JP2011031768A - Vehicle controller and vehicle control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control device and a vehicle control method capable of suppressing propagation of fluctuations in vehicle speed.
[Solution]
In the vehicle control device and the vehicle control method according to the present invention, when performing deceleration control of the own vehicle 11 where the traffic flow is maximized, the distance between the own vehicle 11 and the preceding vehicle 12 is within a predetermined range. When the own vehicle is decelerated and controlled to the inter-vehicle distance and the vehicle speed at which the traffic flow is maximized, and the inter-vehicle distance between the own vehicle 11 and the preceding vehicle 12 is not within the predetermined range, only the speed at which the traffic flow is maximized. Decelerate control of own vehicle. As a result, even when a situation occurs in which the inter-vehicle distance at which the traffic flow is maximized cannot be secured or cannot be maintained before reaching the sag portion, the host vehicle 11 is at least at the vehicle speed at which the traffic flow is maximized. Therefore, the propagation of vehicle speed fluctuation is effectively suppressed, leading to suppression of sag congestion.
[Selection] Figure 2

Description

  The present invention relates to a vehicle control device and a vehicle control method for controlling a vehicle, and more particularly to a vehicle control device and a vehicle control method applied to avoid traffic jams.

  Conventionally, it is known that traffic congestion frequently occurs in a sag portion on an expressway. Therefore, technology development is being carried out to avoid traffic congestion by installing a control system that can acquire traffic flow information. For example, Patent Document 1 discloses a technique for controlling the inter-vehicle distance control just before the sag and switching from the sag portion to the vehicle speed control so as to suppress the change in the vehicle speed and suppress the congestion in the sag.

Japanese Patent Laid-Open No. 2002-137852 JP 2006-309736 A

In such a vehicle control technology, when the traffic flow exceeds a predetermined threshold, vehicle-to-vehicle control information (for example, By communicating with each other (vehicle position and vehicle speed) and performing deceleration control, it is conceivable to suppress deceleration propagation in the sag portion and prevent the occurrence of sag congestion.
That is, in this deceleration control, the following vehicle among the vehicles that follow is detected as a vehicle to be controlled that travels on the same lane, and an appropriate inter-vehicle distance is maintained between the preceding vehicle and the preceding vehicle. Perform deceleration control of the vehicle as shown.

However, the following cases can be assumed while the following vehicle is performing deceleration control.
(i) Cases where other vehicles interrupt between the preceding vehicle and the following vehicle
(ii) Case where control object cannot be detected due to lane change of preceding vehicle
(iii) Case where control object cannot be detected due to lane change of following vehicle
(iv) A case where the distance between both vehicles is significantly reduced due to deceleration of the preceding vehicle
(v) Cases where the distance between both vehicles is significantly shortened by acceleration of the following vehicle

  In these cases, it becomes difficult to secure the inter-vehicle distance at which the traffic flow is maximized before reaching the sag part, resulting in propagation of vehicle speed fluctuations and traffic congestion in the sag part. .

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle control device and a vehicle control method capable of suppressing propagation of vehicle speed fluctuations.

  A vehicle control device according to the present invention is a vehicle control device that performs deceleration control of a host vehicle so that traffic flow is maximized, and a preceding vehicle on the same lane that travels immediately before the host vehicle during deceleration control. An inter-vehicle distance measuring unit that repeatedly measures an inter-vehicle distance with the host vehicle, a determining unit that determines whether the inter-vehicle distance measured by the inter-vehicle distance measuring unit is within a predetermined range, and the inter-vehicle distance is determined by the determining unit When the vehicle is determined to be within, the vehicle is controlled to the distance and speed at which the traffic flow is maximized, and the traffic flow is maximized when the determination means determines that the distance is not within the range. Traveling control means for controlling the own vehicle only at a controlled speed.

  In this vehicle control device, when performing deceleration control of the own vehicle in which the traffic flow is maximized, the travel control means has an inter-vehicle distance between the own vehicle and the preceding vehicle measured by the inter-vehicle distance measuring means within a predetermined range. If it is determined by the determining means, the vehicle is decelerated to the inter-vehicle distance and the vehicle speed at which the traffic flow is maximized, and the determining means determines that the inter-vehicle distance between the own vehicle and the preceding vehicle is not within a predetermined range. When this is done, the vehicle is decelerated and controlled only at the speed at which the traffic flow is maximized. Therefore, even if there is a situation where the inter-vehicle distance that maximizes the traffic flow cannot be secured or reached before the sag is reached, the host vehicle is decelerated so that at least the vehicle speed becomes the maximum. Because of the control, propagation of vehicle speed fluctuation is effectively suppressed, leading to suppression of sag congestion.

  The vehicle control device according to the present invention is a vehicle control device that performs deceleration control of the host vehicle so that the traffic flow is maximized, and the traveling lane of a preceding vehicle that travels immediately before the host vehicle during deceleration control is Lane identifying means that repeatedly identifies whether or not it is the same as the traveling lane of the own vehicle, and when the lane identifying means identifies that the traveling lane of the preceding vehicle is the same as the traveling lane of the own vehicle, An inter-vehicle distance measuring unit that measures the distance; a determining unit that determines whether the inter-vehicle distance measured by the inter-vehicle distance measuring unit is within a predetermined range; and the determining unit determines that the inter-vehicle distance is within the range. Control process that controls the distance and speed at which the traffic flow is maximized, and controls only the speed at which the traffic flow is maximized when the determination means determines that the distance between the vehicles is not within the range. Running And a control takeover means for performing control processing on a subsequent vehicle traveling behind the own vehicle when the lane identifying means determines that the traveling lane of the preceding vehicle is not the same as the traveling lane of the own vehicle. Prepare.

  In this vehicle control device, when the lane identifying means identifies that the traveling lane of the preceding vehicle and the traveling lane of the own vehicle are the same, the traveling control means performs the above control processing related to the deceleration control in the own vehicle, When it is determined by the lane identifying means that the traveling lane of the preceding vehicle and the traveling lane of the own vehicle are not the same, the control takeover means causes the succeeding vehicle to perform the control process. Therefore, even if there is a situation where the inter-vehicle distance that maximizes the traffic flow cannot be secured or reached before the sag is reached, the host vehicle is decelerated so that at least the vehicle speed becomes the maximum. As a result, the propagation of vehicle speed fluctuations is effectively suppressed, leading to suppression of sag congestion, and when the above control process is not required, the following vehicle is subjected to the above control process to amplify and propagate the vehicle speed fluctuation. Can be effectively prevented.

  The vehicle control method according to the present invention is a control method for decelerating and controlling a host vehicle so that the traffic flow is maximized, and the vehicle and the preceding vehicle on the same lane traveling immediately before the host vehicle during the deceleration control. When it is determined that the inter-vehicle distance is repeatedly measured, the inter-vehicle distance is within a predetermined range, and the inter-vehicle distance is within the predetermined range, the traffic flow is maximized. Controlling the own vehicle to the inter-vehicle distance and speed to be converted, and controlling the own vehicle only to the speed at which the traffic flow is maximized when it is determined that the inter-vehicle distance is not within the predetermined range. Including.

  In this vehicle control method, when performing deceleration control of the own vehicle where the traffic flow is maximized, if the inter-vehicle distance between the own vehicle and the preceding vehicle is within a predetermined range, the inter-vehicle distance at which the traffic flow is maximized. When the vehicle distance between the vehicle and the preceding vehicle is not within a predetermined range, the vehicle is decelerated and controlled only at a speed at which the traffic flow is maximized. Therefore, even if there is a situation where the inter-vehicle distance that maximizes the traffic flow cannot be secured or reached before the sag is reached, the host vehicle is decelerated so that at least the vehicle speed becomes the maximum. Because of the control, propagation of vehicle speed fluctuation is effectively suppressed, leading to suppression of sag congestion.

  The vehicle control method of the present invention is a control method for controlling the deceleration of the host vehicle so that the traffic flow is maximized, and during the deceleration control, the traveling lane of the preceding vehicle traveling immediately before the host vehicle is (A) measuring the inter-vehicle distance from the preceding vehicle when it is identified that the traveling lane of the preceding vehicle is the same as the traveling lane of the host vehicle. And (b) determining whether or not the inter-vehicle distance is within a predetermined range, and (c) maximizing the traffic flow when it is determined that the inter-vehicle distance is within the predetermined range. A control process comprising: controlling to an inter-vehicle distance and speed; and (d) controlling only to a speed at which traffic flow is maximized when it is determined that the inter-vehicle distance is not within a predetermined range. Steps to be performed in the host vehicle and the preceding vehicle But when it is identified as not the same as the travel lane of the vehicle, including the control process, and causing performed in the following vehicle traveling behind the host vehicle.

  In this vehicle control method, when the traveling lane of the preceding vehicle and the traveling lane of the own vehicle are the same, the control processing related to the deceleration control is performed by the own vehicle, and the traveling lane of the preceding vehicle and the traveling lane of the own vehicle are When these are not the same, the control process is performed on the following vehicle. Therefore, even if there is a situation where the inter-vehicle distance that maximizes the traffic flow cannot be secured or reached before the sag is reached, the host vehicle is decelerated so that at least the vehicle speed becomes the maximum. As a result, the propagation of vehicle speed fluctuations is effectively suppressed, leading to suppression of sag congestion, and when the above control process is not required, the following vehicle is subjected to the above control process to amplify and propagate the vehicle speed fluctuation. Can be effectively prevented.

  ADVANTAGE OF THE INVENTION According to this invention, the vehicle control apparatus and vehicle control method which can suppress propagation of a vehicle speed fluctuation | variation are provided.

FIG. 1 is a diagram showing a schematic configuration of a vehicle control device according to an embodiment of the present invention. FIG. 2 is a diagram showing the traffic situation around the vehicle. FIG. 3 is a flowchart showing the vehicle control method according to the first embodiment. FIG. 4 is a graph showing an allowable vehicle head distance at the vehicle speed. FIG. 5 is a graph showing the relationship between traffic flow and average speed. FIG. 6 is a flowchart showing a vehicle control method according to the second embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected about the same or equivalent element, and the description is abbreviate | omitted when description overlaps.

  FIG. 1 shows a schematic configuration diagram of a vehicle control device according to an embodiment of the present invention. As shown in FIG. 1, the vehicle control device 1 according to the present embodiment performs vehicle travel control and is mounted on the vehicle. The vehicle control device 1 includes an ECU (electronic control unit) 2, a navigation unit 3, a communication unit 4, a sensor unit 5, a travel drive unit 6, and a braking unit 7.

  The ECU 2 controls the entire control device, and is composed of, for example, a computer including a CPU, a ROM, a RAM, and the like. ECU2 expresses various functions based on various information mentioned below.

  The navigation unit 3 is a part that detects position information of the position of the host vehicle. For example, the navigation unit 3 includes a GPS function or a map database including road information, and uses a destination search or a travel guide route. Can do.

  The communication unit 4 transmits / receives various information to / from infrastructure vehicles (beacons, traffic monitoring systems, etc.) provided on the roadside of surrounding vehicles and roads traveling around the vehicle, and the traffic information center ( This is the part that receives traffic information from the VICS Center. This communication part 4 receives the information regarding the position and traveling direction from a surrounding vehicle by vehicle-to-vehicle communication. Further, as inter-vehicle communication, inter-vehicle control information (inter-vehicle target value, deceleration position, deceleration G, vehicle speed target value, lane identification information) used for deceleration control, which will be described later, is transmitted and received. Alternatively, the inter-vehicle distance from the preceding vehicle can be measured with the infrastructure.

  The sensor unit 5 includes a plurality of sensors mounted on the vehicle, and includes, for example, a wheel speed sensor, a radar distance sensor, an in-vehicle camera, and the like. This sensor unit 5 can also measure the inter-vehicle distance from the preceding vehicle and the vehicle speed of the preceding vehicle. Further, the sensor unit 5 can detect the lane in which the preceding vehicle is traveling.

  The travel drive unit 6 is a part that drives the travel of the vehicle, and includes, for example, an engine ECU, a throttle motor, an injector, and the like. The travel drive unit 6 operates upon receiving a travel drive signal from the ECU 2 and executes vehicle travel drive in accordance with the travel drive signal. Further, the travel drive unit 6 acquires information on the accelerator opening by the throttle sensor, and the information is sent to the ECU 2.

  The braking unit 7 is a part that brakes the vehicle, and includes, for example, a brake ECU, an electromagnetic valve that adjusts the brake hydraulic pressure, and a pump motor that generates the brake hydraulic pressure. The braking unit 7 operates in response to a braking command signal from the ECU 2 and executes vehicle braking according to the braking command signal.

  Since the vehicle control device 1 is configured as described above, the ECU 2 can realize the following functions independently or in cooperation with the units 3 to 7. That is, during deceleration control of the own vehicle, the function as an inter-vehicle distance measuring means for repeatedly measuring the inter-vehicle distance between the preceding vehicle on the same lane that runs immediately before the own vehicle and the own vehicle, the inter-vehicle distance measured by the inter-vehicle distance measuring means A function as a determination unit that determines whether or not the distance is within a predetermined range, and the inter-vehicle distance and speed at which traffic flow is maximized when the determination unit determines that the inter-vehicle distance is within the range. When the vehicle is controlled and the determination means determines that the inter-vehicle distance is not within the range, a function as a travel control means that controls the vehicle only at a speed at which the traffic flow is maximized is realized.

  Furthermore, ECU2 can also implement | achieve the following functions independently or in cooperation with each part 3-7. That is, during deceleration control of the host vehicle, a function as a lane identification unit that repeatedly identifies whether or not the traveling lane of the preceding vehicle traveling immediately before the host vehicle is the same as the traveling lane of the own vehicle, A function as an inter-vehicle distance measuring means for measuring the inter-vehicle distance from a preceding vehicle when the traveling lane of the vehicle is identified as the same as the traveling lane of the own vehicle, and the inter-vehicle distance measured by the inter-vehicle distance measuring means is predetermined. Function as a determination means for determining whether or not the vehicle is within the range of the vehicle, and when the determination means determines that the inter-vehicle distance is within the range, the determination is performed by controlling the inter-vehicle distance and speed at which the traffic flow is maximized. When the vehicle distance is determined not to be within the range by the means, a function as a travel control means for performing control processing to control only the speed at which the traffic flow is maximized, and the preceding vehicle by the lane identification means When the driving lane is identified as not the same as the travel lane of the vehicle, a control processing, function as a control takeover means for causing the following vehicle traveling behind the vehicle is achieved.

  Here, FIG. 2 is a diagram showing a traffic situation around the host vehicle. In the traffic situation shown in FIG. 2, a total of five vehicles are traveling on the highway. As shown in this figure, there is a sag portion ahead of the traveling direction of the five vehicles, and it is necessary to suppress or avoid congestion in the sag portion. Therefore, the vehicle control device 1 of the host vehicle 11 performs the deceleration control for the preceding vehicle 12 that is traveling immediately before the same lane L1 as the host vehicle 11 so that the traffic flow is maximized.

Under such circumstances, deceleration control is performed mainly by the ECU 2 of the vehicle control device 1. Hereinafter, as a first embodiment, a method of performing deceleration control by the vehicle control device 1 of the host vehicle 11 will be described with reference to a flowchart shown in FIG. FIG. 3 is a flowchart illustrating the vehicle control method according to the first embodiment.
(Vehicle measurement processing)

The own vehicle 11 repeatedly measures the inter-vehicle distance D1 between the own vehicle 11 and the preceding vehicle 12 as step 11 during the deceleration control. In addition to the above-described measurement method using the radar, various known measurement methods can be employed as the inter-vehicle measurement method.
(Tolerance between cars)

  Next, as step 12, it is determined whether the inter-vehicle distance D1 between the host vehicle 11 and the preceding vehicle 12 is within an allowable range. This determination of the permissible range is a determination of whether or not the inter-vehicle distance D1 can be made the inter-vehicle distance that should be ensured before reaching the sag portion at the own vehicle speed during the deceleration control before reaching the sag portion. As data relating to this allowable range, the graph shown in FIG. 4 can be used. The graph of FIG. 4 shows the permissible vehicle head distance (m) for each vehicle speed (km / h). If it is more than the allowable vehicle head distance corresponding to the graph in FIG. 4, it is determined that the inter-vehicle distance D1 is within the allowable range.

In the above determination of the inter-vehicle distance, the process proceeds to step 13 when it is determined that the distance is within the allowable range, and the process proceeds to step 14 when it is determined that the distance is outside the allowable range.
(Vehicle distance control processing)

When it is determined in step 12 that the inter-vehicle distance is within the allowable range, inter-vehicle control processing is performed as step 13. This inter-vehicle distance control process is a deceleration control that calculates the deceleration position and deceleration G with respect to the target position, and targets the inter-vehicle distance and the vehicle speed at which the traffic flow is maximized. The target speed of this deceleration control is preferably about 60 km / h, for example. This is because the traffic flow is maximized when the vehicle speed is about 60 km / h with reference to the data in the graph of FIG.
(Vehicle speed control processing)

  On the other hand, when it is determined in step 12 that the inter-vehicle distance is outside the allowable range, in step 14, a vehicle speed control process is performed. This inter-vehicle control process is a deceleration control that targets only the speed at which the traffic flow becomes maximum.

Here, as the situation where the inter-vehicle distance deviates from the allowable range, the following situation can be considered.
(i) Case in which another vehicle 13 interrupts between the preceding vehicle 12 and the host vehicle 11 (see FIG. 2)
(ii) Case in which the control target cannot be detected due to a lane change (L1 → L2) of the preceding vehicle 12
(iii) Case in which the control object cannot be detected due to the lane change (L1 → L2) of the own vehicle 11
(iv) A case where the distance between the vehicles 11 and 12 is significantly shortened by the deceleration of the preceding vehicle 12
(v) Case where the distance between the vehicles 11 and 12 is significantly shortened by the acceleration of the vehicle 11

  For example, when the vehicle 13 is interrupted between the preceding vehicle 12 and the host vehicle 11 as in the case shown in (i), the inter-vehicle distance between the host vehicle 11 and the preceding vehicle is greatly increased from D1 to D2. As a result, the distance between vehicles is out of the allowable range.

  When the above-described deceleration control is performed in the host vehicle 11, if there is a sudden change in the inter-vehicle distance D1 with the preceding vehicle 12, only the speed is determined from the deceleration control process (inter-vehicle control process) targeting the inter-vehicle distance and the vehicle speed. Is switched to the deceleration control process (vehicle speed control process). As a result, the deceleration control of the host vehicle 11 is continued, and rapid speed fluctuations during the deceleration control can be suppressed, and deceleration propagation resulting therefrom can be effectively prevented.

  As described above, the vehicle control method according to the first embodiment is executed in the vehicle control device 1 and when performing deceleration control of the own vehicle in which the traffic flow is maximized, the travel control means is the inter-vehicle distance measurement means. When the determining means determines that the distance between the vehicle measured by the vehicle and the preceding vehicle is within a predetermined range, the vehicle is decelerated to the vehicle distance and vehicle speed at which traffic flow is maximized, and When it is determined by the determining means that the inter-vehicle distance from the preceding vehicle is not within the predetermined range, the own vehicle is decelerated and controlled only at a speed at which the traffic flow is maximized.

  That is, when performing deceleration control of the own vehicle 11 at which the traffic flow is maximized, and the inter-vehicle distance between the own vehicle 11 and the preceding vehicle 12 is within a predetermined range, the inter-vehicle distance and the vehicle speed at which the traffic flow is maximized. When the own vehicle is decelerated and the distance between the own vehicle 11 and the preceding vehicle 12 is not within a predetermined range, the own vehicle is decelerated and controlled only at a speed at which the traffic flow is maximized.

  As a result, even when a situation occurs in which the inter-vehicle distance at which the traffic flow is maximized cannot be secured or cannot be maintained before reaching the sag portion, the host vehicle 11 is set so that at least the vehicle speed becomes the maximum. Therefore, the propagation of vehicle speed fluctuation is effectively suppressed, leading to suppression of sag congestion.

Next, a vehicle control method for the host vehicle 11 will be described as a second embodiment with reference to a flowchart shown in FIG. FIG. 6 is a flowchart illustrating the vehicle control method according to the second embodiment.
(Lane identification processing)

First, as step 21, the traveling lane of the own vehicle 11 is identified. For this lane identification method, various known techniques can be adopted in addition to the above-described on-vehicle camera and radar.
(Control target judgment processing)

  Next, as step 22, it is determined whether or not the vehicle traveling ahead is traveling in the same lane as the travel lane L <b> 1 of the host vehicle 11. For this determination, inter-vehicle communication between the own vehicle 11 and the forward traveling vehicle can be used. That is, it is determined here whether the vehicle to be controlled is the same lane L1 as the own vehicle 11 or a different lane L2.

In the above determination, when it is determined that the lane is the same, the process proceeds to step 23, and when it is determined that the lane is different, the process proceeds to step 28.
(Vehicle measurement processing)

When it is determined in step 22 that the lanes are the same, as step 23, the inter-vehicle distance D1 between the host vehicle 11 and the preceding vehicle 12 is measured as in step 11 described above.
(Tolerance between cars)

Next, as step 24, as in step 12 described above, it is determined whether the inter-vehicle distance D1 with the preceding vehicle 12 is within the allowable range. In the determination of the inter-vehicle distance, the process proceeds to step 25 when it is determined that the distance is within the allowable range, and the process proceeds to step 26 when it is determined that the distance is outside the allowable range.
(Vehicle distance control processing)

When it is determined in step 24 that the inter-vehicle distance is within the allowable range, as in step 25, the inter-vehicle control process similar to that in step 13 described above is performed.
(Vehicle speed control processing)

On the other hand, when it is determined in step 24 that the inter-vehicle distance is outside the allowable range, the vehicle speed control process similar to step 14 described above is performed as step 26.
(Passing control information between vehicles to the rear vehicle)

In step 27 following step 26, the above-mentioned inter-vehicle distance control information is sent to the rear vehicle 14 to cause the rear vehicle 14 to perform inter-vehicle distance control.
(Passing control information between vehicles to the rear vehicle)

On the other hand, when it is determined in step 22 that the lane is a different lane, in step 28, the above-described inter-vehicle distance control information is sent to the rear vehicle 14 to cause the rear vehicle to perform inter-vehicle distance control.
(Deceleration control release)

  In step 29 following step 28, the deceleration control of the host vehicle 11 is canceled so that the subsequent deceleration control is not performed.

  By performing the deceleration control described above in the host vehicle 11, when there is no vehicle to be controlled, the inter-vehicle distance control information is sent to the rear vehicle 14, and the subsequent inter-vehicle control is taken over by the rear vehicle 14. Thereby, deceleration control of the own vehicle 11 is continued in the rear vehicle 14.

  As described above, the vehicle control method according to the second embodiment is executed in the vehicle control device 1 and includes steps 23-26 similar to steps 11-14 of the vehicle control method according to the first embodiment. . Therefore, the same effect as the first embodiment can be obtained. In other words, even if there is a situation where the inter-vehicle distance that maximizes the traffic flow cannot be ensured before the sag is reached or cannot be maintained, the host vehicle is decelerated so that at least the vehicle speed becomes the maximum. Because of the control, propagation of vehicle speed fluctuation is effectively suppressed, leading to suppression of sag congestion.

  In addition, in the second embodiment, when the lane identifying means identifies that the traveling lane of the preceding vehicle and the traveling lane of the own vehicle are the same, the traveling control means performs control processing related to deceleration control on the own vehicle. When the lane identifying means determines that the traveling lane of the preceding vehicle and the traveling lane of the own vehicle are not the same, the control handover means causes the succeeding vehicle to perform the control process. When there is no vehicle to be controlled, inter-vehicle distance control information is sent to the rear vehicle 14 and unnecessary control processing in the own vehicle 11 is taken over by the rear vehicle. In other words, by causing the rear vehicle 14 to perform the control process when it is not necessary to perform the deceleration control, amplification propagation of the vehicle speed fluctuation is effectively prevented and the load of the deceleration control is distributed.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle control apparatus, 2 ... ECU, 11 ... Own vehicle, 12 ... Prior vehicle, 14 ... Rear vehicle.

Claims (4)

A vehicle control device that controls the deceleration of the vehicle so that the traffic flow is maximized,
An inter-vehicle distance measuring means that repeatedly measures an inter-vehicle distance between a preceding vehicle on the same lane that runs immediately before the own vehicle and the own vehicle during the deceleration control;
Determining means for determining whether or not the inter-vehicle distance measured by the inter-vehicle distance measuring means is within a predetermined range;
When the determination means determines that the inter-vehicle distance is within the range, the own vehicle is controlled to the inter-vehicle distance and speed at which traffic flow is maximized, and the inter-vehicle distance is within the range by the determination means. A vehicle control device comprising: a traveling control unit that controls the host vehicle only at a speed at which the traffic flow is maximized when it is determined that there is no traffic flow. A vehicle control device that controls the deceleration of the vehicle so that the traffic flow is maximized,
Lane identification means for repeatedly identifying whether or not the traveling lane of the preceding vehicle traveling immediately before the own vehicle is the same as the traveling lane of the own vehicle during the deceleration control;
An inter-vehicle distance measuring unit that measures an inter-vehicle distance from the preceding vehicle when the lane identifying unit identifies that the traveling lane of the preceding vehicle is the same as the traveling lane of the host vehicle;
Determining means for determining whether or not the inter-vehicle distance measured by the inter-vehicle distance measuring means is within a predetermined range;
When the determining means determines that the inter-vehicle distance is within the range, the inter-vehicle distance and speed are controlled so that the traffic flow is maximized, and the determining means determines that the inter-vehicle distance is not within the range. A travel control means for performing a control process for controlling only the speed at which traffic flow is maximized,
A control take-over means for causing the succeeding vehicle running behind the host vehicle to perform the control process when the lane identifying unit determines that the traveling lane of the preceding vehicle is not the same as the traveling lane of the host vehicle; Vehicle control device. A control method for decelerating and controlling the vehicle so that traffic flow is maximized,
Repeatedly measuring the inter-vehicle distance between the preceding vehicle on the same lane that runs immediately before the own vehicle and the own vehicle during the deceleration control;
Determining whether the inter-vehicle distance is within a predetermined range;
Controlling the host vehicle to an inter-vehicle distance and speed at which traffic flow is maximized when it is determined that the inter-vehicle distance is within the range;
Controlling the host vehicle only at a speed at which the traffic flow is maximized when it is determined that the inter-vehicle distance is not within the range. A control method for decelerating and controlling the vehicle so that traffic flow is maximized,
During the deceleration control, repeatedly identifying whether or not the traveling lane of the preceding vehicle traveling immediately before the own vehicle is the same as the traveling lane of the own vehicle;
(A) measuring the inter-vehicle distance from the preceding vehicle when the traveling lane of the preceding vehicle is identified as being the same as the traveling lane of the own vehicle; and (b) the inter-vehicle distance is within a predetermined range. And (c) controlling to an inter-vehicle distance and speed at which traffic flow is maximized when it is determined that the inter-vehicle distance is within the range, and (d) Performing a control process in the own vehicle, including controlling only the speed at which traffic flow is maximized when it is determined that the inter-vehicle distance is not within the range; and
And a step of causing the succeeding vehicle traveling behind the host vehicle to perform the control process when it is identified that the traveling lane of the preceding vehicle is not the same as the traveling lane of the host vehicle.

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