the above to obtain the running speed of the forward object,
The traveling speed value of the preceding object is stored in the RAM 21. Subsequently, in step S205, the speed displacement of the forward object is calculated based on the traveling speed of the forward object obtained in step S204. The difference between the current front object traveling speed and the preceding object traveling speed n times is obtained. This difference corresponds to acceleration because it is a speed displacement of the forward running speed during n times of the inter-vehicle distance calculation cycle. If the speed displacement is equal to or greater than a predetermined value, it means that the preceding object has rapidly accelerated.

Subsequently, in step S206, it is determined whether or not the speed displacement of the forward object is greater than or equal to a predetermined value in a direction away from the host vehicle. If there is, go to step S207,
Set the initial value to the target inter-vehicle distance conversion timer. Then, the process proceeds to step S208. On the other hand, when the speed displacement of the forward object is not equal to or larger than the predetermined value in the direction away from the host vehicle, the process immediately proceeds to step S208. Step S2
At 08, the timer for target inter-vehicle distance conversion is decremented at regular intervals.

Subsequently, in step S209, it is determined whether or not the speed displacement of the forward object is equal to or greater than a predetermined value in a direction approaching the host vehicle. If the speed displacement of the preceding object is equal to or greater than the predetermined value in the direction approaching the own vehicle, it is determined that the preceding object is rapidly approaching the own vehicle, and it is determined that an oncoming vehicle has been detected, and the process proceeds to step S211. On the other hand, if the speed displacement of the preceding object is not equal to or more than the predetermined value in the direction approaching the own vehicle, it is determined that an oncoming vehicle has not been detected, and the process proceeds to step S210, and an initial value is set in a timer for converting the target following distance. And
Thereafter, the process returns to step S201. In step S211, the time until the vehicle collides (collision time) is calculated from the traveling speed and the inter-vehicle distance of the own vehicle and the relative speed of the approaching oncoming vehicle, and the collision time value is stored in the RAM 21.

Subsequently, in step S212, a time (allowance time) for the host vehicle to avoid the oncoming vehicle with a margin is calculated from the traveling speed of the host vehicle, the inter-vehicle distance, and the relative speed of the oncoming vehicle approaching. Allowance time value is stored in RAM 21
To memorize. The extra time is stored in advance in the RAM 2 as data from the running speed of the own vehicle, the following distance, and the relative speed of the oncoming vehicle.
1, and may be referred to each time. As for the collision time described above, it is possible to store the data in the RAM 21 in advance in the same manner as the spare time and to refer to the data each time.

Subsequently, in step S213, step S
From the collision time obtained in 211 and the margin time obtained in step S212, it is determined whether or not the host vehicle has room to avoid the oncoming vehicle. For example, when the collision time is longer than the margin time by a certain time or more, it is determined that there is a margin, and otherwise, it is determined that there is no margin. If there is room, the process returns to step S201. On the other hand, if there is no room, the alarm unit 17 is controlled in step S214,
The driver is warned of approaching the oncoming vehicle by sound, voice, vibration, fragrance, and the like.
8 to drive at least one of a headlight, a direction indicator, a hazard lamp, and a horn of the own vehicle to notify the oncoming vehicle of the existence of the own vehicle, and then return to step S201.

The above-described steps S201 to S21
The operation of No. 5 is repeatedly executed for each inter-vehicle distance calculation time. That is, the inter-vehicle distance is calculated at step S201 at regular time intervals, and then the operation after step S202 is performed.

As described above, in the first embodiment, when it is determined that the own vehicle has no room to avoid the oncoming vehicle, the warning unit 17 warns the driver of the approach of the oncoming vehicle and also notifies the driver of the oncoming vehicle. This informs the oncoming vehicle of the presence of the own vehicle, so that the oncoming vehicle can be expected to avoid collision with the own vehicle, and the load on the driver can be reduced. When it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the notifying unit 18 only informs the oncoming vehicle of the existence of the own vehicle, and the warning unit 17 does not warn the driver. Is also good.

Embodiment 2 FIG. 3 is a system configuration diagram of a vehicle travel control device according to a second embodiment of the present invention. 3, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and detailed description thereof will be omitted. In the figure, 1
6B is a control unit corresponding to the control unit 16A of FIG. The control unit 16B includes an inter-vehicle distance detection sensor 11, an own vehicle speed detection sensor 12, and a sensor 1 related to a steering angle.
3. Based on the outputs of the accelerator position sensor 14, the brake switch 15, etc., detect the oncoming vehicle, calculate the time until the oncoming vehicle collides with the own vehicle, and allow the own vehicle to avoid the oncoming vehicle. When there is no vehicle, it issues a warning to the driver, informs the oncoming vehicle of the existence of the own vehicle, and further controls the brake to decelerate the own vehicle.

Reference numeral 24 denotes a control unit 16
A brake actuator for driving a brake 25 as a braking means based on a control signal from B. The other components of the vehicle travel control device shown in FIG. 3 are configured similarly to the vehicle travel control device shown in FIG.

An outline of the operation of the vehicle travel control device shown in FIG. 3 will be described. First, when the engine is started, electric power is supplied from an automobile alternator (not shown),
Each control device starts operating, and the microprocessor 19 executes a main routine process. Here, when the vehicle is running, a pulse train signal having a frequency proportional to the running speed is input from the wheel speed sensor 12a, so that the wheel speed sensor process is performed separately from the main routine process. That is, every time a pulse train signal is input, an interrupt process is performed by the microprocessor 19, and a period T of the pulse train signal is obtained by a timer (not shown), and then the process proceeds to the main routine process. I have.

Next, an example of the main routine processing is shown in FIG.
This will be specifically described with reference to the flowchart of FIG. In the main routine process, after initialization (not shown), a calculation process is performed for each inter-vehicle distance detection cycle.
Steps S401 to S413 are the same as steps S201 to S213 in the flowchart of FIG. 2, and thus description thereof will be omitted. Here, step S413 and subsequent steps will be mainly described.

In step S413, step S411
It is determined whether or not the own vehicle has enough time to avoid the oncoming vehicle based on the collision time calculated in step S412 and the spare time calculated in step S412. For example, when the collision time is longer than the margin time by a certain time or more, it is determined that there is a margin, and otherwise, it is determined that there is no margin. If there is room, the process proceeds to step S417. On the other hand, if there is no room, a control signal is supplied to the brake actuator 24 in step S414 to drive the brake 25 to decelerate the host vehicle. As a result, the own vehicle is controlled in a direction to avoid a collision with the oncoming vehicle.

If there is no room, step S4
At 15, the alarm means 17 is controlled to warn the driver of approaching oncoming vehicles by sound, voice, vibration, fragrance, etc. Further, at step S416, the notifying means 18 is controlled, and the headlight of the own vehicle is controlled. Then, at least one of the direction indicator, the hazard lamp and the horn is driven to notify the oncoming vehicle of the existence of the own vehicle, and thereafter, the process proceeds to step S417.

In step S417, the intention of the driver is determined based on the outputs of the sensor 13, the brake switch 15, the accelerator position sensor 14, etc. relating to the steering angle. For example, the intention of acceleration by accelerator operation, the intention of steering by steering wheel operation, the intention of deceleration by brake operation, and the like. Then, in step S418, step S418
Based on the driver's will determined in step 417, step S
Regarding the continuation of the deceleration state of the vehicle under the control of the actuator 24 in 414, it is determined whether or not the driver has performed an opposing operation. If the driver is performing an opposing operation, in step S419, the actuator 24
Release control of. On the other hand, when the driver does not perform the opposing operation, the process immediately returns to step S401.

The above-described steps S401 to S41
The operation of No. 9 is repeatedly executed for each inter-vehicle distance calculation time. That is, the inter-vehicle distance is calculated at step S401 at regular time intervals, and then the operation after step S402 is performed.

As described above, in the second embodiment, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the brake actuator 24 is controlled to drive the brake 25 to decelerate the own vehicle, and The control is performed in such a direction as to avoid a collision with a vehicle, so that a collision with an oncoming vehicle can be prevented. In this case, when the driver performs an opposing operation regarding the continuation of the deceleration state of the vehicle under the control of the actuator 24, the control of the actuator 24 is released, and the intention of the driver can be respected. When it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the warning means 17 warns the driver of the approach of the oncoming vehicle, and the notification means 18 notifies the oncoming vehicle of the presence of the own vehicle. Since the notification is made, the oncoming vehicle can be expected to avoid collision with the own vehicle, and the load on the driver can be reduced.

When it is determined that the host vehicle cannot afford to avoid the oncoming vehicle, the brake means 24 is controlled to drive the brake 25 to decelerate the host vehicle. Warning and notification means 1
The notification of the existence of the own vehicle to the oncoming vehicle by 8 may not be performed. Further, only one of a warning to the driver by the warning means 17 and a notification of the existence of the own vehicle to the oncoming vehicle by the notification means 18 may be performed.

Embodiment 3 FIG. FIG. 5 is a system configuration diagram of a vehicle travel control device according to Embodiment 3 of the present invention. In FIG. 5, portions corresponding to those in FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted. In the figure, 1
Reference numeral 6C denotes a control unit, which corresponds to the control unit 16A in FIG. The control unit 16C includes an inter-vehicle distance detection sensor 11, an own vehicle speed detection sensor 12, and a sensor 1 related to a steering angle.
3. Based on the outputs of the accelerator position sensor 14, the brake switch 15, etc., detect the oncoming vehicle, calculate the time until the oncoming vehicle collides with the own vehicle, and allow the own vehicle to avoid the oncoming vehicle. When there is no oncoming vehicle, the warning is issued to the driver, the oncoming vehicle is notified of the existence of the own vehicle, and the like, and the steering is further controlled to avoid the oncoming vehicle.

Reference numeral 26 denotes the control unit 16.
This is a steering actuator for driving the steering 27 so as to avoid an oncoming vehicle based on a control signal from C. The other components of the vehicle travel control device shown in FIG. 5 are configured similarly to the vehicle travel control device shown in FIG.

An outline of the operation of the vehicle running control device shown in FIG. 5 will be described. First, when the engine is started, electric power is supplied from an automobile alternator (not shown),
Each control device starts operating, and the microprocessor 19 executes a main routine process. Here, when the vehicle is running, a pulse train signal having a frequency proportional to the running speed is input from the wheel speed sensor 12a, so that the wheel speed sensor process is performed separately from the main routine process. That is, every time a pulse train signal is input, an interrupt process is performed by the microprocessor 19, and a period T of the pulse train signal is obtained by a timer (not shown), and then the process proceeds to the main routine process. I have.

Next, an example of the main routine processing is shown in FIG.
This will be specifically described with reference to the flowchart of FIG. In the main routine process, after initialization (not shown), a calculation process is performed for each inter-vehicle distance detection cycle.
Steps S601 to S613 are the same as steps S201 to S213 in the flowchart of FIG. 2, and thus description thereof will be omitted. Here, step S613 and subsequent steps will be mainly described.

In step S613, step S611
It is determined whether or not the own vehicle has room to avoid the oncoming vehicle based on the collision time obtained in step S612 and the margin time obtained in step S612. For example, when the collision time is longer than the margin time by a certain time or more, it is determined that there is a margin, and otherwise, it is determined that there is no margin. If there is room, the process proceeds to step S617. On the other hand, if there is no margin, in step S614, a control signal is supplied to the steering actuator 26 to drive the steering so as to avoid the oncoming vehicle without disturbing the behavior of the vehicle body.

If there is no room, step S6
At 15, the warning means 17 is controlled to warn the driver of approaching oncoming vehicles by sound, voice, vibration, fragrance and the like. Further, at step S 616, the notifying means 18 is controlled and the headlight of the own vehicle is controlled. Then, at least one of the direction indicator, the hazard lamp and the horn is driven to notify the oncoming vehicle of the existence of the own vehicle, and thereafter, the process proceeds to step S617.

In step S617, the driver's will is determined based on the outputs of the sensor 13, the brake switch 15, the accelerator position sensor 14, etc. relating to the steering angle. For example, the intention of acceleration by accelerator operation, the intention of steering by steering wheel operation, the intention of deceleration by brake operation, and the like. Then, in step S618, step S
Based on the driver's will determined in step 617, step S
Regarding the continuation of avoiding the oncoming vehicle by the control of the actuator 26 in 614, it is determined whether or not the driver has performed an opposing operation. If the driver is performing opposing operations, the control of the actuator 26 is released in step S619. On the other hand, when the driver does not perform the opposing operation, the process immediately returns to step S601.

The above-described steps S601 to S61
The operation of No. 9 is repeatedly executed for each inter-vehicle distance calculation time. That is, the inter-vehicle distance is calculated at step S601 at regular time intervals, and then the operation after step S602 is performed.

As described above, in the third embodiment, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the steering actuator 26 is controlled to control the steering 27.
Is driven to avoid the oncoming vehicle, and a collision with the oncoming vehicle can be prevented beforehand. In this case, the control of the actuator 26 is released when the driver performs an opposing operation with respect to the continuation of the oncoming vehicle avoiding state by the control of the actuator 26.
Respect the will of the driver. When it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the warning means 17 warns the driver of the approach of the oncoming vehicle, and the notification means 18 notifies the oncoming vehicle of the presence of the own vehicle. Since the notification is made, the oncoming vehicle can be expected to avoid collision with the own vehicle, and the load on the driver can be reduced.

When it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the steering actuator 26
May be controlled to drive the steering 27 to avoid the oncoming vehicle, but not to warn the driver by the warning means 17 or to notify the oncoming vehicle of the presence of the own vehicle to the oncoming vehicle by the notification means 18. . Further, only one of a warning to the driver by the warning means 17 and a notification of the existence of the own vehicle to the oncoming vehicle by the notification means 18 may be performed.

Embodiment 4 FIG. 7 is a system configuration diagram of a vehicle travel control device according to a fourth embodiment of the present invention. 7, parts corresponding to those in FIG. 1 are denoted by the same reference numerals, and detailed description thereof will be omitted.

In the figure, reference numeral 16D denotes a control unit, which corresponds to the control unit 16A of FIG. The control unit 16D detects an oncoming vehicle based on the output of the following distance detection sensor 11, the own vehicle speed detection sensor 12, the sensor 13 relating to the steering angle, the accelerator position sensor 14, the brake switch 15, etc. Calculates the time required for the vehicle to collide, and if the vehicle cannot afford to avoid the oncoming vehicle, warns the driver, informs the oncoming vehicle of the presence of the vehicle, and controls the brakes. Then, the vehicle is decelerated, and the steering is further controlled to avoid an oncoming vehicle.

Reference numeral 24 denotes the control unit 16
A brake actuator for driving a brake 25 as a braking means based on a control signal from D. Reference numeral 26 denotes a steering actuator for driving a steering 27 based on a control signal from the control unit 16D so as to avoid an oncoming vehicle. Others of the vehicle travel control device shown in FIG.
It has the same configuration as the vehicle travel control device shown in FIG.

An outline of the operation of the vehicle traveling control device shown in FIG. 7 will be described. First, when the engine is started, electric power is supplied from an automobile alternator (not shown),
Each control device starts operating, and the microprocessor 19 executes a main routine process. Here, when the vehicle is running, a pulse train signal having a frequency proportional to the running speed is input from the wheel speed sensor 12a, so that the wheel speed sensor process is performed separately from the main routine process. That is, every time a pulse train signal is input, an interrupt process is performed by the microprocessor 19, and a period T of the pulse train signal is obtained by a timer (not shown), and then the process proceeds to the main routine process. I have.

Next, an example of the main routine processing is shown in FIG.
This will be specifically described with reference to the flowchart of FIG. In the main routine process, after initialization (not shown), a calculation process is performed for each inter-vehicle distance detection cycle.
Steps S801 to S813 are the same as steps S201 to S213 in the flowchart of FIG. 2, and thus description thereof will be omitted. Here, step S813 and subsequent steps will be mainly described. Step S
At 813, it is determined whether or not the own vehicle has room to avoid the oncoming vehicle based on the collision time obtained at step S811, and the allowance time obtained at step S812. For example, when the collision time is longer than the margin time by a certain time or more, it is determined that there is a margin, and otherwise, it is determined that there is no margin. If there is room, the process proceeds to step S817.

On the other hand, if there is no room, step S81 is performed.
At 4, a control signal is supplied to the brake actuator 24 to drive the brake 25 to decelerate the host vehicle. As a result, the own vehicle is controlled in a direction to avoid a collision with the oncoming vehicle. Subsequently, in step S815, a control signal is supplied to the steering actuator 26 to drive the steering 27 so as to avoid the oncoming vehicle without disturbing the behavior of the vehicle body. Further, if there is not enough time, the warning means 17 is controlled in step S816 to warn the driver of approaching the oncoming vehicle by sound, voice, vibration, fragrance and the like, and in step S817, the notification means 18 is notified. The vehicle is controlled to drive at least one of the headlight, the direction indicator, the hazard lamp, and the horn of the own vehicle to notify the oncoming vehicle of the existence of the own vehicle, and then proceeds to step S819.

In step S819, the intention of the driver is determined based on the outputs of the steering sensor 13, the brake switch 15, the accelerator position sensor 14, and the like. For example, the intention of acceleration by accelerator operation, the intention of steering by steering wheel operation, the intention of deceleration by brake operation, and the like. Subsequently, in step S820, step S8
Based on the driver's will determined in step 19, step S8
It is determined whether or not the driver has performed opposing operations regarding the continuation of the deceleration state of the own vehicle under the control of the actuator 24 and the evasion of the oncoming vehicle under the control of the actuator 26 in step S815. I do. If the driver performs the opposing operation, the control of the corresponding actuator is canceled in step S821. On the other hand, if the driver has not performed the opposing operation, the process immediately returns to step S801.

The above-described steps S801 to S82
The operation 1 is repeatedly executed for each inter-vehicle distance calculation time. That is, the inter-vehicle distance is calculated in step S801 at regular time intervals, and then the operation in step S802 and subsequent steps is performed.

As described above, in the fourth embodiment, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the brake actuator 24 is controlled to drive the brake 25 to decelerate the own vehicle. In addition to controlling the vehicle to avoid collision with the vehicle, the steering actuator 26
Is controlled to drive the steering 27 to avoid the oncoming vehicle, and it is possible to prevent collision with the oncoming vehicle.

In this case, when the driver performs opposing operations with respect to continuing the deceleration state of the own vehicle under the control of the actuator 24 and continuing the avoiding state of the oncoming vehicle under the control of the actuator 26, The control of the corresponding actuator is released, and the driver's will can be respected. When it is determined that the host vehicle cannot afford to avoid the oncoming vehicle, the warning unit 17 warns the driver of the approach of the oncoming vehicle, and also notifies the driver of the approach of the oncoming vehicle.
This informs the oncoming vehicle of the existence of the own vehicle, so that the oncoming vehicle can be expected to avoid collision with the own vehicle, and the load on the driver can be reduced.

When it is determined that the host vehicle cannot afford to avoid the oncoming vehicle, the brake actuator 24 is controlled to drive the brake 25 to decelerate the host vehicle, and the steering actuator 26 is controlled to control the steering. Just drive 27 to avoid oncoming vehicles,
The warning to the driver by the warning means 17 and the notification of the existence of the own vehicle to the oncoming vehicle by the notification means 18 may not be performed. Alternatively, only one of a warning to the driver by the warning means 17 and a notification of the presence of the own vehicle to the oncoming vehicle by the notification means 18 may be performed. Further, the release of the control for the actuators 24 and 26 may be performed only for one of the actuators, not for both.

[0065]

According to the first aspect of the present invention, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the oncoming vehicle is notified to the oncoming vehicle by the own vehicle notification means. It can also be expected that the oncoming vehicle will avoid collision with the host vehicle, which has the effect of reducing the load on the driver.

According to the second aspect of the present invention, in the first aspect of the present invention, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, an alarm is issued to the driver by the alarm means. There is an effect that the driver can be forced to abandon overtaking.

According to the third aspect of the invention, when it is determined that the own vehicle has no room to avoid the oncoming vehicle, the braking means is controlled to decelerate the own vehicle. This has the effect that it can be prevented beforehand.

According to a fourth aspect of the present invention, in the third aspect of the present invention, when the driver performs an opposing operation with respect to continuing the deceleration state of the own vehicle under the control of the braking means, the braking means is controlled. Is canceled, and the driver's will can be respected.

According to the invention of claim 5, in the invention of claim 3 or 4, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, the own vehicle notifying means detects the presence of the own vehicle in the oncoming vehicle. , It can be expected that the oncoming vehicle will avoid a collision with the own vehicle, and the load on the driver can be reduced.

According to the sixth aspect of the present invention, in any one of the third to fifth aspects of the present invention, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, an alarm is issued to the driver by the alarm means. As a result, there is an effect that the driver can be forced to abandon overtaking.

According to the seventh aspect of the present invention, when it is determined that the own vehicle has no room to avoid the oncoming vehicle, the steering means is controlled so that the own vehicle avoids the oncoming vehicle. This has the effect of preventing collision with the vehicle.

According to an eighth aspect of the present invention, in the invention of the seventh aspect, the present invention relates to the continuation of the avoiding state of the oncoming vehicle under the control of the steering means. Is canceled, and the driver's will can be respected.

According to the ninth aspect of the present invention, in the invention of the seventh or eighth aspect, when it is determined that the own vehicle has no room to avoid the oncoming vehicle, the own vehicle notifying means detects the presence of the own vehicle in the oncoming vehicle. , It can be expected that the oncoming vehicle will avoid a collision with the own vehicle, and the load on the driver can be reduced.

According to the tenth aspect, the seventh to ninth aspects are provided.
In any one of the inventions, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, an alarm is issued to the driver by the alarm means, so that the driver can abandon excessive passing. This has the effect.

According to the eleventh aspect of the invention, when it is determined that the own vehicle has no room to avoid the oncoming vehicle, the braking means is controlled so as to decelerate the own vehicle, and the own vehicle avoids the oncoming vehicle. Control the steering means so that
There is an effect that a collision with an oncoming vehicle can be prevented beforehand.

According to a twelfth aspect of the present invention, in the invention of the eleventh aspect, the invention relates to maintaining the deceleration state of the own vehicle under the control of the braking means. Is canceled, and the driver's will can be respected.

According to a thirteenth aspect of the present invention, in the eleventh aspect of the present invention, when the driver performs an opposing operation with respect to continuing the avoiding state of the oncoming vehicle under the control of the steering means, the steering means is controlled. Is canceled, and the driver's will can be respected.

According to the fourteenth aspect, the eleventh to eleventh aspects are provided.
In any one of the thirteenth inventions, when it is determined that the own vehicle has no room to avoid the oncoming vehicle, the oncoming vehicle notifying means notifies the oncoming vehicle of the existence of the own vehicle. It is also expected that the collision of the vehicle can be avoided, and the load on the driver can be reduced.

According to the invention of claim 15, claims 11 to
In any one of the fourteenth inventions, when it is determined that the own vehicle cannot afford to avoid the oncoming vehicle, an alarm is issued to the driver by the alarm means, so that the driver may give up the unreasonable passing. There is an effect that can be.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram showing a vehicle travel control device according to a first embodiment of the present invention.

FIG. 2 is a flowchart for explaining the operation of the first embodiment of the present invention.

FIG. 3 is a system configuration diagram illustrating a vehicle travel control device according to a second embodiment of the present invention.

FIG. 4 is a flowchart for explaining the operation of the second embodiment of the present invention.

FIG. 5 is a system configuration diagram showing a vehicle travel control device according to a third embodiment of the present invention.

FIG. 6 is a flowchart for explaining the operation of the third embodiment of the present invention.

FIG. 7 is a system configuration diagram showing a vehicle travel control device according to a fourth embodiment of the present invention.

FIG. 8 is a flowchart illustrating an operation according to the fourth embodiment of the present invention.

[Explanation of symbols]

11 inter-vehicle distance detection sensor, 12 own vehicle speed detection sensor,
13 Sensor related to steering angle, 14 Accelerator position sensor, 15 Brake switch, 16A-
16D control unit, 17 alarm means, 18
Notification means, 19 microprocessors, 20 RO
M, 21 RAM, 22 input interface, 23
Output interface, 24 brake actuator, 25 brake, 26 steering actuator, 27 steering.

Claims (15)

[Claims] An inter-vehicle distance detecting means for detecting an inter-vehicle distance with a forward object existing in front of the own vehicle; an own vehicle speed detecting means for detecting a traveling speed of the own vehicle; A relative speed detecting means for detecting a relative speed between the own vehicle and the preceding object from a detection result of the own vehicle speed detecting means; an oncoming vehicle detecting means for detecting an oncoming vehicle from a detection result of the relative speed detecting means; An avoidance margin determining unit that determines whether the own vehicle has a margin to avoid the oncoming vehicle based on detection results of the inter-vehicle distance detecting unit, the own vehicle speed detecting unit, and the relative speed detecting unit; An own-vehicle notifying unit that notifies the vehicle of the presence of the own-vehicle, and when the avoidance margin determining unit determines that the own-vehicle has no room to avoid the oncoming vehicle, the presence of the own vehicle in the oncoming vehicle Control means for controlling the own-vehicle notifying means so as to notify the vehicle. 2. An alarm device for issuing an alarm to a driver, wherein when the avoidance margin determining device determines that the own vehicle has no room to avoid the oncoming vehicle, the control device further includes the driver. The vehicle travel control device according to claim 1, wherein the warning means is controlled so as to give a warning to the vehicle. 3. An inter-vehicle distance detecting means for detecting an inter-vehicle distance with a forward object existing in front of the own vehicle; an own vehicle speed detecting means for detecting a running speed of the own vehicle; A relative speed detecting means for detecting a relative speed between the own vehicle and the preceding object from a detection result of the own vehicle speed detecting means; an oncoming vehicle detecting means for detecting an oncoming vehicle from a detection result of the relative speed detecting means; Avoidance margin determining means for determining whether or not the own vehicle has a margin to avoid the oncoming vehicle based on detection results of the following distance detecting means, the own vehicle speed detecting means, and the relative speed detecting means; Braking means for decelerating the vehicle; and controlling the braking means so as to decelerate the own vehicle when the avoidance margin determining means determines that the own vehicle has no room to avoid the oncoming vehicle. And a control device for a vehicle. 4. A continuation of the braking state by the braking means, further comprising a driver's intention determining means for determining whether or not a driver has performed an opposing operation; The vehicle travel control device according to claim 3, wherein the control unit further releases the control of the braking unit when it is determined that the driver has performed an operation to perform the operation. 5. An on-vehicle notifying unit for notifying the oncoming vehicle of the presence of the on-vehicle, and when the avoidance margin determining unit determines that the on-vehicle has no room to avoid the oncoming vehicle, 5. The vehicle travel control device according to claim 3, wherein the control unit further controls the vehicle notification unit to notify the oncoming vehicle of the presence of the vehicle. 6. 6. An alarming means for issuing an alarm to a driver, wherein when the avoidance margin determining means determines that the own vehicle has no margin for avoiding the oncoming vehicle, the control means further includes the driving means. The vehicle travel control device according to any one of claims 3 to 5, wherein the warning means is controlled so as to issue a warning to a user. 7. An inter-vehicle distance detecting means for detecting an inter-vehicle distance with a forward object existing in front of the own vehicle; an own vehicle speed detecting means for detecting a running speed of the own vehicle; A relative speed detecting means for detecting a relative speed between the own vehicle and the preceding object from a detection result of the own vehicle speed detecting means; an oncoming vehicle detecting means for detecting an oncoming vehicle from a detection result of the relative speed detecting means; Avoidance margin determining means for determining whether or not the own vehicle has a margin to avoid the oncoming vehicle based on detection results of the following distance detecting means, the own vehicle speed detecting means, and the relative speed detecting means; A steering unit that steers the vehicle so as to avoid the oncoming vehicle; and the own vehicle avoids the oncoming vehicle when the avoidance margin determination unit determines that the own vehicle has no room to avoid the oncoming vehicle. And a control means for controlling the steering means so as to perform the control. 8. Continuing the steering state by the steering means, further comprising driver will determination means for determining whether or not a driver has performed an opposing operation; The vehicle travel control device according to claim 7, wherein the control unit further releases the control of the steering unit when it is determined that the driver has performed an operation to perform the operation. 9. An on-vehicle notifying means for notifying the oncoming vehicle of the presence of the own vehicle, wherein when the avoidance margin determining means determines that the own vehicle has no room to avoid the oncoming vehicle, 9. The vehicle travel control device according to claim 7, wherein the control unit further controls the host vehicle notifying unit so as to notify the oncoming vehicle of the presence of the host vehicle. 10. 10. An alarm device for issuing an alarm to a driver, wherein when the avoidance margin determining device determines that the own vehicle has no room to avoid the oncoming vehicle, the control device further includes the driving device. The vehicle travel control device according to any one of claims 7 to 9, wherein the warning means is controlled so as to issue a warning to a user. 11. An inter-vehicle distance detecting means for detecting an inter-vehicle distance with a forward object existing in front of the own vehicle, an own vehicle speed detecting means for detecting a traveling speed of the own vehicle, the inter-vehicle distance detecting means, and A relative speed detecting means for detecting a relative speed between the own vehicle and the preceding object from a detection result of the own vehicle speed detecting means; an oncoming vehicle detecting means for detecting an oncoming vehicle from a detection result of the relative speed detecting means; Avoidance margin determining means for determining whether or not the own vehicle has a margin to avoid the oncoming vehicle based on detection results of the following distance detecting means, the own vehicle speed detecting means and the relative speed detecting means; Braking means for decelerating the vehicle; steering means for steering the self-vehicle so as to avoid the oncoming vehicle; and determination that the self-vehicle cannot afford to avoid the oncoming vehicle by the avoidance margin determination means. Control means for controlling the braking means so as to decelerate the host vehicle and controlling the steering means so that the host vehicle avoids the oncoming vehicle. Travel control device. 12. A continuation of the braking state by the braking means, further comprising a driver's will determination means for determining whether or not a driver has performed an opposing operation; The control means further cancels the control of the braking means when it is determined that the driver has performed an operation to perform the braking operation.
4. The vehicle travel control device according to claim 1. 13. A continuation of the steering state by the steering means, further comprising a driver's will determination means for determining whether or not a driver has performed an opposing operation; The control means further cancels the control of the steering means when it is determined that the driver has performed an operation to perform the operation.
4. The vehicle travel control device according to claim 1. 14. An on-vehicle notifying means for notifying the oncoming vehicle of the presence of the on-vehicle, and when the avoidance margin determining means determines that the on-vehicle has no room to avoid the oncoming vehicle, 14. The vehicle travel control device according to claim 11, wherein the control unit further controls the vehicle notification unit to notify the oncoming vehicle of the presence of the vehicle. 15. 15. An alarm system for issuing a warning to a driver, wherein when the avoidance margin determining unit determines that the own vehicle has no room to avoid the oncoming vehicle, the control unit further includes the driving unit. The running control device for a vehicle according to any one of claims 11 to 14, wherein the warning means is controlled so as to give a warning to a person.