JPH11175897A - Cruise control device - Google Patents

Abstract

(57) [Summary] In a vehicle equipped with a cruise control device having follow-up traveling control or constant-speed traveling control, careless following-up traveling control or constant-speed traveling control at a junction such as an intersection or an expressway interchange is provided. And a cruise control device capable of restarting the traveling control after passing through an intersection or the like. SOLUTION: A cruise control device provided with traveling control means, a position detecting means for detecting a position of an own vehicle,
Route guidance means for performing route guidance to the destination, right and left turn intersection arrival recognition means for recognizing that the vehicle has reached near the intersection where the right turn or left turn, and based on the recognition results of the right and left turn intersection arrival recognition means Release means for releasing the travel control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cruise control device, and more particularly to a cruise control device for performing follow-up traveling control for maintaining a constant inter-vehicle distance with a preceding vehicle and constant-speed traveling control for maintaining a constant vehicle speed of a host vehicle. The present invention relates to a cruise control device that can eliminate inadvertent follow-up traveling control and constant-speed traveling control at a branch point such as an intersection or a highway interchange.

[0002]

2. Description of the Related Art In order to reduce the driving operation of a driver, a cruise control device that performs follow-up cruise control for maintaining a constant inter-vehicle distance with a preceding vehicle or constant-speed cruise control for maintaining a constant vehicle speed of an own vehicle has been proposed. Conventionally known. When a switch for starting the follow-up traveling control is pressed, the vehicle provided with the follow-up traveling control detects an inter-vehicle distance to a preceding vehicle by an inter-vehicle distance measuring device (a radar, a camera, or the like). By controlling the engine output and the brake so that the vehicle distance becomes a preset inter-vehicle distance, the vehicle follows the preceding vehicle.

[0003] Further, a vehicle provided with a constant speed traveling control detects a vehicle speed of the own vehicle by a vehicle speed measuring device (vehicle speed sensor or the like) and controls the following traveling so that the own vehicle speed becomes a preset vehicle speed. By controlling the engine output and brakes in the same way as above, the vehicle runs at a constant speed. Further, by combining the cruise control device with a navigation device that outputs a route to a vehicle position and a destination, a maximum speed that can accurately pass a corner detected ahead of the traveling route is calculated, A follow-up traveling control device that passes through a corner at the calculated speed is disclosed in JP-A-7-125565.

[0004]

Incidentally, in a vehicle equipped with a cruise control device having the following traveling device, it may not be desired to follow a preceding vehicle at an intersection where the vehicle is going to turn right or left. . That is, for example, when the preceding vehicle turns right and the own vehicle follows the preceding vehicle and turns right, there is a possibility that the vehicle collides with the oncoming vehicle. As described above, in the vehicle provided with the following traveling device, it is necessary to prevent inadvertent following of the preceding vehicle at the intersection where the vehicle turns right or left.

[0005] In addition, even at an interchange on a highway, there is a case where the host vehicle does not want to follow the preceding vehicle. For example, a vehicle that intends to exit an interchange decelerates around the point where the vehicle exits the interchange. However, when the preceding vehicle accelerates near the interchange, the own vehicle may follow and accelerate.
As described above, in the vehicle provided with the following traveling device, it is necessary to prevent inadvertent following of the preceding vehicle at the interchange where the vehicle descends.

[0006] The above problem of the vehicle equipped with the cruise control device having the follow-up traveling device is the same as the problem of the vehicle equipped with the cruise control device having the constant speed traveling control device. The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle equipped with a cruise control device having follow-up running control or constant speed running control, such as an intersection or an expressway interchange. Inadvertent follow-up cruise control or constant-speed cruise control at the fork can be eliminated, and
It is an object of the present invention to provide a cruise control device capable of restarting each of the traveling controls after passing through an intersection or the like.

[0007]

[Means for Solving the Problems] To achieve the above object,
The cruise control device of the present invention basically includes traveling control means, a position detecting means for detecting a position of the own vehicle, a route guiding means for guiding a route to a destination, and a case where the own vehicle turns right or Right and left turn intersection reaching recognition means for recognizing that the vehicle has reached the vicinity of the intersection to turn left or interchange arrival recognizing means for recognizing that the vehicle has arrived near the interchange where the vehicle gets off; and Release means for canceling the travel control based on the recognition result, wherein the travel control means keeps the following distance between the preceding vehicle and the following vehicle constant or the vehicle speed of the own vehicle constant. This is characterized in that it is a constant-speed running control means for keeping the speed.

In another preferred aspect of the cruise control device according to the present invention, the cruise control device further comprises a right / left intersection passing recognition means for recognizing that the vehicle has passed the intersection, and a right / left intersection. And a restart means for restarting the travel control based on the recognition result of the passing means. The cruise control device according to the present invention configured as described above recognizes that, in a vehicle that performs traveling control such as following traveling control or constant speed traveling control, the own vehicle has arrived near an intersection where a right turn or a left turn is made. Since the vehicle has the right / left intersection reaching recognition means and the releasing means for releasing the traveling control based on the recognition result of the right / left intersection reaching recognition means, the traveling control is released at the intersection. Can inadvertently follow the preceding vehicle or do not run at a constant speed.

Further, the cruise control device according to the present invention comprises an interchange arrival recognizing means for recognizing that the own vehicle has arrived near the interchange where the vehicle gets off, and a release means for releasing the traveling control based on the recognition result of the interchange arrival recognizing means. With this configuration, the traveling control is canceled in the vicinity of an interchange where the own vehicle descends on a highway or the like, so that the own vehicle can be prevented from inadvertently following the preceding vehicle or traveling in a constant manner.

Further, the vehicle is provided with restart means for resuming the released following traveling control or constant speed traveling control after passing through the intersection, so that the driver can follow following traveling control or constant speed traveling control after the own vehicle passes through the intersection. Can be eliminated. And
In a preferred specific mode of the cruise control device according to the present invention, when the release means releases the following travel control or the constant speed travel control, the driver is warned to release the follow travel control or the constant speed travel control. A release unit that warns the driver that the follow-up traveling control or the constant-speed traveling control is to be released, and releases the following traveling control or the constant-speed traveling control after traveling for a predetermined time or after traveling a predetermined distance. It is characterized by having.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the cruise control device of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a control block diagram of the cruise control device according to the first embodiment, in which the own vehicle equipped with the cruise control device cancels the follow-up traveling control or the constant-speed traveling control at an intersection where the vehicle turns right or left. This shows a theoretical configuration diagram in which careless follow-up traveling control or constant-speed traveling control at an intersection is not performed.

The cruise control device 10 shown in FIG.
Traveling control means 11 provided with follow-up traveling control means 16 or constant-speed traveling control means 17; position detecting means 12 for detecting the position of the vehicle; route guiding means 13 for guiding a route to a destination; A left / right turn intersection reaching recognition means 14 for recognizing that the vehicle has arrived near an intersection where the vehicle turns right or left based on the position information obtained from the means 12 and the route information obtained from the route guiding means 13, and a right / left turn intersection. Release means 15 for releasing the following running control and the constant speed running control based on the recognition result of the recognition means 14.

Hereinafter, the case where the traveling control means in the cruise control device is the follow-up traveling control will be described in detail, but the case of the constant speed traveling control can be similarly realized. FIG. 2 is a control block diagram of the follow-up running control of the cruise control device. Similar to FIG. 1, the cruise control device includes a following travel control means 16 for performing following travel control, a position detecting means 12 for detecting a position of the own vehicle, and a route guiding means 13 for guiding a route to a destination. And the position information obtained from the position detecting means 12 and the route information obtained from the route guiding means 13,
Release means for releasing the following travel control means 16 based on the recognition result of the right / left turn intersection arrival recognition means 14 and the right / left turn intersection arrival recognition means 14 for recognizing that the vehicle has arrived near the intersection where the vehicle turns right or left. 15 is comprised. The position detecting means 12, the route guiding means 13, and the right / left turn intersection arrival recognizing means 14 can be realized as a navigation device as a whole.

FIG. 3 is a control flowchart showing the follow-up running control operation of the cruise control device of the present embodiment. The operation of the control of the cruise control device is a step of performing follow-up running control (steps 31 to 34).
And the step of releasing the following travel control (steps 35 to 38). First, Steps 31 to 34 for performing control of following the preceding vehicle will be described. The processing from step 31 to step 34 is performed by the following travel control means 16, and FIG.
2 shows a specific configuration of the following running control means 16. The following cruise control means 16 includes an inter-vehicle distance detecting unit 41 for detecting an inter-vehicle distance to a preceding vehicle, a vehicle speed detecting unit 42 for detecting a vehicle speed of the own vehicle, an inter-vehicle distance L obtained from the inter-vehicle distance detecting unit 41, and a vehicle speed. An acceleration / deceleration unit 43 for accelerating and decelerating the own vehicle to follow the preceding vehicle with the vehicle speed V obtained from the detection unit 42 and the release signal obtained from the release unit 15 as input signals.

In step 31, the following running control means 16
When the switch is turned ON, as shown in FIG.
Following running is started so as to keep the distance L between the vehicles constant. In step 32, the following distance L is set to the following distance detecting unit 41.
Is measured by The inter-vehicle distance detection unit 41 is realized by, for example, a radio wave radar device or a laser radar device. In step 33, the vehicle speed V of the host vehicle 51 is measured by the vehicle speed detection unit 42.
The vehicle speed V is adjusted by the acceleration / deceleration unit 43 of the following vehicle travel control means 16 so that the following vehicle distance L with respect to the vehicle 2 becomes a predetermined following vehicle distance L0. The acceleration / deceleration unit 43 controls engine output and braking.

Next, steps 35 to 38 of the stage for canceling the follow-up running control in the cruise control device of the present embodiment will be described. As shown in FIG. 6, cancellation of the follow-up traveling control is performed before a certain distance L1 from an intersection 62 where the host vehicle 61 turns right or left. For this reason, it is necessary to recognize that the host vehicle 61 has arrived short of the intersection 62 where the vehicle turns left and right a certain distance L1. In the following, a description will be given of a means for recognizing that the own vehicle has reached the vicinity of the intersection where the vehicle turns right and left by the right and left turn intersection recognition means 14.

As shown in FIG. 7, the right / left turn intersection recognizing means 14 includes map information 71 in which coordinates such as intersections and interchanges are recorded, and route information from the map information 71 and the route guidance means 13. Right / left turn intersection recognizing unit 72 that recognizes the intersection where the host vehicle turns left / right based on the vehicle.
And an arrival determination unit 73 that determines whether or not the vehicle has reached the right / left intersection based on the recognition result from the right / left intersection recognition unit 72 and the position information from the position detection unit 12.

As shown in the table of FIG. 9, the map information 71 includes information relating to nodes (points where roads and roads intersect, ie, intersections) and links (nodes and nodes). Connection) is represented by information related to the connection. The map information includes, in addition to roads, locations such as buildings and parks, railways, water systems, and the like, name data, and the like, but these are not relevant to the present embodiment, and will not be described here. In the database of FIG. 9, the node table contains the node number, coordinates, the number of links flowing out of the node and their link numbers, and the link table contains the link numbers, the start node and end node constituting the link, and the link length. Be composed.

The node numbers are determined so that they do not overlap with each other. The same applies to link numbers. The correspondence between the table in FIG. 9 and the actual road map in FIG. 8 can be taken as follows. By referring to the node table, the node numbers 15 and 34 in the link table of FIG. 9 can be understood from the respective coordinate values to be the nodes indicated by ○ in FIG. And the number of links flowing out of the node number 15 is 4
There are books and they are link numbers: 20, 21, 19, 30.
Also, looking at the link number 21 in the link table, the node
It can be seen that the road is from 15 to the node 34. If this road is not a one-way street, there is a road going from node 34 to node 15, and the link table shows that the road is assigned a link number 55.

In step 35, whether or not the vehicle has reached the intersection where the vehicle turns right or left is recognized by the map information 7.
1. Recognizable from position information and route information. When the route information is represented as a list of links of map information, for example, the start point node and the end point node forming the link can be known from the link table of FIG. 9. By examining the coordinates of the nodes obtained from the route information, it is possible to recognize the intersection where the vehicle turns left or right. As another expression of the route information, there is a method in which the direction of the next node is added to each node (eight directions in FIG. 10), and the vehicle recognizes the right / left intersection according to the direction of each node. .

Subsequently, in step 36, the position of the own vehicle is read. In step 37, the own vehicle is moved at a predetermined distance from the right or left intersection based on the recognition result of the right or left intersection obtained in step 35 and the position information of the own vehicle. The arrival determination unit 73 determines whether the vehicle has reached the near side. If the result of determination in step 37 is that the vehicle has not reached a certain distance before the right / left turn intersection, the process returns to step 32. Conversely, if the vehicle has reached a predetermined distance before the right / left intersection at step 37, the process proceeds to step 38, where the follow-up running control is canceled.

Release of the follow-up running control is performed by the release means 15. As shown in FIG. 11, the release means 15 includes a follow-up traveling release unit 111 that releases the follow-up traveling control and a warning unit 112 that issues a warning to the driver. Following running release unit 1
11 receives a result of recognizing from the right / left turn intersection arrival recognizing means 14 that the own vehicle has reached the vicinity of the right / left intersection, and sends a release signal for releasing the following travel control to the following travel control means 16, Cancel the follow-up running.

As described above, the first embodiment of the present invention recognizes that the own vehicle has arrived near the intersection where the vehicle turns right or left, and cancels the follow-up traveling control, so that the vehicle inadvertently moves ahead. Can be prevented from following. Next, a description will be given of a second embodiment of the cruise control device including the follow-up running control according to the present invention.
In this embodiment, the self-vehicle cancels the follow-up traveling control or the constant-speed traveling control before the interchange that gets off the highway or the like so that the inadvertent following traveling control or the constant-speed traveling control near the interchange is not performed. Is what you do. This control can be similarly realized for a cruise control device provided with constant speed traveling control.

FIG. 12 is a control block diagram of the second embodiment. The cruise control device according to the second embodiment includes a following travel control means 1 for performing following travel control.
6, position detecting means 12 for detecting the position of the vehicle, route guiding means 13 for guiding a route to a destination, and position information and route guiding means 1 obtained from the position detecting means 12.
3 based on the route information obtained from the vehicle 3, and based on the recognition result of the interchange arrival recognizing means 121, the following travel of the following travel control means 16 based on the recognition result of the interchange arrival recognizing means 121. And release means 15 for releasing the control.

FIG. 13 is a flowchart showing the operation of the cruise control device according to the second embodiment. The operation of the second embodiment can be divided into two stages: a stage for performing the following travel control (steps 131 to 134) and a stage for releasing the following travel control (steps 135 to 138). Next, a step of performing the following travel control will be described, and then a step of canceling the following travel control will be described.

The cruise control of the cruise control device 10 'of the second embodiment is performed in the same manner as the cruise control of the first embodiment. That is, when the switch of the following travel control means 16 is turned on at step 131, the following travel control means 16 keeps the following distance L with the vehicle 52 located in front of the own vehicle 51 constant as shown in FIG. Follow-up running to keep In step 132, the following distance L is measured by the following distance detector 41 of the following vehicle control means 16, and in step 133, the vehicle speed V of the vehicle 51 is measured by the vehicle speed detector 42 of the following vehicle control means 16.
In step 134, the following running control unit 16 adjusts the vehicle speed V by the acceleration / deceleration unit 43 so that the following distance L with the preceding vehicle 52 becomes the predetermined following distance L0. To achieve.

Next, steps 135 to 138 for canceling the following running control in the second embodiment will be described. As shown in FIG. 14, the cruise control device 10 'cancels the follow-up traveling control in the second embodiment at the interchange 142 where the host vehicle 141 gets off. You need to be aware.

The means for recognizing that the own vehicle has arrived near the interchange where the own vehicle descends in the interchange arrival recognition means 121 is the means for recognizing whether or not the own vehicle has reached the intersection where the vehicle turns right or left in the first embodiment. It can be realized similarly. FIG. 15 shows a control block configuration of the interchange arrival recognizing means 121 based on map information 71 in which coordinates of intersections and interchanges are recorded, and the map information 71 and the route information from the route guidance means 13. Recognition unit 1 that recognizes the interchange where the vehicle gets off
51, and an arrival determination unit 73 that determines whether or not the vehicle has reached a certain distance before the interchange where the vehicle descends based on the recognition result from the interchange recognition unit 151 and the position information from the position detection unit 12. .

First, at step 135, the map information 71
By examining the coordinates of the node obtained from the route information and the route information, an interchange where the own vehicle gets off is recognized. Subsequently, in step 136, the position of the own vehicle is read, and in step 137, it is determined from the interchange recognition result obtained in step 135 and the position information of the own vehicle whether the vehicle has reached a predetermined distance before the interchange where the own vehicle descends. The arrival determination unit 73 makes the determination. If the result of determination in step 137 is that the vehicle has not reached a certain distance before the interchange, the process returns to step 132 and the control flow is continued. Conversely, if it is determined in step 137 that the host vehicle has reached a predetermined distance before the interchange at which the vehicle descends, the process proceeds to step 138, where the follow-up running control is canceled in step 138.

The release of the follow-up running control of the second embodiment is as follows.
The release can be performed by the release means 15 in the same manner as in the release of the first embodiment. The release unit 15 issues a warning to the driver in accordance with the release of the following travel control, as in the first embodiment, and then releases the following travel control. As described above, in the second embodiment, the inadvertent following of the own vehicle with respect to the acceleration of the preceding vehicle in the vicinity of the interchange can be prevented by canceling the following running before the interchange at which the own vehicle gets off.

Further, the cruise control device 10 "according to the third embodiment of the present invention is a cruise control device 10" according to the present invention, which prevents inadvertent follow-up running control or constant-speed running control at an intersection where the vehicle turns right or left. In one embodiment, the troublesome operation of the driver is eliminated by restarting the following cruise control or the constant speed cruise control released after passing through the intersection. Although the cruise control device having the traveling control will be described in detail, the cruise control device having the constant speed traveling control can be similarly realized.

FIG. 16 is a control block diagram of the third embodiment, in which the following running control means 16 for performing the following running control, the position detecting means 12 for detecting the position of the own vehicle, and
Based on the route guidance means 13 for performing route guidance to the destination and the position information obtained from the position detection means 12 and the route information obtained from the route guidance means 13, the vehicle has arrived near the intersection where the vehicle turns right or left. A left / right turn intersection arrival recognizing unit 14 that recognizes
Based on the position information obtained from the position detecting means 12, the route information obtained from the route guiding means 13 and the right / left intersection information from the right / left intersection reaching recognition means 14, Based on the recognition results of the right and left turn intersection passage recognition means 161 and the right and left turn intersection passage recognition means 161 for recognizing that the vehicle has passed a right or left turn intersection, the restarting of the released following traveling control or constant speed traveling control is resumed. A cruise control device including the means 162.

FIG. 17 is a flowchart showing the operation of the cruise control device according to the third embodiment. The operation of the third embodiment includes the steps of performing the following travel control (steps 171 to 174), canceling the following travel control (steps 175 to 178), and restarting the following travel control (steps 179 to 179). Step 18
It can be divided into three stages of 1). However,
The step portion for performing the following traveling control and the step portion for canceling the following traveling control in the third embodiment can be realized in the same manner as the step portion in the first embodiment.

For the step portion for performing the following running control,
In step 171, the switch of the following travel control means 16 is turned on.
When it is turned on, the following running control means 16 starts the following running so as to keep the inter-vehicle distance L with the vehicle 52 located in front of the own vehicle 51 constant as shown in FIG. In step 172, the following distance L is measured by the following distance detector 41 of the following travel control means 16. Step 17
In step 3, the vehicle speed V of the host vehicle 51 is measured by the vehicle speed detecting section 42. In step 174, the following travel control means 16 increases the inter-vehicle distance L with the preceding vehicle 52 so that the inter-vehicle distance L becomes a preset inter-vehicle distance L0. The vehicle speed V is adjusted by the deceleration unit 43 so that the vehicle follows the preceding vehicle 52.

Further, the step for canceling the following running control can be realized in the same manner as in the first embodiment. First,
In step 175, the intersection of the vehicle turning right and left is recognized by checking the coordinates of the node obtained from the map information 71 and the route information. Then, in step 176, the position of the own vehicle is read.
From the recognition result of the right / left turn intersection recognition unit 72 obtained in 75 and the position information of the own vehicle, the arrival determination unit 73 determines whether or not the own vehicle has reached a certain distance before the intersection where the right / left turn is made. If the result of determination in step 177 is that the vehicle has not reached a certain distance before the right / left turn intersection, step 172
And the control flow is continued.

Conversely, if the vehicle has reached a predetermined distance before the intersection where the vehicle turns right or left in step 177, the follow-up running control is canceled in step 178. The release of the following travel control is performed by the release means 15. Release means 15
As shown in FIG. 11, a follow-up running release section 111 for releasing the follow-up running control, and a warning section 11 for giving a warning to the driver.
When the following travel canceling unit 111 receives a result of recognizing from the right / left turn intersection arrival recognizing means 14 that the own vehicle has arrived near the intersection where the right / left turn is made, a following signal for canceling the following travel control is provided. To follow the running control means 16
To release the following travel.

Hereinafter, a portion for restarting the following running control will be described. As shown in FIG. 18, the restart of the following travel control is performed after the own vehicle 181 has passed the intersection 182 where the vehicle has turned right or left. In step 179, the position of the own vehicle is read. In step 180, the own vehicle 185
82 to determine whether or not the vehicle has passed through the intersection.
Recognize with 1. The right / left turn intersection recognition unit 161 is shown in FIG.
As shown in FIG. 9, based on the position information, the route information, and the position information of the right / left turn intersection from the right / left turn intersection recognizing unit 14, it is recognized whether or not the own vehicle has passed the intersection 182. For example, this recognition can be performed by comparing the position of the vehicle with the position of the intersection on the route to the destination.

Intersection 1 on route 183 to destination
If the position of the host vehicle is 185, the host vehicle recognizes that the host vehicle has not passed through the right / left turn intersection, and returns to step 179 to read the position of the host vehicle. When the position of the host vehicle is at the position 183 where the host vehicle has passed through the intersection 182 in FIG. 18, the host vehicle recognizes that the host vehicle has passed the right / left turn intersection, and restarts the following traveling control of the following traveling control means 16.

As described above, in the third embodiment, in addition to preventing inadvertent follow-up traveling control or constant-speed traveling control at the intersection where the vehicle turns right or left, which is implemented in the first embodiment, the third embodiment turns right or left. By recognizing the passing of the intersection and restarting the follow-up traveling control or the constant-speed traveling control, it is possible to eliminate the troublesomeness of resetting the follow-up traveling control or the constant-speed traveling control by the driver. As described above, the three embodiments of the present invention have been described in detail. However, the present invention is not limited to the above-described embodiments, and various designs may be made without departing from the spirit of the present invention described in the claims. Can be changed.

[0040]

As can be understood from the above description, the cruise control device according to the present invention can be applied to a vehicle of a follow-up running control that follows the vehicle while keeping a constant inter-vehicle distance with a preceding vehicle at a junction such as an intersection or an interchange. Inadvertent following of the preceding vehicle can be prevented. That is, by canceling the follow-up traveling control at the intersection where the vehicle turns right or left, it is possible to prevent the host vehicle from inadvertently following the preceding vehicle. The trouble of resetting the following travel can be eliminated.

Also, by canceling the follow-up running just before the interchange where the own vehicle gets off the highway or the like,
It is possible to prevent the host vehicle from inadvertently following the acceleration of the preceding vehicle near the interchange. Furthermore, in addition to preventing inadvertent follow-up traveling control or constant-speed traveling control at the intersection where the right or left turn is made, the driver recognizes the passage of the intersection where the right or left turn is made and restarts the following traveling control or the constant-speed traveling control. The trouble of resetting the follow-up cruise control or the constant-speed cruise control can be eliminated.

[Brief description of the drawings]

FIG. 1 is a control block diagram of a cruise control device according to a first embodiment of the present invention.

FIG. 2 is a control block configuration diagram of follow-up running control of the cruise control device of FIG. 1;

FIG. 3 is an operation flowchart of the cruise control device of FIG. 2;

FIG. 4 is a configuration diagram of follow-up running control means of the cruise control device of FIG. 2;

FIG. 5 is a diagram showing a positional relationship between a host vehicle and a preceding vehicle in follow-up running control.

FIG. 6 is a peripheral view of an intersection where the host vehicle turns right and left.

FIG. 7 is a configuration diagram of a right / left turn intersection reaching recognition means of the cruise control device of FIG. 2;

FIG. 8 is a diagram showing an example of a road map shown on coordinates.

FIG. 9 is a diagram showing a configuration example of map information.

FIG. 10 is a diagram showing link directions of nodes in map information.

FIG. 11 is a configuration diagram of release means of the cruise control device of FIG. 2;

FIG. 12 is a control block diagram of a cruise control device according to a second embodiment of the present invention.

FIG. 13 is an operation flowchart of the cruise control device of FIG. 12;

FIG. 14 is a peripheral view of an interchange where the host vehicle gets off a highway or the like.

15 is a configuration diagram of an interchange arrival recognition unit of the cruise control device of FIG.

FIG. 16 is a control block diagram of a third embodiment of the cruise control device of the present invention.

FIG. 17 is an operation flowchart of the cruise control device of FIG. 16;

FIG. 18 is a peripheral view of an intersection where the host vehicle turns right and left.

FIG. 19 is a configuration diagram of a right / left turn intersection passage recognition unit of the cruise control device of FIG. 16;

[Explanation of symbols]

10: cruise control device, 11: traveling control means, 12: position detection means, 13: route guidance means, 14:
Right / left turn intersection arrival recognition means, 15: release means, 16: follow-up traveling control means, 41: inter-vehicle distance detection section, 42: vehicle speed detection section, 43: acceleration / deceleration section, 51: own vehicle, 52: front vehicle, 61 : Own vehicle, 62: intersection turning right or left,
71: map information, 72: right / left intersection recognition unit, 73: arrival determination unit, 111: follow-up running release unit, 112: warning unit,
121: Interchange arrival recognition means, 141: own vehicle, 142: interchange where own vehicle gets off, 14
3: vehicle ahead, 151: interchange recognition unit, 16
1: right / left turn intersection recognition means, 162: restart means, 1
82: intersection where the vehicle turns right or left, 183: route of the vehicle, 184 vehicle, 185: vehicle

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Inventor Tokuharu Yoshikawa 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture Inside Hitachi Research Laboratory, Hitachi, Ltd. No. 1 Inside Hitachi, Ltd. Hitachi Research Laboratory (72) Inventor Mitsuru Nakamura 2520 Odaiba, Hitachinaka City, Ibaraki Prefecture Inside Hitachi Ltd. Automotive Equipment Division

Claims (7)

[Claims] 1. A cruise control device provided with traveling control means, the cruise control device comprising: a position detecting means for detecting a position of the own vehicle; a route guiding means for guiding a route to a destination; It is characterized by comprising right and left turn intersection arrival recognition means for recognizing that the vehicle has reached the vicinity of an intersection to turn right or left, and release means for releasing travel control based on the recognition result of the right and left turn intersection arrival recognition means. And cruise control device. 2. A cruise control device provided with traveling control means, the cruise control device comprising: a position detecting means for detecting a position of the own vehicle; a route guiding means for guiding a route to a destination; A cruise control device comprising: an interchange arrival recognizing means for recognizing that the vehicle has reached the vicinity of a descending interchange; and a releasing means for releasing travel control based on a recognition result of the interchange arrival recognizing means. 3. A cruise control device provided with traveling control means, the cruise control device comprising: a position detecting means for detecting a position of the own vehicle; a route guiding means for guiding a route to a destination; Right and left turn intersection reaching recognition means for recognizing that the vehicle has reached the vicinity of an intersection to make a right or left turn, release means for releasing running control based on the recognition result of the right and left turn intersection reaching recognition means, A cruise control device comprising: a right / left turn intersection passing recognition means for recognizing that the vehicle has passed; and a restart means for resuming traveling control based on the recognition result of the right / left turn intersection passing means. 4. The cruise control device according to claim 1, wherein the cruise control device is a follow-up cruise control device that keeps a constant inter-vehicle distance with a preceding vehicle or a cruise control device that keeps a vehicle speed of the host vehicle constant. 3. The cruise control device according to any one of 3. 5. The control device according to claim 1, wherein the release unit includes a warning unit that warns a driver to release the follow-up traveling control or the constant-speed traveling control when releasing the following traveling control or the constant-speed traveling control. The cruise control device according to claim 4, characterized in that: 6. The release means includes a release unit for warning a driver that the follow-up traveling control or the constant-speed traveling control is released, and releasing the following traveling control or the constant-speed traveling control after a predetermined time. The cruise control device according to claim 4, wherein: 7. The release means includes a release unit for warning a driver that the follow-up traveling control or the constant-speed traveling control is released, and releasing the following-up traveling control or the constant-speed traveling control after traveling a predetermined distance. The cruise control device according to claim 4, wherein: