JP2010052547A - Travel controller for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance safety of an occupant by properly controlling acceleration when a target vehicle speed of a vehicle is changed due to approach of a following vehicle. <P>SOLUTION: A travel controller for the vehicle includes: an automatic speed control means 2 for automatically controlling a travel speed of the vehicle to a preset target vehicle speed; a target vehicle speed change instruction means 23 for increasing or decreasing the target vehicle speed by a constant value, and a following vehicle detecting means 11 for detecting the following vehicle traveling behind the vehicle. The automatic speed control means 2 changes a target acceleration or deceleration speed when accelerating or decelerating the vehicle in response to a change of the target vehicle speed, to a value (α, γ) different from a normal target acceleration or deceleration speed β set when there is no vehicle approaching from the rear, when the following vehicle approaching the vehicle is detected based on input information from the following vehicle detecting means 11, at the change of the target vehicle speed by the target vehicle speed change indicating means 23. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention comprises automatic speed control means for performing automatic speed control for matching the traveling speed of the host vehicle with a preset target vehicle speed, and target vehicle speed change instructing means for increasing or decreasing the target vehicle speed in steps of a constant speed. The present invention relates to a traveling control device for a vehicle.

  Conventionally, a vehicle having a so-called auto-cruise control function for matching the traveling speed of the host vehicle to a target vehicle speed is known, and an apparatus for performing such an automatic speed control of the vehicle is disclosed, for example, in Patent Document 1 below. A vehicle travel control device is known.

Specifically, the travel control device for a vehicle disclosed in Patent Document 1 includes an actual travel speed detection unit that detects an actual travel speed of the vehicle, a target vehicle speed storage unit that stores a target speed of the vehicle, The actual vehicle speed detected by the actual vehicle speed detecting means according to the actual vehicle speed detected by the occupant when the actual switch is operated by the occupant, and the actual vehicle speed is adjusted to the target Control means for controlling the actual travel speed adjusting means so as to match the target vehicle speed stored in the vehicle speed storage means; a target vehicle speed change switch operated after the set switch is operated to change the target vehicle speed; Each time the target vehicle speed change switch is operated once by the passenger, the target speed stored in the target vehicle speed storage means is increased or reduced by a predetermined speed. It is adapted to be updated down.
JP 2007-112358 A

  By the way, in the structure of the said patent document 1, when the following vehicle exists behind the own vehicle and this succeeding vehicle is approaching with respect to the own vehicle, the said target vehicle speed change switch is operated by a passenger | crew. The target vehicle speed of the host vehicle may be changed. In such a situation, in order to avoid the following vehicle suddenly approaching and colliding with the host vehicle, the acceleration / deceleration when the host vehicle accelerates or decelerates in response to the target vehicle speed change instruction is appropriately controlled. There is a need to.

  The present invention has been made in view of the above circumstances, and by appropriately controlling the acceleration / deceleration when the target vehicle speed of the host vehicle is changed while the following vehicle is approaching, the safety of the passenger is improved. It is an object of the present invention to provide a vehicle travel control device that can be effectively improved.

  In order to solve the above problems, the present invention provides an automatic speed control means for performing automatic speed control for matching the traveling speed of the host vehicle with a preset target vehicle speed, and increasing the target vehicle speed in increments of a constant speed. A vehicle travel control device comprising a target vehicle speed change instruction means for reducing the vehicle, further comprising a subsequent vehicle detection means for detecting a subsequent vehicle traveling behind the host vehicle, wherein the automatic speed control means is configured to change the target vehicle speed. When the target vehicle speed is changed by the instruction means, if it is confirmed that the succeeding vehicle is approaching the own vehicle based on the input information from the succeeding vehicle detection means, The target acceleration / deceleration at the time of accelerating or decelerating the vehicle is changed to a value different from a normal target acceleration / deceleration set when the following vehicle is not approaching (Claims). ).

  According to the present invention, when an operation for changing the target vehicle speed of the own vehicle is performed while the succeeding vehicle is approaching, the automatic speed control means accelerates or decelerates the own vehicle at an acceleration / deceleration different from the normal speed. It is possible to effectively avoid the distance between the vehicle and the vehicle from abruptly decreasing by increasing / decreasing the target acceleration / deceleration, effectively preventing the following vehicle from colliding with the vehicle, and improving the safety of passengers. There is an advantage that can be secured.

  Specifically, when the target vehicle speed is set to increase by the target vehicle speed change instructing means, the automatic speed control means determines that the succeeding vehicle is approaching at an acceleration larger than the normal target acceleration. The host vehicle is accelerated (claim 2).

  According to this configuration, for example, in the situation where the following vehicle is approaching the host vehicle at a considerable speed, when the driver performs an operation to increase the target vehicle speed in consideration of this, the operation is performed. By quickly accelerating the host vehicle according to the vehicle, the distance between the following vehicle and the host vehicle can be properly maintained, effectively preventing the following vehicle from colliding with the host vehicle and occupant safety. There is an advantage that can be secured more appropriately.

  When the target vehicle speed is set to decrease by the target vehicle speed change instructing means, the automatic speed control means determines that the succeeding vehicle is approaching with a deceleration smaller than the normal target deceleration. The host vehicle is decelerated (claim 3).

  According to this configuration, even when the target vehicle speed of the host vehicle is lowered even though the following vehicle is approaching, by reducing the target deceleration at that time and slowly decelerating the host vehicle, for example, While urging the succeeding vehicle to decelerate by the brake lamp that lights when decelerating, it is possible to suppress the distance between the following vehicle and the vehicle from abruptly reducing as much as possible, effectively preventing the following vehicle from colliding with the host vehicle. This has the advantage of ensuring the safety of passengers more appropriately.

  In the present invention, it is preferable that the automatic speed control means does not change the target acceleration / deceleration if the absolute value of the difference between the changed target vehicle speed and the current traveling speed of the host vehicle is smaller than a predetermined value. (Claim 4).

  According to this configuration, the target acceleration / deceleration is changed only in a situation where the absolute value of the target vehicle speed after the change and the current vehicle speed is large to some extent and the effect of changing the acceleration / deceleration of the host vehicle is properly obtained. By preventing the rear-end collision of the following vehicle, there is an advantage that the safety of the occupant can be appropriately ensured without changing the control content unnecessarily.

  As described above, according to the vehicle travel control device of the present invention, the passenger's safety is improved by appropriately controlling the acceleration / deceleration when the target vehicle speed of the host vehicle is changed while the following vehicle is approaching. There is an advantage that it can be effectively improved.

  FIG. 1 is a diagram schematically illustrating an overall configuration of a vehicle to which a vehicle travel control device according to an embodiment of the present invention is applied, and FIG. 2 is a block diagram illustrating a control system of the travel control device. 1 and 2 has an operation control unit 1 composed of a well-known CPU, various memories, and the like, and the operation control unit 1 controls the operation of each part of the vehicle during operation. Controlled.

  The operation control unit 1 is electrically connected to a plurality of sensors for detecting various information relating to the driving state of the vehicle and the surrounding conditions of the vehicle. Specifically, the operation control unit 1 travels behind the host vehicle with a front millimeter wave radar 10 (corresponding to the obstacle detection unit according to the present invention) that detects an obstacle existing in front of the host vehicle. The rear millimeter wave radar 11 (corresponding to the following vehicle detecting means according to the present invention) for detecting the following vehicle, the vehicle speed sensor 12 for detecting the traveling speed of the host vehicle, and the steering angle of the steering wheel 5 (FIG. 1) are detected. A collision sensor 15 comprising a steering angle sensor 13, a yaw rate sensor 14 for detecting the yaw rate acting on the vehicle, and a G sensor for detecting that the host vehicle has collided with an obstacle (corresponding to the collision detection means according to the present invention). And are connected to each other.

  The forward millimeter wave radar 10 includes a transmitter that transmits an object detection millimeter wave toward the front of the host vehicle, and a receiver that receives a millimeter wave (reflected wave) reflected by the object. (All are not shown) By measuring the time from the transmission time of the millimeter wave to the reception time of the reflected wave in order, the distance and relative speed between the vehicle and the obstacle ahead are calculated and detected. The detection result is output to the control unit 1 as an electrical signal. Examples of the obstacle that can be detected by the forward millimeter wave radar 10 include a preceding vehicle and an oncoming vehicle that travel in front of the traveling direction of the host vehicle, a parked vehicle left on the road, a stationary object, and the like.

  The rear millimeter wave radar 11 has basically the same structure as the front millimeter wave radar 10 except that it transmits a millimeter wave toward the rear of the host vehicle. The vehicle is configured to detect the presence or absence of a following vehicle traveling behind the host vehicle by receiving the reflected wave.

  As shown in FIG. 2, the operation control unit 1 has an automatic speed control means 2 and a collision control means 3 as functional elements.

  The automatic speed control means 2 performs so-called auto-cruise control such as automatically adjusting the traveling speed of the host vehicle to match a preset target speed. Specifically, the automatic speed control means 2 outputs an opening / closing operation signal to the throttle valve 30 of the engine when an operation unit 20 described later is operated by a driver to turn on the auto cruise function. By adjusting the engine speed or outputting an operation signal for adjusting the braking force to the brake device 31 of the vehicle, the traveling speed of the host vehicle detected by the vehicle speed sensor 12 matches the predetermined target speed. It is configured to let you.

  However, when there is a preceding vehicle within a predetermined distance ahead of the host vehicle, the automatic speed control means 2 does not perform the control to match the traveling speed of the host vehicle to the target speed as described above, and The traveling speed of the host vehicle is controlled so as to follow the vehicle with a certain inter-vehicle distance. Specifically, the automatic speed control means 2 predicts the traveling path of the host vehicle based on input information from the vehicle speed sensor 12, the steering angle sensor 13, and the yaw rate sensor 14, and an appropriate value is set in the traveling path. Whether or not a preceding vehicle exists is determined based on the input information from the forward millimeter wave radar 10. When it is confirmed that an appropriate preceding vehicle exists in the traveling path of the own vehicle, the distance between the preceding vehicle and the own vehicle is determined by appropriately controlling the throttle valve 30 and the brake device 31. The traveling speed of the host vehicle is adjusted so as to be maintained constant.

  The collision control means 3 determines whether or not the own vehicle is likely to collide with the obstacle based on the distance and relative speed between the obstacle and the own vehicle detected by the forward millimeter wave radar 10. A function for judging (a function for predicting a collision) and a function for warning a passenger when the collision is predicted as a result and operating the brake device 31 at a predetermined timing to decelerate the host vehicle. is doing.

  Specifically, when it is predicted that the host vehicle will collide with an obstacle ahead, the collision control means 3 first comprises a display lamp or an alarm generating device provided on an instrument panel or the like in the passenger compartment. By operating the alarm device 32, the passenger is notified that the possibility of a collision is high. When a predetermined time elapses from the operation of the alarm device 32 and the collision is still unavoidable, the brake device 31 is operated to decelerate the vehicle and the occupant restraint seat belt. By actuating the seat belt tensioner 35 that winds 40 (FIG. 1), the seat belt 40 is wound with a predetermined tension to restrain the occupant.

  As shown in FIGS. 2 and 3, the steering wheel 5 is provided with an operation unit 20 for performing a predetermined operation related to the auto-cruise function. The operation unit 20 includes a main switch 21 and a cancel switch 22. , And a target vehicle speed adjustment switch 23 (corresponding to the target vehicle speed change instruction means according to the present invention).

  The main switch 21 is a switch for turning on the auto-cruise function. When the main switch 21 is pressed by the driver, the automatic speed control means 2 for automatically controlling the traveling speed of the host vehicle is provided. It is designed to switch to the operating state. Specifically, when the main switch 21 is pressed while the host vehicle is traveling at a predetermined speed or higher, the current traveling speed is stored as a target vehicle speed in a predetermined storage means. Control for operating the throttle valve 30 and the brake device 31 is performed by the automatic speed control means 2 so that the running state is maintained.

  The cancel switch 22 is a switch for turning off the auto cruise function. When the cancel switch 22 is pressed by the driver during the operation of the automatic speed control means 2, the automatic speed control means 2 is operated. Is switched to the non-operating state, and the automatic speed control by the means 2 is released.

  The target vehicle speed adjustment switch 23 is composed of a lever switch that can be operated in the vertical direction. When the switch 23 is operated in the vertical direction by the driver, the target vehicle speed during auto-cruising is set to increase or decrease by a predetermined speed. It has become. Specifically, each time the target vehicle speed adjustment switch 23 is operated upward (on the side where “+” is displayed in FIG. 3), the target vehicle speed is increased by, for example, 5 km / h. Each time the switch 23 is operated once downward (on the side where “-” is displayed in FIG. 3), the target vehicle speed is set to decrease by 5 km / h, and a new target increased or decreased in this way is set. The automatic speed control means 2 is configured to control the throttle valve 30 and the brake device 31 so that the traveling speed of the host vehicle matches the vehicle speed. In the following description, operating the target vehicle speed adjustment switch 23 in the vertical direction to increase or decrease the target vehicle speed is referred to as a tap operation, and in particular, operating the switch 23 upward to increase the target vehicle speed. This is referred to as a tap-up operation, and setting the target vehicle speed to decrease by operating the switch 23 downward is referred to as a tap-down operation.

  Here, the acceleration / deceleration when the automatic speed control means 2 accelerates or decelerates the host vehicle according to the tap operation by the target vehicle speed adjustment switch 23 will be described in detail. In the present embodiment, the target acceleration / deceleration (target acceleration / deceleration) when the automatic speed control means 2 accelerates or decelerates the host vehicle is whether or not a subsequent vehicle traveling behind the host vehicle is approaching. It is set to a different value depending on The acceleration / deceleration mentioned here, that is, acceleration and deceleration, represents how much the traveling speed increases or decreases per unit time. The higher the acceleration or deceleration is, the more the own vehicle is. Accelerate or decelerate quickly.

  For example, when the target vehicle speed adjustment switch 23 is tapped up and the target vehicle speed is set to increase, it is confirmed based on the input information from the rear millimeter wave radar 11 that the following vehicle is approaching the host vehicle. Then, the automatic speed control means 2 sets the target acceleration when accelerating the host vehicle in response to the tap-up operation to a value larger than the normal target acceleration set when the following vehicle is not approaching. By changing, the vehicle is accelerated more quickly than usual.

  That is, when the target vehicle speed adjustment switch 23 is tapped up to increase the target vehicle speed, and the automatic speed control means 2 performs control for accelerating the own vehicle accordingly, there is a succeeding vehicle behind the own vehicle. If it is not present or is not approaching the host vehicle even if it exists, the target acceleration for accelerating the host vehicle is set to the normal value β as shown by the solid line in FIG. On the other hand, when it is confirmed that the following vehicle is approaching the host vehicle when the target vehicle speed adjustment switch 23 is tapped up, as shown by the broken line in FIG. Is set to a value α larger than the normal value β.

  On the other hand, when the target vehicle speed adjustment switch 23 is tapped down and the target vehicle speed is set to decrease, it is confirmed based on the input information from the rear millimeter wave radar 11 that the following vehicle is approaching the host vehicle. Then, the automatic speed control means 2 receives the tap down operation and the target deceleration when the host vehicle is decelerated is smaller than the normal target deceleration set when the following vehicle is not approaching. By changing to a value, the host vehicle is decelerated more slowly than usual.

  That is, when the target vehicle speed adjustment switch 23 is tapped down and the target vehicle speed is set to decrease, when the automatic speed control means 2 performs control to decelerate the own vehicle accordingly, there is a succeeding vehicle behind the own vehicle. If the vehicle does not approach or is not approaching the host vehicle, the target deceleration when the host vehicle is decelerated is set to the normal value β as shown by the solid line in FIG. On the other hand, when it is confirmed that the following vehicle is approaching the host vehicle when the target vehicle speed adjustment switch 23 is tapped down, as shown by the broken line in FIG. Is set to a value γ smaller than the normal value β.

  Next, a specific procedure of the control operation by the automatic speed control means 2 that manages the automatic control of the traveling speed as described above will be described with reference to the flowchart of FIG. When this flowchart is started, the automatic speed control means 2 executes control for determining whether or not the auto-cruise function is turned on in response to input of operation signals from the main switch 21 and the cancel switch 22 (step) S1). That is, when it is confirmed that the main switch 21 is pressed once and the cancel switch 22 is not pressed once in response to the input of the operation signals from both the switches, the traveling speed of the host vehicle is automatically set. It is determined that the auto cruise function to be controlled is turned on.

  When it is determined YES in step S1 and it is confirmed that the auto-cruise function is ON, the automatic speed control means 2 sets the target vehicle speed to increase or decrease according to the input of the operation signal from the target vehicle speed adjustment switch 23. It is determined whether or not a tap operation has been performed (step S2). When it is determined YES and it is confirmed that the tap operation has been performed, the tap operation is a tap for increasing the target vehicle speed. Control is performed to determine whether the operation is an up operation (that is, an operation of moving the switch 23 upward) (step S3).

  When it is determined YES in step S3 and it is confirmed that the tap-up operation for increasing the target vehicle speed has been performed, the automatic speed control means 2 determines the current vehicle speed from the newly set target vehicle speed. Control is performed to determine whether or not a value (> 0) obtained by subtracting the traveling speed is equal to or greater than a predetermined threshold k (for example, about 10 km / h) (step S4). And when it determines with YES here, based on the inter-vehicle distance and relative speed of the own vehicle and the following vehicle which were detected by the said rear millimeter wave radar 11, the said succeeding vehicle is less than predetermined distance with respect to the own vehicle. Control is performed to determine whether there is (i.e., the inter-vehicle distance is equal to or less than a predetermined threshold) and whether the following vehicle is approaching the host vehicle (steps S5 and S6).

  If NO is determined in any of the above steps S4 to S6, that is, the difference between the target vehicle speed after the increase setting and the current vehicle speed is smaller than a predetermined threshold k, or approaches within a predetermined distance from the host vehicle. When it is confirmed that there is no subsequent vehicle in the vehicle, the automatic speed control means 2 sets the target acceleration for accelerating the host vehicle to the normal target acceleration β shown by the solid line in FIG. 4 (step S11). ) Control for accelerating the host vehicle with normal acceleration is performed by outputting an opening operation signal corresponding to the normal target acceleration β to the throttle valve 30 (step S14).

  On the other hand, if YES is determined in steps S4 to S6, that is, the difference between the target vehicle speed after the increase setting and the current vehicle speed is smaller than a predetermined threshold k, and the vehicle is approaching within a predetermined distance from the host vehicle. When it is confirmed that there is a following vehicle, the target acceleration for accelerating the host vehicle is set to a target acceleration α larger than the normal target acceleration β as shown by the broken line in FIG. Control is executed (step S10), and control for accelerating the host vehicle at an acceleration larger than usual is performed by outputting an opening operation signal corresponding to the large target acceleration α to the throttle valve 30 (step S14).

  Next, a description will be given of the control operation when it is determined YES in step S3, that is, when a tap-down operation for decreasing the target vehicle speed is performed. In this case, the automatic speed control means 2 has a value (> 0) obtained by subtracting the newly set target vehicle speed from the current traveling speed of the host vehicle equal to or greater than a predetermined threshold k (for example, about 10 km / h). Whether or not there is a succeeding vehicle within a predetermined distance from the host vehicle in the same procedure as in steps S5 and S6 when the determination is YES (step S7). Control is performed to determine whether or not this succeeding vehicle is approaching the host vehicle (steps S8 and S9).

  If NO is determined in any of the above steps S7 to S9, that is, the difference between the current vehicle speed and the target vehicle speed after the reduction setting is smaller than a predetermined threshold k, or approaches within a predetermined distance from the host vehicle. When it is confirmed that there is no following vehicle in the vehicle, the automatic speed control means 2 sets the target deceleration for decelerating the host vehicle to the normal target deceleration β shown by the solid line in FIG. In step S13), a control for decelerating the host vehicle at a normal deceleration is performed by outputting a brake operation signal corresponding to the normal target deceleration β to the brake device 31 (step S14).

  On the other hand, if YES is determined in steps S7 to S9, that is, the difference between the current vehicle speed and the target vehicle speed after the reduction setting is smaller than a predetermined threshold k, and the vehicle is approaching within a predetermined distance from the host vehicle. When the following vehicle is confirmed to exist, the target deceleration when the host vehicle is decelerated is set to a target deceleration γ smaller than the normal target deceleration β as shown by the broken line in FIG. Is executed (step S12), and a brake operation signal corresponding to the small target deceleration γ is output to the brake device 31, thereby executing a control for decelerating the host vehicle with a deceleration smaller than usual. (Step S14).

  As described above, the vehicle travel control apparatus according to the present embodiment includes the automatic speed control means 2 that performs automatic speed control that matches the travel speed of the host vehicle with a preset target vehicle speed, and the target vehicle speed is a constant speed. A target vehicle speed adjustment switch 23 serving as a target vehicle speed change instruction unit that increases or decreases in increments, and a rear millimeter wave radar 11 serving as a subsequent vehicle detection unit that detects a subsequent vehicle traveling behind the host vehicle. Then, when the target vehicle speed is set to increase by the target vehicle speed adjustment switch 23, the automatic speed control means 2 has the following vehicle approaching the host vehicle based on the input information from the rear millimeter wave radar 11. If this is confirmed, the vehicle is accelerated at an acceleration α larger than the normal target acceleration β set when the following vehicle is not approaching. According to such a configuration, there is an advantage that it is possible to appropriately control the acceleration when the target vehicle speed of the host vehicle is set to increase while the following vehicle is approaching, thereby improving the safety of the passenger.

  That is, in the above configuration, when an operation (tap-up operation) for increasing the target vehicle speed of the subject vehicle is performed while the following vehicle is approaching, the automatic speed control means 2 accelerates the subject vehicle faster than usual. In the situation where the following vehicle is approaching the host vehicle at a considerable speed, if the driver performs a tap-up operation with this in mind, the host vehicle is accelerated quickly in response to the operation. The distance between the following vehicle and the host vehicle can be properly maintained, and there is an advantage that the following vehicle can be effectively prevented from colliding with the host vehicle and the safety of the occupant can be ensured more appropriately.

  Further, in the above embodiment, when it is confirmed that the following vehicle is approaching when the target vehicle speed is set to decrease by the target vehicle speed adjustment switch 23, the normal vehicle set when the following vehicle is not approaching is set. Since the host vehicle is decelerated at a deceleration γ smaller than the target deceleration β, the deceleration when the target vehicle speed of the host vehicle is set to decrease during the approach of the following vehicle is controlled appropriately. There is an advantage that the safety of passengers can be improved.

  That is, in the above configuration, when an operation (tap down operation) for reducing the target vehicle speed of the host vehicle is performed while the following vehicle is approaching, the automatic speed control means 2 decelerates the host vehicle more slowly than usual. Even if the target vehicle speed of the host vehicle is reduced even though the following vehicle is approaching, the target deceleration at that time is reduced to slow down the host vehicle slowly, for example, a brake lamp that lights when decelerating. The following distance can be reduced as much as possible, while the distance between the following vehicle and the following vehicle can be prevented from abruptly shrinking as much as possible, effectively preventing the following vehicle from colliding with the host vehicle and improving passenger safety. There is an advantage that it can be secured more appropriately.

  As described above, in the above embodiment, when the target vehicle speed is changed by the target vehicle speed adjustment switch 23, it is confirmed that the following vehicle is approaching the host vehicle based on the input information from the rear millimeter wave radar 11. Then, the target acceleration / deceleration (target acceleration and target deceleration) for accelerating or decelerating the host vehicle according to the change in the target vehicle speed is the normal target acceleration / deceleration set when the following vehicle is not approaching. Since the value is changed to a value different from β (α or γ), it is possible to effectively prevent the distance between the following vehicle and the host vehicle from abruptly decreasing by increasing or decreasing the target acceleration / deceleration. There is an advantage that it is possible to effectively prevent the following vehicle from colliding with the host vehicle and to ensure the safety of the passenger more appropriately.

  In particular, in the above embodiment, if the absolute value of the difference between the target vehicle speed after being changed by the tap operation and the current vehicle speed (current traveling speed of the host vehicle) is smaller than a predetermined value k, the following vehicle is approaching. Even if it exists, the target acceleration / deceleration of the host vehicle is set to the normal target acceleration / deceleration β, and the change of the target acceleration / deceleration as described above (that is, control for changing the target acceleration / deceleration to α or γ) is not performed. Only in the situation where the absolute value of the speed difference is somewhat large and the effect of changing the acceleration / deceleration of the host vehicle is properly obtained, the control details can be controlled by changing the target acceleration / deceleration to prevent the rear-end collision of the following vehicle. There is an advantage that the safety of the passenger can be appropriately secured without changing it unnecessarily.

  In the above embodiment, the front millimeter wave radar 10 and the rear millimeter wave radar 11 that transmit and receive millimeter waves are used to detect an obstacle ahead of the host vehicle or a succeeding vehicle behind the host vehicle. Means for detecting the vehicle is not limited to the millimeter wave radars 10 and 11. For example, a sensor that detects an object by transmitting / receiving a laser wave or an ultrasonic wave as a radar wave (detection wave) other than the millimeter wave may be used as the detection unit.

1 is a diagram schematically showing an overall configuration of a vehicle to which a vehicle travel control device according to an embodiment of the present invention is applied. It is a block diagram which shows the control system of the said travel control apparatus. It is a figure which shows the specific structure of the operation part for performing operation regarding an auto-cruise function. It is a graph which shows the target acceleration at the time of the own vehicle accelerating at the time of tap-up operation. It is a graph which shows the target deceleration at the time of the own vehicle decelerating at the time of tapdown operation. It is a flowchart which shows the specific procedure of the control action performed by the said traveling control apparatus.

Explanation of symbols

2 Automatic speed control means 11 Rear millimeter wave radar (following vehicle detection means)
23 Target vehicle speed adjustment switch (Target vehicle speed change instruction means)

Claims (4)

Traveling of a vehicle comprising automatic speed control means for performing automatic speed control for matching the traveling speed of the host vehicle with a preset target vehicle speed, and target vehicle speed change instruction means for increasing or decreasing the target vehicle speed in steps of a constant speed A control device,
It has a following vehicle detection means for detecting a following vehicle traveling behind the host vehicle,
When the target vehicle speed is changed by the target vehicle speed change instructing means, the automatic speed control means confirms that the succeeding vehicle is approaching the own vehicle based on the input information from the succeeding vehicle detecting means. And the target acceleration / deceleration for accelerating or decelerating the host vehicle according to the change in the target vehicle speed is changed to a value different from the normal target acceleration / deceleration set when the following vehicle is not approaching. A vehicle travel control device. The vehicle travel control apparatus according to claim 1,
The automatic speed control means accelerates the host vehicle at an acceleration greater than the normal target acceleration when it is confirmed that the following vehicle is approaching when the target vehicle speed is set to increase by the target vehicle speed change instruction means. A travel control device for a vehicle. The vehicle travel control apparatus according to claim 1 or 2,
When it is confirmed that the succeeding vehicle is approaching when the target vehicle speed is set to decrease by the target vehicle speed change instructing unit, the automatic speed control unit determines that the own vehicle has a deceleration smaller than the normal target deceleration. A vehicle travel control device characterized in that the vehicle is decelerated. The vehicle travel control apparatus according to any one of claims 1 to 3,
The automatic speed control means does not change the target acceleration / deceleration if the absolute value of the difference between the changed target vehicle speed and the current traveling speed of the host vehicle is smaller than a predetermined value. Travel control device.

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