JP2010030525A - Travel support device - Google Patents

Abstract

A travel support apparatus capable of facilitating smooth traffic flow is provided.
A travel support apparatus includes a set vehicle speed receiving unit, a millimeter wave radar, a cruise lever, a vehicle speed sensor, an ECU, an engine control unit, a brake control unit, a display unit, and a set vehicle speed transmission unit. It has. In the driving support device 1, when the inter-vehicle distance between the host vehicle and the preceding vehicle is equal to or greater than a predetermined distance by the ECU 6 and the set vehicle speed of the succeeding vehicle is higher than the set vehicle speed of the host vehicle, the display unit 9 follows the driver. It is notified that the set vehicle speed of the vehicle is higher than the set vehicle speed of the host vehicle. Further, after a predetermined time has elapsed since the notification, the engine control unit 7 and the brake control unit 8 change the set vehicle speed of the host vehicle to the set vehicle speed of the subsequent vehicle.
[Selection] Figure 1

Description

  The present invention relates to a travel support device that causes a host vehicle to travel according to a set vehicle speed.

As a conventional driving assistance device, as described in Patent Document 1, for example, a device using an ACC (adaptive cruise control) system is known. The travel support device described in Patent Document 1 maintains the platooning by setting the upper limit value of the set vehicle speed to a value that is appropriately larger than the cruise vehicle speed during inter-vehicle distance control between the host vehicle and the preceding vehicle. .
JP 2003-317199 A

  However, in the driving support device described in Patent Document 1, when the set vehicle speed of the leading vehicle is different from the following set vehicle speed, the following vehicle is limited to the set vehicle speed (traveling vehicle speed) of the leading vehicle. Therefore, there is a possibility that smooth traffic flow cannot be realized.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a travel support device that can smooth traffic flow.

  The present invention is a travel support device that causes a host vehicle to travel according to a set vehicle speed, the vehicle speed receiving unit receiving information on the set vehicle speed of a subsequent vehicle traveling behind the host vehicle, and the subsequent vehicle received by the vehicle speed receiving unit. The set vehicle speed of the host vehicle is compared with the set vehicle speed of the host vehicle to determine whether the set vehicle speed of the host vehicle is lower than the set vehicle speed of the following vehicle, and the set vehicle speed of the host vehicle is determined by the set vehicle speed determination unit. When the vehicle is determined to be lower than the set vehicle speed of the following vehicle, the notification means for notifying the driver of the own vehicle that the set vehicle speed of the subsequent vehicle is higher than the set vehicle speed of the own vehicle, and driving by the notification means And a first set vehicle speed changing means for increasing the set vehicle speed of the host vehicle after a predetermined time has elapsed since the notification to the person.

  In the driving support device according to the present invention, when it is determined that the setting vehicle speed of the following vehicle that travels behind the own vehicle is received and the setting vehicle speed of the own vehicle is lower than the setting vehicle speed of the following vehicle, Notify the driver of the vehicle to that effect. In this case, the driver of the own vehicle can take an action such as changing the lane in which the vehicle is running and giving way to a succeeding vehicle having a higher set vehicle speed than the own vehicle. Thereby, it can avoid that driving | running | working of a subsequent vehicle is restrict | limited to driving | running | working of a preceding vehicle. Further, when a predetermined time has elapsed since the notification to the driver of the host vehicle has been performed, the set vehicle speed of the host vehicle is increased. At this time, for example, when the set vehicle speed of the own vehicle is changed to the set vehicle speed of the subsequent vehicle, the own vehicle travels at the same vehicle speed as the subsequent vehicle. As described above, the travel support apparatus according to the present invention can realize a smooth traffic flow.

  Preferably, a distance detection unit that detects an inter-vehicle distance between the host vehicle and a preceding vehicle that travels in front of the host vehicle, and determines whether the inter-vehicle distance detected by the distance detection unit is equal to or greater than a predetermined distance. A distance determination unit, and the notification unit determines that the distance between the host vehicle and the preceding vehicle is greater than or equal to a predetermined distance by the distance determination unit, and the set vehicle speed is determined by the set vehicle speed determination unit from the set vehicle speed of the subsequent vehicle. Is determined to be low, the driver of the vehicle is notified.

  In such a configuration, when the preceding vehicle is not traveling ahead of the own vehicle, that is, when the own vehicle is traveling at the head of the vehicle group, the set vehicle speed of the subsequent vehicle is higher than the set vehicle speed of the own vehicle. Is notified to the driver of the host vehicle, and after a predetermined time has elapsed since the notification, the set vehicle speed of the host vehicle is changed so as to increase. In general, the traveling state of the vehicle group tends to depend on the vehicle speed of the vehicle traveling at the head. Therefore, when the host vehicle is running at the head, a smooth traffic flow is reliably realized by notifying the driver of the host vehicle that the set vehicle speed of the following vehicle is higher than the set vehicle speed of the host vehicle. be able to.

  Preferably, the vehicle speed detection means for detecting the vehicle speed of the host vehicle, and the vehicle speed of the host vehicle detected by the vehicle speed detection means when it is determined that the inter-vehicle distance detected by the distance detection means is not equal to or greater than a predetermined distance. Comparing the set vehicle speed of the own vehicle and determining whether or not the vehicle speed of the own vehicle is lower than the set vehicle speed of the own vehicle, and the vehicle speed of the own vehicle is higher than the set vehicle speed of the own vehicle by the vehicle speed determining means And a second set vehicle speed changing means for increasing the set vehicle speed of the host vehicle when the set vehicle speed determining unit determines that the set vehicle speed of the host vehicle is lower than the set vehicle speed of the following vehicle. Prepare.

  In such a configuration, even when a preceding vehicle whose vehicle speed is lower than the set vehicle speed of the own vehicle is traveling ahead of the own vehicle, the set vehicle speed of the own vehicle is changed in advance to the set vehicle speed of the following vehicle, for example. Thus, when the preceding vehicle changes lanes and the own vehicle becomes the head of the vehicle group, the own vehicle smoothly travels with the following vehicle and travels. As a result, a smoother traffic flow can be realized.

  According to the driving support apparatus of the present invention, it is possible to smooth the traffic flow. Thereby, a driver | operator's stress by traffic congestion etc. can be reduced.

  FIG. 1 is a schematic configuration diagram showing an embodiment of a driving support apparatus according to the present invention. In the figure, the driving support device 1 of the present embodiment compares the set vehicle speed of the own vehicle and the set vehicle speed of the following vehicle in the ACC system, and when the set vehicle speed of the own vehicle is lower than the set vehicle speed of the following vehicle, This is a device for notifying the driver of the own vehicle and further automatically changing the set vehicle speed of the own vehicle to the set vehicle speed of the following vehicle.

  The travel support device 1 includes a set vehicle speed receiving unit 2, a millimeter wave radar 3, a cruise lever 4, a vehicle speed sensor 5, an ECU 6, an engine control unit 7, a brake control unit 8, a display unit 9, and a set vehicle speed transmission unit 10. .

  The set vehicle speed receiving unit 2 receives information on the set vehicle speed in the ACC system from vehicles traveling in front of and behind the host vehicle through inter-vehicle communication, and sends the received signal (set vehicle speed signal) to the ECU 6. The vehicle traveling in the front-rear direction is the latest vehicle traveling in the front-rear direction of the host vehicle.

  The millimeter wave radar 3 detects an inter-vehicle distance between the host vehicle and a preceding vehicle traveling ahead, and sends a detection signal (inter-vehicle distance signal) to the ECU 6.

  The cruise lever 4 is an operation lever for instructing activation of the ACC system and determining a set vehicle speed when the ACC system is activated, and a signal (cruise signal) indicating information on the activation state and the set vehicle speed. It is sent to the ECU 6.

  The vehicle speed sensor 5 detects the traveling speed (vehicle speed) of the host vehicle and sends a detection signal (vehicle speed signal) to the ECU 6.

  The ECU 6 performs predetermined processing based on signals from the set vehicle speed receiving unit 2, the millimeter wave radar 3, the cruise lever 4, and the vehicle speed sensor 5, and sends a control signal to the engine control unit 7 or the brake control unit 8. Further, the ECU 6 performs predetermined processing based on the respective signals, and displays a message indicating that the set vehicle speed of the succeeding vehicle is higher than the set vehicle speed of the own vehicle, and a message indicating that the set vehicle speed of the own vehicle is to be changed. A display signal to be transmitted is sent to the display unit 9 and a cruise signal indicating information related to the set vehicle speed of the host vehicle is sent to the set vehicle speed transmission unit 10.

  A throttle actuator 11 is connected to the engine control unit 7. The engine control unit 7 sets the target opening of the throttle valve in accordance with the control signal sent from the ECU 6 and sends the target opening signal to the throttle actuator 11. The throttle actuator 11 operates the actuator in accordance with the target opening signal sent from the engine control unit 7 to control driving of the engine.

  A brake actuator 12 is connected to the brake control unit 8. The brake control unit 8 sets a target deceleration according to the control signal sent from the ECU 6 and sends a braking signal to the brake actuator 12. The brake actuator 12 operates the actuator according to the braking signal sent from the brake control unit 8 to control braking of the brake.

  The display unit 9 is a display of a navigation system, for example. When the display signal is sent from the ECU 6, the display unit 9 displays an image (video) corresponding to the display signal. Note that the message displayed on the display unit 9 may be output as audio information from a speaker, for example.

  When the cruise signal is sent from the ECU 6, the set vehicle speed transmission unit 10 transmits information related to the set vehicle speed of the host vehicle in the ACC system to vehicles traveling before and after the host vehicle by inter-vehicle communication.

  FIG. 2 is a diagram illustrating an example in which the host vehicle travels following the preceding vehicle. In FIG. 2, the own vehicle M1 and the following vehicle M3 have started the ACC system, and the preceding vehicle M2 has shown the state which has not started the ACC system. As shown in the figure, the host vehicle M1 detects the inter-vehicle distance from the preceding vehicle M2 by the millimeter wave radar 3, and transmits information related to the set vehicle speed to the preceding vehicle M2 by the set vehicle speed transmission unit 10. The own vehicle M1 transmits information related to the set vehicle speed to the subsequent vehicle M3 by the set vehicle speed transmission unit 10 and receives information related to the set vehicle speed from the subsequent vehicle M3 by the set vehicle speed reception unit 2.

  FIG. 3 is a flowchart showing details of a processing procedure executed by the ECU 6.

In FIG. 3, it is first determined based on the cruise signal whether or not the ACC system of the host vehicle M1 is activated (step S01). When the ACC system is determined to be activated, whether the set vehicle speed V _b of the following vehicle M3 has been received is determined (Step S02). On the other hand, if it is determined that the ACC system is not activated, the process proceeds to step S13.

In step S02, when the set vehicle speed _Vb of the following vehicle M3 is received, it is determined based on the inter-vehicle distance signal whether the inter-vehicle distance from the preceding vehicle M2 is equal to or greater than a predetermined distance (procedure S03). ). On the other hand, when the set vehicle speed _Vb of the succeeding vehicle M3 is not received, the process ends.

In Step S03, when the inter-vehicle distance to the preceding vehicle M2 is determined to be a predetermined distance or more, whether the set vehicle speed V _a of the vehicle M1 is or lower than the set vehicle speed V _b of the following vehicle M3 is, A determination is made based on the cruise signal and the set vehicle speed signal (step S04). When the set vehicle speed V _a of the vehicle M1 is determined to be lower than the set vehicle speed V _b of the following vehicle M3, the display signal is sent to the display unit 9, the vehicle M1 to the driver by the display unit 9 higher setting speed _{V b} of the following vehicle M3 is informed than the set vehicle speed _{V a} (Step S05). On the other hand, when it is determined that the set vehicle speed V _a of the host vehicle M1 is not lower than the set vehicle speed V _b of the subsequent vehicle M3, the process ends.

  Subsequently, it is determined whether or not a predetermined time has elapsed since the notification to the driver has been made (step S06). If it is determined that the predetermined time has elapsed, the process proceeds to step S07. On the other hand, if it is determined that the predetermined time has not elapsed, the process returns to step S05 and is repeated.

In step S07, the display signal is sent to the display unit 9, notification that the set vehicle speed V _a of the vehicle M1 is changed is made to the driver by the display unit 9, the vehicle M1 after the notification set vehicle speed _{V a} of is changed to the set vehicle speed _{V b} of the following vehicle M3 (Step S08).

Further, in step S03, when the inter-vehicle distance to the preceding vehicle M2 is determined to not more than a predetermined distance is whether the vehicle speed V of the host vehicle M1 is or lower than the set vehicle speed V _a of the vehicle M1 is, the vehicle speed A determination is made based on the signal and the cruise signal (step S09). If the vehicle speed V of the vehicle M1 is determined to be lower than the set vehicle speed V _a of the vehicle M1 proceeds to step S10. On the other hand, when the vehicle speed V of the vehicle M1 is determined to not lower than the set vehicle speed V _a of the vehicle M1, the processing is terminated.

In step S10, set vehicle speed V _a of the vehicle M1 whether lower than the set vehicle speed V _b of the following vehicle M3 is determined based on the cruise signal and set speed signal. When the set vehicle speed V _a of the vehicle M1 is determined to be lower than the set vehicle speed V _b of the following vehicle M3, the display signal is sent to the display unit 9, the vehicle M1 to the driver by the display unit 9 notification of set vehicle speed V _a of the changes may be made (Step S11), set vehicle speed V _a of the vehicle M1 after the notification is changed to the set vehicle speed V _b of the following vehicle M3 (Step S12) . On the other hand, when it is determined that the set vehicle speed V _a of the host vehicle M1 is not lower than the set vehicle speed V _b of the subsequent vehicle M3, the process ends.

  On the other hand, when it is determined in step S01 that the ACC system of the host vehicle M1 is not activated, it is determined based on the inter-vehicle distance signal whether the inter-vehicle distance from the preceding vehicle M2 is equal to or greater than a predetermined distance. Is performed (procedure S13). If the inter-vehicle distance with the preceding vehicle M2 is greater than or equal to the predetermined distance, the process proceeds to step S14. On the other hand, when it is determined that the inter-vehicle distance from the preceding vehicle M2 is not equal to or greater than the predetermined distance, the process ends.

In step S14, it is determined whether or not the set vehicle speed _Vb of the following vehicle M3 has been received. When the set vehicle speed _Vb of the following vehicle M3 is received, it is determined based on the cruise signal and the set vehicle speed signal whether the vehicle speed V of the host vehicle M1 is lower than the set vehicle speed _Vb of the following vehicle M3. (Procedure S15). On the other hand, when the set vehicle speed _Vb of the succeeding vehicle M3 is not received, the process ends.

In Step S15, if the vehicle speed V of the vehicle M1 is determined to be lower than the set vehicle speed V _b of the following vehicle M3, the display signal is sent to the display unit 9, the self to the driver by the display unit 9 It is notified that the set vehicle speed _Vb of the succeeding vehicle M3 is higher than the vehicle speed V of the vehicle M1 (step S16). On the other hand, when it is determined that the vehicle speed V of the host vehicle M1 is not lower than the set vehicle speed _Vb of the subsequent vehicle M3, the process ends.

In the above, the set vehicle speed receiving unit 2 and the above steps S02 and S14 of the ECU 6 constitute vehicle speed receiving means for receiving information on the set vehicle speed of the succeeding vehicle M3 traveling behind the host vehicle M1. Cruise control lever 4, and the procedure S04 of ECU 6, S10 compares the set vehicle speed _{V a} set vehicle speed _{V b} and the vehicle M1 of the following vehicle M3 received by the vehicle speed receiver, set vehicle speed V of the host vehicle M1 _a constitutes the set vehicle speed determining means for determining low or not than the set vehicle speed V _b of the following vehicle M3. The above steps S05 to ECU 6, S16, and a display unit 9, is when the set vehicle speed _{V a} of the vehicle M1 is determined to be lower than the set vehicle speed _{V b} of the following vehicle M3 by setting the vehicle speed determining means, the vehicle M1 set vehicle speed V _b of the following vehicle M3 constitutes a notifying means for notifying higher than the set vehicle speed V _a of the vehicle M1 to the driver. The procedure S08, the engine control unit 7, the brake control unit 8, the throttle actuator 11, and the brake actuator 12 of the ECU 6 set the own vehicle M1 after a predetermined time has elapsed since the notification to the driver was performed by the notification unit. constituting the first setting vehicle speed changing means for increasing the vehicle speed V _a.

Further, the millimeter wave radar 3 constitutes a distance detecting means for detecting a distance between the host vehicle M1 and a preceding vehicle M2 traveling in front of the host vehicle M1. The above steps S03 and S13 of the ECU 6 constitute distance determining means for determining whether or not the inter-vehicle distance detected by the distance detecting means is equal to or greater than a predetermined distance. The vehicle speed sensor 5 constitutes vehicle speed detection means for detecting the vehicle speed V of the host vehicle M1. The above steps S09 to ECU6, when the inter-vehicle distance detected by the distance detecting means is determined to be not more than a predetermined distance, and a set vehicle speed V _a of the vehicle speed V and the vehicle of the own vehicle detected by the vehicle speed detecting means comparison, the vehicle speed V of the vehicle constitutes the vehicle speed determining means for determining whether lower than the set vehicle speed V _a of the vehicle. The above steps S12 in ECU 6, the engine control unit 7, the brake control unit 8, the throttle actuator 11 and the brake actuator 12, is determined as the vehicle speed V of the host vehicle M1 by the vehicle speed determining means is lower than the set vehicle speed _{V a} of the vehicle M1 together is, when the set vehicle speed V _a of the vehicle M1 is determined to be lower than the set vehicle speed V _b of the following vehicle M3 by setting the vehicle speed determining means, second setting to increase the set vehicle speed V _a of the vehicle M1 A vehicle speed changing means is configured.

Or In the driving assistance apparatus 1 of this embodiment as described above, received by the set vehicle speed receiving unit 2 information about the set vehicle speed V _b of the following vehicle M3 for traveling behind the host vehicle M1, vehicle M1 by ECU6 when the set vehicle speed V _a of is determined to be lower than the set vehicle speed V _b of the following vehicle M3 informs the driver of the vehicle M1 by the display unit 9 a message to that effect. In this case, the driver of the vehicle M1 is in a hurry driver of the following vehicle M3, or because awareness following vehicles such low like the set vehicle speed V _a of the vehicle M1 is the running of the vehicle group is generated For example, it is possible to quickly take action such as changing the lane in which the vehicle is traveling and giving way to the succeeding vehicle M3 having a higher vehicle speed than the host vehicle M1. Thereby, it can avoid that the driving | running | working of the succeeding vehicle M3 is restrict | limited to driving | running | working of a preceding vehicle.

Further, when a predetermined time has elapsed since the notification to the driver of the host vehicle M1 has been made and the distance between the preceding vehicle M2 and the preceding vehicle M2 is equal to or greater than the predetermined distance, that is, when the leading travel of the host vehicle M1 has continued for a certain period of time. the changes the set vehicle speed _{V a} of the vehicle M1 to the set vehicle speed _{V b} of the following vehicle M3. Thus, the host vehicle M1 travels at the same vehicle speed as that of the succeeding vehicle M3 without performing a troublesome operation such as changing the set vehicle speed by the driver operating the cruise lever 4. As described above, in the driving support device 1 according to the present invention, when the host vehicle M1 becomes the leading vehicle, the Daimyo procession state is prevented, and a smooth traffic flow can be realized.

The setting of the own-vehicle distance of the vehicle M1 and the preceding vehicle M3 also is a case less than the predetermined distance, the vehicle speed V of the host vehicle M1 is lower than the set vehicle speed V _a of the vehicle M1, and the vehicle M1 when the vehicle speed _{V a} is lower than the set vehicle speed _{V b} of the following vehicle M3 changes the set vehicle speed _{V a} of the vehicle M1 to the set vehicle speed _{V b} of the following vehicle M3. Thereby, when the preceding vehicle M2 changes the lane and the own vehicle M1 becomes the head of the vehicle group, the own vehicle M1 travels smoothly with the following vehicle M3. As a result, a smoother traffic flow can be realized, so that the driver's stress due to traffic jams can be reduced, thereby contributing to the prevention of dangerous driving such as overtaking due to stress. .

  The present invention is not limited to the above embodiment. For example, in addition to the configuration of the above-described embodiment, a means for obtaining environmental information (such as a speed limit) around the host vehicle M1 may be provided, and the set vehicle speed may be changed based on the environmental information.

1 is a schematic configuration diagram showing an embodiment of a travel support device according to the present invention. It is a figure which shows an example which the own vehicle drive | works following a preceding vehicle. It is a flowchart which shows the detail of the process sequence performed by ECU.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance apparatus, 2 ... Setting vehicle speed receiving part (vehicle speed receiving means), 3 ... Millimeter wave radar (distance detection means), 4 ... Cruise lever (setting vehicle speed determination means), 5 ... Vehicle speed sensor (vehicle speed detection means), 6 ... ECU (set vehicle speed determination means, notification means, first set vehicle speed change means, distance determination means, vehicle speed determination means, second set vehicle speed change means), 7 ... engine control section (first set vehicle speed change means, second Setting vehicle speed changing means), 8 ... Brake control section (first setting vehicle speed changing means, second setting vehicle speed changing means), 9 ... Display section (notifying means), 11 ... Throttle actuator (first setting vehicle speed changing means, second Setting vehicle speed changing means), 12... Brake actuator (first setting vehicle speed changing means, second setting vehicle speed changing means).

Claims (3)

A driving support device for driving the vehicle according to a set vehicle speed,
Vehicle speed receiving means for receiving information on a set vehicle speed of a following vehicle traveling behind the host vehicle;
The set vehicle speed for comparing the set vehicle speed of the following vehicle received by the vehicle speed receiving means with the set vehicle speed of the own vehicle and determining whether the set vehicle speed of the own vehicle is lower than the set vehicle speed of the following vehicle A determination means;
When the set vehicle speed determining means determines that the set vehicle speed of the own vehicle is lower than the set vehicle speed of the following vehicle, the set vehicle speed of the following vehicle is set to the setting of the own vehicle for the driver of the own vehicle. An informing means for informing that the vehicle speed is higher than the vehicle speed;
A travel support apparatus comprising: first set vehicle speed changing means for increasing the set vehicle speed of the host vehicle after a predetermined time has elapsed since the notification to the driver by the notification means. Distance detecting means for detecting a distance between the host vehicle and a preceding vehicle traveling in front of the host vehicle;
Distance determining means for determining whether or not the inter-vehicle distance detected by the distance detecting means is greater than or equal to a predetermined distance;
The informing means determines that the distance between the host vehicle and the preceding vehicle is greater than or equal to the predetermined distance by the distance determining means, and the set vehicle speed is determined by the set vehicle speed determining means from the set vehicle speed of the subsequent vehicle. 2. The travel support apparatus according to claim 1, wherein when the vehicle is determined to be low, a notification is made to a driver of the host vehicle. Vehicle speed detection means for detecting the vehicle speed of the host vehicle;
When it is determined that the inter-vehicle distance detected by the distance detection unit is not equal to or greater than the predetermined distance, the vehicle speed of the host vehicle detected by the vehicle speed detection unit is compared with the set vehicle speed of the host vehicle, Vehicle speed determination means for determining whether the vehicle speed of the host vehicle is lower than the set vehicle speed of the host vehicle;
The vehicle speed determining means determines that the vehicle speed of the host vehicle is lower than the set vehicle speed of the host vehicle, and the set vehicle speed determining means determines that the set vehicle speed of the host vehicle is lower than the set vehicle speed of the subsequent vehicle. The driving support device according to claim 2, further comprising second setting vehicle speed changing means for increasing the set vehicle speed of the host vehicle when the vehicle is set.

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