JPH1199851A - Traveling control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To set the auto-cruise driving section making use of the map information of a navigation device, and change the degree of deceleration in the auto- cruise driving based on the pressure to clutch a steering wheel. SOLUTION: A control device supplies the operation information of an operation part 34 for setting the auto-cruise provided in the vicinity of a steering wheel to a cruise section setting part 19 on a navigation device 2 side. The cruise section setting part 19 successively selects a crossing or an interchange in the advancing direction of a vehicle from a closer side to the present position, and provides the voice output through a synthesizing device 10. A pressure sensor 35 is provided on a steering wheel to detect the steering wheel pressure with which a driver holds the steering wheel. A degree of deceleration changing part 40 increases the degree of deceleration if the pressure on the steering wheel exceeds the prescribed value when a cruise control part 39 controls the deceleration.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling control device for a vehicle having a navigation function and a cruise control function, and more particularly, to an operation unit provided around a steering wheel for setting auto cruise. The present invention relates to a travel control device for a vehicle that can set a destination and a section in which an auto cruise operation is performed. In addition, the present invention provides a vehicle in which the degree of deceleration of the vehicle and the inter-vehicle distance can be adjusted by operating an operation unit provided around the steering wheel for increasing the degree of deceleration of the vehicle during auto cruise driving. The present invention relates to a travel control device for use. The present invention also relates to a so-called ACC (adaptive cruise control) for performing an auto cruise operation while maintaining an inter-vehicle distance by a radar mounted on the front of the vehicle such as a millimeter wave radar.

[0002]

2. Description of the Related Art The present applicant discloses in Japanese Patent Application Laid-Open No. Hei 7-125565 that when a corner is detected ahead of a traveling route by a navigation device during a constant speed running at a set vehicle speed by an auto cruise system, the corner is detected. An automatic cruise control device that calculates the target vehicle speed, which is the maximum speed that can accurately pass through the vehicle, and if the current vehicle speed is higher than the target vehicle speed and deceleration is required, automatic deceleration is performed to pass through a corner. is suggesting.

[0003] The present applicant has disclosed in Japanese Patent Application Laid-open No. Hei 7-23499.
In Japanese Patent Application Laid-Open No. 1-1994, there is proposed a vehicle control device that determines a road shape based on map information, and controls a traveling of the vehicle by controlling a steering angle based on the determined road shape.

Japanese Patent Application Laid-Open No. 62-265037 discloses an arithmetic processing means for outputting a speed control command so as to maintain the following distance, and inhibits the operation of the calculating means when the following distance changes intermittently. Accordingly, an auto cruise device for a vehicle in which deceleration control can be performed early is described.

Japanese Patent Application Laid-Open No. 4-232130 discloses a method of detecting the time required for a laser beam emitted from an own vehicle to be reflected by a preceding vehicle and returning to obtain the inter-vehicle distance. , An alarm is issued when the distance becomes smaller than the safe inter-vehicle distance determined based on the idle distance, and the safety inter-vehicle distance is calculated in consideration of not only the own vehicle speed but also the preceding vehicle speed, and an alarm is generated. An inter-vehicle distance detection / warning device that sometimes cancels auto cruise is described.

Japanese Patent Application Laid-Open No. Hei 8-11579 discloses that when a start switch is turned on, a computer follows a motion equation of a ROM and sets a predetermined value or a predetermined value and a vehicle input from a vehicle speed sensor and a radar via an A / D converter. From the actual speed of the vehicle and the distance to the preceding vehicle, the own vehicle acceleration and the preceding vehicle speed are calculated by the own vehicle acceleration calculation in the RAM and the front vehicle speed calculation in the RAM. The calculation result is obtained in real time, converted into an analog value by the D / A converter, and then output to the cruise control unit and the brake control unit of the actuator. If present, run at a speed corresponding to the distance to the vehicle in front and the speed of the vehicle in front. It is allowed, when approaching the front of the vehicle operation control apparatus for a vehicle so as to retain an appropriate following distance is described.

[0007]

Since the navigation device and the cruise control device are independent of each other, each device is provided with a setting switch and an operation unit. For this reason, the number of locations of the operation unit increases, and more arrangement space is required for arranging the operation unit, and operability may be reduced. An operation unit for starting the auto cruise operation and an operation unit for ending the auto cruise operation are often provided near the steering wheel. Therefore, the operation unit for the cruise control device is used for navigation. It is convenient if you can set the destination. Further, since the navigation device has map information, it is convenient if a section in which the auto cruise operation is performed can be set using the map information.

During auto cruise operation, the radar device detects the distance between the preceding vehicle and the own vehicle and controls the speed of the own vehicle so as to maintain a predetermined inter-vehicle distance with respect to the preceding vehicle. When another vehicle interrupts between the vehicle and the own vehicle or when the preceding vehicle decelerates, the cruise control device reduces the speed. The conventional cruise control device obtains the deceleration of the own vehicle based on a kinetic concept and a standard driving model, and decelerates the vehicle based on the obtained deceleration. However, depending on the driver,
It may be felt that the deceleration rate automatically set based on the kinetic concept or the standard driving model is insufficient.
Therefore, there is a need for a vehicle travel control device that can change the deceleration rate according to the driver's preference.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and uses an operation unit provided around a steering wheel for setting auto cruise to set a destination and set a section for performing auto cruise operation. It is an object of the present invention to provide a vehicular travel control device that can be used. Further, the present invention provides a vehicle travel control device that can adjust the deceleration degree or the inter-vehicle distance of a vehicle by operating an operation unit provided around a steering wheel during auto cruise driving. Aim.

[0010]

According to a first aspect of the present invention, there is provided a vehicle travel control device having a function of detecting a current travel position of a vehicle and a cruise control function of controlling a travel speed of the vehicle. The switch for setting and the switch for setting the destination of the travel control are shared.

According to a second aspect of the present invention, in the vehicle traveling control device according to the first aspect, the vehicle traveling control device estimates a destination based on a current traveling position and a traveling direction, and travels at the estimated destination. It is characterized in that it is set as a control destination.

According to a third aspect of the present invention, in the vehicle traveling control device according to the second aspect, the vehicle traveling control device includes a display for displaying an estimated destination based on a current traveling position and a traveling direction. The driving control destination is selected from the estimated destinations by the switch.

According to a fourth aspect of the present invention, in the vehicle traveling control device according to the second aspect, the vehicle traveling control device displays a plurality of estimated destinations in a list based on the current traveling position and the traveling direction. A display is provided, and a destination of travel control is selected from the displayed plurality of estimated destinations by the switch.

According to a fifth aspect of the present invention, there is provided a travel control device for a vehicle, wherein an operation portion for increasing the deceleration of the vehicle or increasing the inter-vehicle distance is provided on the steering wheel. For example, the configuration is such that the brake actuator is driven based on the output signal of the operation unit.

According to a sixth aspect of the present invention, in the vehicle travel control device according to the fifth aspect, the operation unit is configured using a pressure sensor incorporated in the steering wheel, and the driver of the vehicle travel control device holds the steering wheel. It is characterized in that the deceleration of the vehicle or the inter-vehicle distance is increased based on the pressure. For example, when the steering wheel is strongly gripped, this is detected by the pressure sensor and the brake actuator is driven to decelerate the vehicle to increase the deceleration of the vehicle or the inter-vehicle distance.

According to a seventh aspect of the present invention, in the vehicle travel control device according to the sixth aspect, the vehicle travel control device includes a sensor for detecting a steering angle or a steering torque of the steering wheel. It is characterized in that the degree of deceleration of the vehicle or the inter-vehicle distance is increased based on the pressure at which the driver grips the steering wheel. Since the pressure at which the driver grips the steering wheel (the steering wheel pressure) changes depending on the steering angle and the steering torque of the steering wheel, the deceleration degree or the inter-vehicle distance of the vehicle can be controlled in consideration of this. For example, a data table of the steering angle or steering torque of the steering wheel, the steering wheel pressure, and the acceleration (deceleration) may be stored in the ROM, and the data table may be referred to as needed.
Either or both of the steering angle and the steering torque of the steering wheel may be used.

The vehicle travel control device according to the present invention shares a switch for setting the inter-vehicle distance or vehicle speed for vehicle travel control and a switch for setting the destination of the auto cruise. The traveling control device for a vehicle according to the present invention may determine the section as the traveling control section by inputting the start point and the destination point of the traveling control of the vehicle, and may issue an instruction to the cruise control apparatus.

The traveling control device for a vehicle according to the present invention is provided with an operation section for performing various settings for the auto cruise operation near the steering wheel, and the destination of the auto cruise can be set by using the operation section. You may do so. The navigation function may be configured such that, when a request for setting a destination is input from the operation unit, points that are candidate destinations are sequentially selected from the current position of the vehicle toward the vehicle in the direction of travel from the current position. Here, the candidate points of the destination are an interchange, an intersection, a landmark, and the like.

The traveling control device for a vehicle according to the present invention is provided with an operation section for performing various settings for the auto cruise operation in the vicinity of the steering wheel and in the vicinity thereof. It may be settable. The navigation function is configured such that, when a setting request for a section in which auto cruise driving is performed is input from the operation unit, the points at which the auto cruising driving is to be terminated are sequentially selected from the current position of the vehicle toward the traveling direction of the vehicle in a direction closer to the current position. It may be. In this manner, the destination may be estimated based on the current traveling position and the traveling direction. Here, the point at which the auto cruise operation ends is an interchange, an intersection, a landmark, or the like. Note that, when a setting request for a section in which auto cruise driving is performed is input from the operation unit, the navigation function increases the distance of the section in which auto cruising is performed in accordance with the number of times the setting request is input. Is also good.

The vehicle travel control device according to the present invention is provided with an operation section for adjusting the deceleration or the inter-vehicle distance of the vehicle around the steering wheel, and for increasing the deceleration or the inter-vehicle distance during the auto-cruise operation. When the operation unit is operated, the degree of deceleration may be set to be large. It is desirable that the operation section for increasing the degree of deceleration be configured using a pressure sensor incorporated in the handle. In this case, it is desirable to set the deceleration or the inter-vehicle distance to be large according to the magnitude of the pressure on the steering wheel detected by the pressure sensor. When the deceleration is set to a large value based on the operation of the operation unit, the driving conditions such as the vehicle speed, the inter-vehicle distance, and the relative speed with respect to the preceding vehicle are stored, and deceleration is started based on a plurality of driving conditions. The deceleration may be performed based on the learned inter-vehicle distance or deceleration obtained by learning the inter-vehicle distance or deceleration.

According to the vehicle traveling control device of the present invention, the destination of the auto cruise and the section in which the auto cruise operation is performed can be set by using the operation section for setting the auto cruise operation provided near the steering wheel. it can. Since the operation unit is shared, the number of switches and the like can be reduced, and a series of setting operations can be performed by the same switch. Further, since the destination and the auto cruise driving section can be set by the operation section near the steering wheel, the operability is good. Also, by referring to the display by the road map information of the navigation function unit, for example, an interchange, an intersection, a landmark, or the like can be set as a destination or an end point of the auto cruise driving, so that setting is easy.

In the vehicle travel control device according to the present invention, an operation section for increasing the deceleration of the vehicle or increasing the inter-vehicle distance is provided around the steering wheel. The degree of deceleration or the degree of deceleration larger than the inter-vehicle distance can be set. In addition, by configuring the operation unit for increasing the degree of deceleration using a pressure sensor, it is possible to increase the degree of deceleration or the inter-vehicle distance by strongly gripping the steering wheel. Further, the deceleration rate or the inter-vehicle distance can be set to be large in accordance with the magnitude of the pressure for gripping the steering wheel. These can be performed with a simple operation.
Further, when the deceleration or the inter-vehicle distance is set to be large based on the operation of the operation unit for increasing the deceleration or the inter-vehicle distance, the driving conditions such as the vehicle speed, the inter-vehicle distance, and the relative speed to the preceding vehicle at that time are set. By memorizing and learning the inter-vehicle distance and the degree of deceleration to start deceleration based on a plurality of traveling conditions, it is possible to perform deceleration suitable for the driver's driving feeling.

When the estimated destination is displayed on the display list or the route, the destination candidates are sequentially specified by the strength of the steering wheel pressure, for example, reverse display or high brightness display is performed. May be. For example, the function at the time of operating the “↓” arrow key on the keyboard of the personal computer may be performed according to the strength of the handle pressure. If the continuation time during which the handle pressure equal to or greater than the threshold value is equal to or less than a predetermined time (for example, 0.5 seconds or less), destination candidates are sequentially specified, and a longer predetermined time or more (for example, 1 second or more) In the case of, the candidate may be selected and set. When the duration is included in the separation zone (dead zone) of 0.5 second to 1 second, guidance may be provided to prompt the operation again by voice. As a result, it is possible to clearly distinguish between the operation of sequentially specifying the setting and the setting operation. Similarly, when the inter-vehicle distance or the vehicle speed is displayed on a list of indicators or the like, a configuration may be adopted in which the driver is sequentially and explicitly selected according to the strength of the steering wheel pressure.

[0024]

Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a simplified block diagram of a vehicle travel control device according to the present invention. The vehicle traveling control device 1 according to the present invention includes a navigation function unit 2 and a cruise control function unit 3.

The navigation function unit 2 includes a current position detection device 8 for detecting the current position of the vehicle based on the outputs of the distance detector 4, the direction detector 5, the GPS receiver 6, and the radio communication device 7, and a navigation control. It comprises a device 9, a speech synthesis device 10, a speaker 11, an image display device 12, an operation device 13, and a map database 14.

The navigation control device 9 controls the entire operation of the navigation function unit 2, and is configured using a microcomputer system. The navigation control device 9 includes a guidance route setting unit 15, a route guidance control unit 16, a map display control unit 17, and a destination setting unit 1.
8 and a cruise section setting unit 19.

The map database 14 is a CD-ROM (compact disk-RO) on which road map information is recorded.
M) 20 and a reproducing device 21 thereof. CD-R
The OM 20 stores map data for generating road maps of various scales such as a wide area, a middle area, and details. C
The D-ROM 20 stores names of prefectures, municipalities, their area data, name data of expressways, national roads, local roads, etc., main facilities, buildings, lakes, etc., and landmarks, railways, rivers, etc. Position and attributes and their display data (character data including kanji etc.), and data on traffic direction rules such as prohibition of entry and prohibition of right and left turns set for each intersection,
Standard travel time data between major intersections is stored in advance based on a predetermined database structure. CD
-ROM 20 stores name data (reading data: for example, hiragana) of interchanges, service areas, parking areas, intersections, landmarks of major facilities, buildings, lakes, and the like.

The current position detecting device 8 is provided with an azimuth signal from an azimuth detector 5 using a gyro, a geomagnetic sensor or the like, and a predetermined unit from a distance detector 4 using a wheel rotation sensor or the like. A dead reckoning device (not shown) that sequentially calculates the position of the vehicle based on a distance signal such as a pulse signal output for each traveling distance is provided, and the current position is estimated even when radio waves from GPS satellites cannot be received. It has a configuration that can be used.

The current position detecting device 8 includes traveling trajectory calculating means (not shown) for obtaining a traveling trajectory based on vehicle position data sequentially outputted from the dead reckoning navigation device, and traveling trajectory data outputted from the traveling trajectory computing means. And a road matching unit (not shown) that compares the road data read from the map database 14 and corrects the current position of the vehicle on the road by focusing on a characteristic portion of the traveling locus such as an intersection or a bend. .

The vehicle position detection control means (not shown) in the current position detecting device 8 transmits the position data output from the GPS receiver 6 when the operation of setting the current position (initial position) of the vehicle is not performed. The data is supplied to the dead reckoning navigation device as the initial position or the provisional position data, and is output as the own vehicle position data (current position data). Further, the vehicle position detection control means supplies the position correction data output from the map matching means to the dead reckoning navigation device to correct the current position data of the vehicle, and further outputs the latest vehicle sequentially output from the dead reckoning navigation device. The configuration is such that the position data is supplied to the navigation control device 9 as the vehicle position data.

When the current position detecting device 8 receives the data related to the intersection name or the intersection position transmitted from the roadside beacon device or the like via the radio communication device 7, the current position detecting device 8 receives the data related to the received intersection name or the intersection position. , The current position of the vehicle can be corrected.

The operating device 13 is composed of a group of switches arranged around the screen of the image display device 12 and a transparent touch panel switch arranged on the screen of the image display device 12. According to various menus displayed on the screen of the image display device 12, a desired item can be selected, and a position can be designated by moving a cursor on a map displayed on the screen. By combining various menus displayed on the screen with the transparent touch panel switch, it is possible to change the scale of the map to be displayed, scroll the displayed map, and set the destination and the waypoint. Like that.

The image display device 12 is constructed using a CRT display device or a liquid crystal display device. Further, a pull-up display may be used. Voice synthesizer 10
Generates a voice signal based on the message data supplied from the navigation control device 9 and outputs a voice message for route guidance such as right turn, left turn, and straight ahead via the speaker 11. In addition, when setting a destination or an auto cruise driving section, the voice synthesizer 10 outputs a voice message for guidance regarding an input mode and a set point.

When the destination is set, the guide route setting unit 15 sets an optimal route from the current position of the vehicle to the destination. When a stopover is designated, the guide route setting unit 15 sets a route to the destination via the stopover.
When the departure place is set, the guidance route setting unit 15
A route from the departure point to the destination is set.

The route guidance control unit 16 includes the map display control unit 1
A map including the current position is displayed on the screen of the image display device 12 via the display 7, and a current position mark (own vehicle position mark) including a display of the traveling direction of the vehicle is displayed on the map. The route guidance control unit 16 displays the guidance route set by the guidance route setting unit 15 on a map, and displays an image indicating the course change direction in front of the course change point based on the guide route, or displays an intersection portion. The route guidance is performed on the display screen by displaying an enlargement of the image. In addition, the route guidance control unit 15 performs route guidance by a voice message via the voice synthesis device 10.

When displaying a road map including the current position, the map display control unit 17 generates a road map in which the destination direction is upward, and displays the generated road map on the image display device 1.
2 is displayed. The map display control unit 17 displays the map in the direction of the destination more widely by displaying the current position at a position below the display screen.

The destination setting section 18 sets a destination and a stopover based on an operation input from the operation device 13, and also sets a destination based on an operation input from the operation section 34 of the cruise control function section 3. Settings can be configured. When a request for destination setting is input from the operation unit 34 of the cruise control function unit 3, the destination setting unit 18 determines the destination based on the current position of the vehicle and its traveling direction.
At the next intersection (interchange on expressways, etc.
A service area, etc.) and landmarks are specified, and the names of the points (intersections, interchanges, landmarks, etc.) are audibly displayed via the voice synthesizer 10 and a map displayed on the screen of the image display device 12. The above is displayed so that the corresponding position can be easily identified. The destination setting unit 18 includes an operation unit 34 on the cruise control function unit 3 side.
Each time a request for destination setting is input from, the next point (intersection, interchange, landmark, etc.) after the previously specified point (intersection, interchange, landmark, etc.) is specified. Thus, the destination setting unit 18
Specifies successively distant points according to the number of times of requesting the destination setting from the operation unit 34 on the cruise control function unit 3 side. Then, the destination setting unit 18 sets the specified point as the destination.

If the guidance route has already been determined, the destination setting unit 18 specifies the next point (intersection, interchange, landmark, etc.) along the guidance route. Thereby, an arbitrary point in the previously set guidance route can be set as a new destination. When the guidance route is not set, the destination setting unit 18 determines whether the currently traveling road is a main road (a national road or a local road). When the road on which the vehicle is currently traveling is a main road, the destination setting unit 18 sequentially specifies the next point (intersection, interchange, landmark, etc.) along the main road. The destination setting unit 18 sets a point farther than the next intersection when the currently traveling road is not the main road and it is difficult to uniquely estimate the course ahead from the next intersection. Output a voice message stating that it is not possible.

The cruise section setting section 19 includes the operation device 13
The automatic cruise operation section is set based on the operation input from the cruise control function section 3 and the automatic cruise operation section is set based on the operation input from the operation section 34 of the cruise control function section 3. The cruise section setting section 19 receives a cruise section setting request from the operation section 34 on the cruise control function section 3 side.
Based on the current position of the vehicle and its traveling direction, the next point (intersection, landmark, interchange, service area, etc. on an expressway, etc.) is specified, and the next point (intersection, interchange, landmark, etc.) is specified. The name is displayed audibly through the speech synthesizer 10, and
The corresponding point is displayed on the map displayed on the screen of the image display device 12 so as to be easily identified. The cruise section setting unit 19 includes an operation unit 3 on the cruise control function unit 3 side.
Every time a request for cruise section setting (start point, waypoint, end point) is input from step 4, the next point (intersection, interchange, landmark, etc.) following the point specified previously (intersection, interchange, landmark, etc.) ). In this manner, the cruise section setting unit 19 sequentially specifies distant points in accordance with the number of cruise section setting requests from the operation unit 34 on the cruise control function unit 3 side. Then, the cruise section setting unit 19 sets the specified point as the cruise driving end point.

If a guidance route has already been determined, the cruise section setting unit 19 specifies the next intersection along the guidance route. Thereby, an arbitrary point in the previously set guidance route can be set as the cruise driving end point. When the guidance route is not set, the cruise section setting unit 19 determines whether the currently traveling road is a main road (a national road or a local road). If the currently running road is a main road, the cruise section setting unit 19 sequentially specifies the next point (intersection, landmark, etc.) along the main road. The cruise section setting unit 19 sets a point farther than the next intersection when the currently traveling road is not the main road and it is difficult to uniquely estimate the course ahead from the next intersection. Output a voice message stating that it is not possible.

The cruise control function unit 3 includes a vehicle speed sensor 31, a radar device 32, an auto cruise control device 33, an operation unit 34, a steering wheel pressure sensor 35,
A throttle actuator 36, a brake actuator 37, and a display unit 38 are provided. The auto cruise control device 33 includes a cruise control unit 39, a deceleration matching change unit 40, and a deceleration matching learning unit 41.

The vehicle speed sensor 31 outputs a vehicle speed pulse at a pulse interval corresponding to the vehicle speed. The vehicle speed may be detected based on the output signal of the distance detector 4 on the navigation function unit 2 side.

The radar device 32 emits radar light or radio waves and detects the distance to the preceding vehicle based on the time until the reflected signal is obtained. The radar device 32 is an FM
A configuration using a CW type radar may be used.

FIG. 2 is an explanatory diagram showing an example of the operation section and an example of the handle pressure sensor. The operation unit 34 is provided near the handle 4. The operation unit 34 includes a handle 4
It may be a structure that rotates integrally with the camera. Operation unit 34
Are an accelerator switch 42 and a resume switch 43
, A set switch 44, and a reset switch 45. Each of the switches 42 to 45 is configured using a non-lock type switch. The operation information of each of the switches 42 to 45 is configured to be supplied not only to the auto cruise control device 33 but also to the navigation control device 9.

The handle pressure sensor 35 is incorporated in the grip portion of the handle 4, and the handle pressure sensor 35 forms a part of the operation unit of the vehicle travel control device. In FIG. 2, the handle pressure sensor 35 is set in the range from 2:00 to 4:00 and
Although an example is shown in which the range is provided from time to 9 o'clock, the handle pressure sensor 35 may be incorporated in the entire circumference of the handle 4.

The cruise control function unit 3 shown in FIG.
When a main switch of a vehicle travel control device (not shown) is operated, power is supplied from a power supply unit (not shown) to the cruise control function unit 3, and the cruise control function unit 3 enters a standby state.

When the cruise control function unit 3 is in the standby state, the driver sets the vehicle speed by operating the set switch 44 when the vehicle speed is at a desired speed, and controls the constant speed running at the set vehicle speed. State (auto cruise operation state). Switch information such as a brake lamp switch, a shift position switch, and a parking brake operation switch (not shown) is supplied to the auto cruise control device 33. The auto cruise control device 33 operates in a constant speed traveling control state (auto cruise driving state), such as when a brake pedal is depressed, a parking brake is operated, a transmission shift lever position is set to a position other than the drive position, and a reset switch is operated. Is detected, the constant speed traveling control state (auto cruise operation state) is temporarily released.

When the resume switch 43 is operated in a state in which the constant speed traveling control state (auto cruise driving state) is released, the auto cruise control device 33 sets the vehicle speed set previously to the previous speed again, and performs the constant speed traveling. Recovers to the control state (auto cruise operation state). If the accelerator switch 42 is kept pressed while the vehicle speed is set, the vehicle speed is increased and the vehicle speed when the accelerator switch 42 is released is set.

When the auto cruise operation is set, the cruise control unit 39 compares the current vehicle speed with the set vehicle speed, and drives the throttle actuator 36 so as to eliminate the difference, thereby increasing the opening of the throttle valve. Control. When there is a preceding vehicle, the cruise control unit 39 drives the throttle actuator 36 to control the opening of the throttle valve so as to maintain the inter-vehicle distance set according to the vehicle speed. The cruise control unit 39 drives the brake actuator 37 as necessary to decelerate. The cruise control unit 39 causes the display unit 38 to display that the vehicle is in the auto cruise driving state. The cruise control unit 39
The set vehicle speed, inter-vehicle distance, and the like may be displayed on the display unit 38.

The cruise control section 39 is registered in advance when the inter-vehicle distance becomes short due to another vehicle intervening between the preceding vehicle of the radar device 32 and the own vehicle or the preceding vehicle being decelerated. Obtain the deceleration of the own vehicle based on the kinematics concept and the standard driving model, decelerate the vehicle based on the obtained deceleration, and maintain the inter-vehicle distance between the interrupted vehicle and the own vehicle at a predetermined distance. .

The deceleration change section 40 continuously measures the driver's grip on the steering wheel based on the detection output of the steering wheel pressure sensor 35, and monitors the change in the gripping pressure of the steering wheel. The deceleration change unit 40 calculates the average value of the pressure at which the driver grips the steering wheel in a normal driving state and a constant speed driving state in which no acceleration or deceleration is performed in the auto cruise driving state, and calculates the average value of the pressure in normal operation. It is stored as a value.

When the vehicle is decelerated in the auto-cruise operation state, the deceleration change unit 40 controls the steering wheel pressure sensor 35.
If the pressure detected by the above becomes larger than the pressure value during normal operation by a predetermined value or more, the deceleration is increased so that the deceleration (the deceleration rate) further increases according to the magnitude of the pressure on the handle at that time. Change the acceleration.

The cruise control unit 3
9, a deceleration α to be added to the deceleration obtained based on the kinematics concept or the standard driving model registered in advance is calculated by the following equation. α = K (Pa) Equation (1) where K is a conversion coefficient for setting the degree of deceleration according to the pressure, P is the pressure at which the steering wheel is detected during deceleration, and a is the steering wheel during normal operation. Is the pressure to hold. The deceleration α added to the deceleration set by the cruise control unit is supplied to the cruise control unit 39. Cruise control unit 39
Is obtained by adding the deceleration acceleration α to be added to the deceleration obtained based on the kinetic concept or the standard driving model when the deceleration acceleration α to be added from the deceleration change unit 40 is supplied. The actuators 36 and 37 are driven so that the deceleration obtained by adding the deceleration α is based on the deceleration obtained.

The deceleration rate learning section 41 includes a deceleration rate changing section 4
Each time the deceleration α to be added by 0 is supplied, the deceleration obtained based on the kinetic concept or the standard driving model, the added deceleration α, the pressure P at which the steering wheel is gripped, the vehicle speed of the vehicle Is stored in association with the distance to the preceding vehicle. The data of the speed of the preceding vehicle or the speed difference between the preceding vehicle and the own vehicle may be stored. When a plurality of stored data are accumulated, the deceleration degree learning unit 41 calculates a deceleration degree suitable for the driver's driving feeling based on the accumulated data. The deceleration suitable for the driving sensation of the driver is supplied to the cruise control unit 39.

The cruise control unit 39 includes a deceleration learning unit 4
When the deceleration rate suitable for the driving sensation of the driver is supplied from 1, the deceleration is set from the next time based on the deceleration rate. From the deceleration learning section 41 to the cruise control section 39
After the deceleration rate suitable for the driver's driving sensation is supplied to the driver, the deceleration rate changing unit 40 and the deceleration rate learning unit 41 continue to operate. , The learning of the deceleration degree is further continued, and the deceleration degree more suitable for the driving sensation of the driver can be supplied based on the further learning result.

Next, the operation of setting the navigation destination using the operation unit 34 of the cruise control function unit 3 will be described. Cruise control function part 3
Is configured to supply the operation state (operation stop state, standby state, auto cruise operation state) of the cruise control function unit 3 to the navigation function unit 9 side. In addition, as described above, the operation unit 34 installed on the handle is used.
Of the switches 42 to 45 are supplied to the navigation control device 9 side.

When the main switch (not shown) is turned on and the set switch 44 is operated while the cruise control function unit 3 is in an operation stop state, the destination setting unit 18 in the navigation function unit 9 is controlled by the control device 3 side. An operation mode for setting a destination by an operation from the operation unit 34 is set. When the set switch 44 is operated while the cruise control function unit 3 is in the operation stop state, the destination setting unit 18
For example, a voice message "Destination setting mode." Is generated to notify that the mode has shifted to the destination setting mode. When the guidance route is already set, the destination setting unit 18 outputs a voice message such as “Guidance route is set.” Not been set."
And the like.

If the guidance route is set, the destination setting unit 18 will prompt the user to operate the set switch to set the destination along the guidance route. To cancel the guidance route setting, Please operate the reset switch. " When the set switch 44 is operated, the destination setting unit 18 detects the next intersection along the guidance route from the current position of the vehicle, outputs the name of the intersection by a voice message,
A mark is displayed through the map display control unit 17 so that the intersection position can be easily identified, the intersection position blinks, or the display color of the intersection position is changed. The destination setting unit 18 includes an accelerator switch 42
Each time is operated, the next intersection is detected and the output of the name of the intersection as a voice message is repeated.
As a result, distant intersections are sequentially selected along the guidance route. If the set switch 44 is not operated for a certain period of time, the destination setting unit 18 sets the intersection selected at that time as the destination and sets, for example, “XX intersection as the destination”. The voice message is output, and the destination setting operation is completed. In addition, the destination setting unit 18 determines, for the section of the highway,
The names of interchanges, service areas, and parking areas are output as voice messages.

When the reset switch 45 is operated to cancel the setting of the guide route, the destination setting section 18
Output a voice message such as "guidance route has been canceled" or "guidance route has not been set." When the guidance route is not set, and when the setting of the guidance route is canceled, the destination setting unit 18
It recognizes whether or not the road on which the vehicle is currently traveling is an expressway, a national road, or a local road. If the road is an expressway, a national road, or a local road, for example, “△△ Expressway (National highway XX) × X. Please drive the set switch to set a destination along this road. "

When the set switch 44 is operated, the destination setting section 18 detects the next intersection from the current position of the vehicle along the currently traveling road, and outputs the name of the intersection as a voice message. At the same time, a mark is displayed through the map display control unit 17 so that the intersection position can be easily identified, the intersection position is blinked, or the display color of the intersection position is changed. Each time the accelerator switch 42 is operated, the destination setting unit 18 repeatedly detects the next intersection and outputs the name of the intersection as a voice message. This allows
A distant intersection is sequentially selected along the road on which the vehicle is currently traveling. If the set switch 44 is not operated for a certain period of time, the destination setting unit 18 sets the intersection selected at that time as the destination and sets, for example, “XX intersection as the destination”. The voice message is output, and the destination setting operation is completed. In addition, the destination setting unit 18 determines, for the section of the highway,
The names of interchanges, service areas, and parking areas are output as voice messages.

When the guidance route is not set or when the guidance route is canceled and the road on which the vehicle is currently traveling is not a main road such as an expressway or a national road or a local road, The destination setting unit 18 outputs a voice message saying, for example, that the road on which the vehicle is currently running is not a main road, and thus the destination cannot be set along the road on which the vehicle is currently running. If the vehicle starts traveling on the main road within a predetermined time from the time when this voice message is output, the destination setting unit 18 may say, for example, "The vehicle is traveling on the XX road in the XX direction. When setting a destination along a road, operate a set switch. "May be prompted to input a destination setting.

When the accelerator switch 42 is operated, the destination setting unit 18 not only sets a distant point as a destination candidate, but also operates the reset switch 45 as a destination candidate first when the reset switch 45 is operated. A point on the near side (intersection, interchange, etc.) may be set as a destination candidate. Here, the accelerator switch 4
Although the example in which destinations are sequentially selected by using No. 2 has been described, the destinations may be sequentially selected by using the set switch 44.

Next, the operation of setting the point at which the auto cruise operation is to be ended using the operation unit 34 of the cruise control function unit 3 will be described. Reset switch 4
5 is operated, the cruise control function unit 3 enters a standby state. The cruise control is also in a standby state by a sudden operation of the brake shift lever and the steering wheel. The fact that the cruise control function unit 3 is in the standby state is supplied to the navigation function unit 9 side.

When the reset switch 44 is operated while the cruise control function unit 3 is in the standby or auto cruise operation state, the cruise section setting unit 19 in the navigation function unit 9 sets the operation mode for setting the auto cruise section. Then, a voice message such as “Cruise driving section setting mode” is generated via the voice synthesizing device 10 to notify that the mode has shifted to the cruising driving section setting mode. And the cruise section setting unit 1
8 outputs a voice message stating "When setting an auto cruise operation section, operate the ON switch."

When a set route 44 is operated when a guidance route is set, the cruise section setting unit 19 detects the next intersection along the guidance route from the current position of the vehicle, and names the intersection. Is output as a voice message, a mark is displayed through the map display control unit 17 so that the intersection position can be easily identified, the intersection position is blinked, or the display color of the intersection position is changed. Let it. Each time the accelerator switch 42 is operated, the cruise section setting unit 19 repeatedly detects the next intersection and outputs the name of the intersection as a voice message. As a result, distant intersections are sequentially selected along the guidance route.

If the set switch 44 has not been operated for a certain period of time, the cruise section setting unit 19 sets the intersection selected at that time as the destination and sets the intersection, for example, at the XX intersection as the end point of the auto cruise operation. Will be output as a voice message, and the setting operation of the auto cruise operation section will be terminated. The cruise section setting unit 19 outputs the name of the interchange, the name of the service area, and the name of the parking area by voice message for the section of the expressway. When the guide route is not set, when the set switch 44 is operated, the cruise section setting unit 18 sets an interchange or the like as an end point of the auto cruise operation at an intersection or a highway closest to the current location. .

The cruise section setting section 19 monitors the current position of the vehicle, and when the current position of the vehicle reaches the end point of the auto cruise operation, for example, a voice message such as "Auto cruise operation ends." Is generated, and a signal requesting termination of the auto-cruise operation is supplied to the auto-cruise control device 33 to terminate the auto-cruise operation.

FIG. 3 is a flowchart showing the operation of setting the end point of the auto cruise. When the main switch of the vehicle travel control device is operated in step S1, the cruise control function unit 3 enters a standby state (step S1).
2). When the set switch 44 is operated again while the cruise control function section 3 is in the standby state (step S3), the cruise section setting section 19 enters the cruise section setting mode. The cruise section setting unit 19
In step S4, it is determined whether the destination has already been set and the guidance route to the destination has already been set. When the destination is set and the guidance route is set, the cruise section setting unit 19 counts up the number of times of operating the accelerator switch 42 (step S5), and counts the (n) th counter value counted from the current position. Set the point as the end point of the auto cruise operation (step S
6). When the accelerator switch 42 is further operated, the counter value is incremented (+1), and the incremented counter value (n + 1) is set as the end point of the auto cruise operation. When the destination and the guide route are not set, the cruise section setting unit 19 sets the point closest to the current position as the end point of the auto cruise (step S7). In the standby state of the cruise control function unit, when the main switch is operated (step S8), the cruise control function unit 3 stops the operation of the close control device (step S9).

FIG. 4 is an explanatory diagram showing an example of setting an auto cruise driving section on a highway. When the main switch is first operated as shown in FIG.
As shown in (c), the cruise control function unit 3 enters a standby state for speed setting. In this standby state, FIG.
When the set switch 44 is operated as shown in (b), the cruise section setting unit 19 moves the nearest interchange, service area or parking area in the traveling direction from the current position of the vehicle to the end point of the auto cruise operation. Set as When the accelerator switch 42 is further operated, the next interchange, service area or parking area after the previously set point is set as the end point of the auto cruise operation. And FIG.
As shown in (a), each time the accelerator switch 42 is operated, the cruise section setting unit 19 sequentially sets the next interchange, service area or parking area as the end point of the auto cruise operation. When the main switch is operated as shown in FIG. 4D, the operation of the cruise control function unit 3 is stopped as shown in FIG. 4C.

FIG. 5 is an explanatory view showing a screen display example of the setting status of the auto cruise driving section. When the cruise section setting unit 19 enters the cruise driving section setting mode, the cruise section setting unit 19 displays, on the screen of the image display device 12, a mark 52 indicating the currently traveling highway 51 and the current position of the vehicle, as shown in FIG.
Is displayed, and an interchange, a service area, a parking area, and the like in the traveling direction are displayed. Each time the accelerator switch 42 is operated, the cruise section setting unit 19 sequentially sets the end point of the auto cruise driving to the A interchange, the B service area, the C parking area, and the D interchange in order, and sets the end point. The auto cruise driving section is displayed on the map by changing the display color of the auto cruising section. Note that FIG. 5 shows an example in which the C parking area is set as the end point of the auto cruise driving, and the road section (hatched section) from the current position 52 to the C parking area is displayed as the auto cruising driving section. ing.

FIG. 6 is an explanatory diagram showing a screen display example of the setting status of the auto cruise driving section when the guidance route is set. When the guidance route to the destination is set, the end point of the auto cruise driving is set along the guidance route. Therefore, as shown in FIG. 6, even when there is a branch point on the expressway, the destination is set, so that the end point of the auto cruise operation can be set along the guidance route. FIG. 6 shows an example in which an interchange in front of the destination is set as the end point of the auto cruise operation. If the destination is not set, two destination directions can be estimated, so the driver may select it, give priority to the main path, or branch if the operation becomes complicated. You may make it set again.

FIG. 7 is an explanatory diagram showing another screen display example of the setting status of the auto cruise driving section. This display can use the CRT in the dashboard, the liquid crystal display device, or the head-up display of the front window as described above. The cruise section setting unit 19
In the driving section setting mode, as shown in FIG. 7, the names of the interchanges and the like in the traveling direction are displayed in the order of the interchanges on the screen of the image display device 12 so as to correspond to the number of times the accelerator switch 42 is operated. In this case, the setting status of an interchange or the like which is the end point of the auto cruise driving may be displayed. The name of the selected interchange or the like blinks or its display color is changed to display the selected interchange or the like. Further, for example, an up / down soft switch may be displayed on the display screen, and the end point of the auto cruise operation may be set using a transparent touch panel switch provided on the display screen. By scrolling the name display of each interchange or the like in accordance with the operation of the accelerator switch 42 or the operation of the software switch, the end point of the auto cruise operation can be set for a farther point.

FIGS. 8 and 9 are explanatory diagrams showing examples of screen display when setting the auto cruise driving section by distance. The setting of the auto cruise driving section may be set not by a specific point such as an intersection or an interchange but by a distance from the current position. Cruise section setting section 19
Is in the operation section setting mode, as shown in FIG.
A map including the current position of the vehicle is displayed on the screen, and each time the accelerator switch 42 is operated, the end point of the auto cruise operation is set at a preset distance interval (for example, 20 km), and the set auto cruise operation is set. Display the cruise driving section on the screen. Further, as shown in FIG. 9, the distance to be set may be sequentially increased as the number of times of operating the accelerator switch 42 increases.

The cruise section setting section 19 monitors the operation time of the accelerator switch 42 in the driving section setting mode, and the operation time is set to a preset time (for example, 1).
Seconds), the driving section setting for the specific point and the driving section setting for the distance are alternately switched, and the driving section setting for the specific point or the driving section setting for the distance is performed. May be displayed by a voice message. When setting the driving section based on the distance, the cruise section setting unit 19 may set a longer distance in accordance with the length of the operation time of the accelerator switch 42.

Next, the deceleration change operation of the cruise control function unit will be described. When the accelerator switch is operated at a predetermined vehicle speed while the cruise control function unit 3 is in the standby state, the auto cruise operation is started so as to maintain the inter-vehicle distance and the vehicle speed at that time. During the auto cruise operation, if the inter-vehicle distance becomes narrower due to another vehicle intervening between the preceding vehicle and the own vehicle or the deceleration of the preceding vehicle from the output of the radar device 32, the cruise control is performed. The unit 39 obtains the deceleration of the own vehicle based on a pre-registered kinetic concept or a standard driving model, and decelerates the vehicle based on the obtained deceleration. If the driver feels that the deceleration by the cruise control unit 39 is psychologically insufficient, the driver depresses the steering wheel 4 with a stronger force than in a normal driving state to increase the deceleration rate and increase the inter-vehicle distance. can do.

FIG. 10 is a graph showing a change in the deceleration rate (deceleration) when the steering wheel is strongly held during deceleration by the auto cruise operation. The horizontal axis is the pressure P on the handle
And the vertical axis indicates the deceleration. If the pressure detected by the handle pressure sensor 35 is within the range of the pressure value during normal operation, the deceleration obtained by the cruise control unit 39 based on a kinematics concept or a standard driving model registered in advance. The deceleration is performed at the acceleration αAUTO.

When the pressure detected by the steering wheel pressure sensor 35 becomes larger than the pressure value during normal operation by a predetermined value or more, the deceleration amount changing unit 40 responds to the magnitude of the pressure at which the steering wheel is gripped at that time. Then, the deceleration α to be added, which is obtained by calculation based on the above equation (1), is output. When the deceleration acceleration α to be added is supplied, the cruise control unit 39 adds the deceleration acceleration α to be obtained by adding the deceleration acceleration α to the deceleration acceleration αAUTO obtained based on the kinetic concept or the standard driving model. Deceleration is performed based on this. Therefore, as shown in FIG. 10, by gripping the steering wheel 4 with a stronger force than in the normal driving state, the deceleration rate (deceleration) is increased in accordance with the magnitude of the pressure for gripping the steering wheel.

The deceleration rate learning section 41 includes a deceleration rate changing section 4
Each time the deceleration α to be added by 0 is supplied, the deceleration obtained based on the kinetic concept or the standard driving model, the added deceleration α, the pressure P at which the steering wheel is gripped, the vehicle speed of the vehicle When a plurality of stored data are stored, the deceleration suitable for the driver's driving sensation is determined based on the stored data, and the driver's driving sensation is calculated. Since the suitable deceleration rate is supplied to the cruise control unit 39, the deceleration at the deceleration rate suitable for the driving sensation of the driver is performed as the learning of the deceleration rate progresses. Since the pressure for gripping the steering wheel changes according to the radius (R) of the curve, the steering angle, and the steering wheel torque, it is desirable to detect the operation of these drivers and correct the deceleration.

A data table of the steering wheel pressure and the deceleration may be stored in the ROM, or may be learned using the CPU, the ROM and the RAM. The steering wheel pressure is set to a dead zone up to a predetermined value, and the travel control device
When the predetermined value is exceeded, the deceleration of the vehicle or the inter-vehicle distance may be increased by the steering wheel pressure. When the value obtained by subtracting the predetermined value from the steering wheel pressure is a positive value, the degree of deceleration is increased in proportion to (or with an increase in the value obtained by subtracting the predetermined value from the steering wheel pressure). You may. When another vehicle cuts in the front, the deceleration or the inter-vehicle distance can be increased by strongly gripping the steering wheel, and the operation can be performed in the same manner as when the driver operates the brake. The predetermined value (threshold) may be configured to change based on a steering angle or a steering torque of a steering wheel. This makes it possible to perform vehicle traveling control corresponding to a change in the steering wheel pressure due to the steering angle or steering torque of the steering wheel.

[0080]

As described above, the vehicle travel control device according to the present invention performs navigation destinations and auto cruise operation by using the operation section for setting auto cruise operation provided near the steering wheel. Sections can be set. Since the operation unit is shared, the number of switches and the like can be reduced. Further, since not only the set vehicle speed and the set inter-vehicle distance but also the destination and the auto cruise driving section can be set by the operation unit near the steering wheel, it is not necessary to move the line of sight greatly during driving, and operability is good.
In addition, using the road map information on the navigation function unit side, for example, an interchange, an intersection, a landmark, or the like can be set as a destination or an end point of the auto cruise driving, so that setting is easy.

In the vehicle travel control device according to the present invention, since the operating portion for increasing the deceleration of the vehicle is provided around the steering wheel, the cruise control function unit calculates by the cruise control function unit during the auto cruise operation. A larger deceleration degree can be set. In addition, by configuring the operation unit for increasing the degree of deceleration using a pressure sensor, the degree of deceleration can be increased by firmly gripping the handle. Further, the degree of deceleration can be set to be large according to the magnitude of the pressure for gripping the steering wheel. Furthermore, when the deceleration degree is set to be large based on the operation of the operation unit for increasing the deceleration degree, the driving conditions such as the vehicle speed, the inter-vehicle distance, and the relative speed to the preceding vehicle at that time are stored, and a plurality of By learning the inter-vehicle distance and the degree of deceleration to start deceleration based on the conditions, it is possible to perform deceleration suitable for the driver's driving feeling.

[Brief description of the drawings]

FIG. 1 is a block diagram of a vehicle travel control device according to the present invention.

FIG. 2 is an explanatory diagram showing an example of an operation unit and an example of a handle pressure sensor.

FIG. 3 is a flowchart showing an operation of setting an end point of an auto cruise.

FIG. 4 is an explanatory diagram showing an example of setting an auto cruise driving section on a highway;

FIG. 5 is an explanatory diagram showing a screen display example of a setting status of an auto cruise driving section.

FIG. 6 is an explanatory diagram showing a screen display example of a setting status of an auto cruise driving section when a guidance route is set;

FIG. 7 is an explanatory diagram showing another screen display example of the setting status of the auto cruise driving section.

FIG. 8 is an explanatory diagram showing a screen display example when setting an auto cruise driving section by distance;

FIG. 9 is an explanatory diagram showing another screen display example when setting an auto cruise driving section by distance.

FIG. 10 is a graph showing a change in deceleration (deceleration) when the steering wheel is strongly gripped during deceleration by auto cruise driving.

[Explanation of symbols]

1 ... vehicle travel control device, 2 ... navigation function unit,
3 ... Cruise control function section, 4 ... Handle, 8 ...
Current position detection device, 9 navigation control device, 10
... Speech synthesis device, 12 ... Image display device, 14 ... Map database, 18 ... Destination setting unit, 19 ... Cruise section setting unit, 32 ... Radar device, 34 ... Operation unit, 35 ... Handle pressure sensor, 36 ... Throttle actuator , 37
... Brake actuator, 39 ... Cruise control unit, 4
0: deceleration amount changing unit, 41: deceleration amount learning unit, 42: on switch (accelerator switch), 43: off switch (resume switch), 44: set switch, 45
... Reset switch.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G08G 1/16 G08G 1/16 E

Claims (7)

[Claims] 1. A vehicle travel control device having a function of detecting a current travel position of a vehicle and a cruise control function of controlling a travel speed of the vehicle, wherein a switch for setting an inter-vehicle distance or a vehicle speed for vehicle travel control. And a switch for setting a destination of the travel control. 2. The vehicle travel control device estimates a destination based on a current travel position and a traveling direction, and sets the estimated destination as a travel control destination. The traveling control device for a vehicle according to the above. 3. The vehicle travel control device includes a display for displaying an estimated destination based on a current travel position and a traveling direction, and a destination of travel control is displayed from the displayed estimated destination by the switch. 3. The vehicle travel control device according to claim 2, wherein the vehicle travel control device is configured to be selected. 4. The traveling control device for a vehicle further comprises a display for displaying a list of a plurality of estimated destinations based on a current traveling position and a traveling direction, and traveling from the displayed plurality of estimated destinations. 3. The vehicle travel control device according to claim 2, wherein the control destination is selected by the switch. 5. A travel control device for a vehicle, wherein an operation unit for increasing the deceleration of the vehicle or increasing the inter-vehicle distance is provided on the steering wheel. 6. The operation unit is configured using a pressure sensor incorporated in a steering wheel, and the traveling control device for a vehicle increases a deceleration degree or an inter-vehicle distance of the vehicle based on a pressure at which a driver grips the steering wheel. The vehicle travel control device according to claim 5, wherein: 7. A vehicle travel control device includes a sensor for detecting a steering angle or steering torque of a steering wheel, and decelerates the vehicle based on a steering angle or steering torque of the steering wheel and a pressure at which a driver grips the steering wheel. The vehicle travel control device according to claim 6, wherein the degree or the inter-vehicle distance is increased.