Controller for vehicle

Abstract

To upgrade the driver's level of satisfaction by properly controlling the driving force.SOLUTION: A controller 30 for a vehicle 1 includes an arithmetic unit 32 that controls the driving force of the vehicle 1 so that an inter-vehicle distance L between a preceding vehicle 1A, which is a tracking object of the vehicle 1, and the vehicle 1 becomes one of plural set values. The arithmetic unit 32 acquires an advancing angle of the preceding vehicle 1A with respect to an advancing direction of the vehicle 1. When the advancing angle is equal to or larger than a threshold, the arithmetic unit controls the driving force so that the inter-vehicle distance L becomes a minimum value (set value A1) among the plural set values.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable people among transportation participants have been gaining momentum. To achieve this, we are focusing on research and development of driving support technologies to further improve the safety and convenience of transportation. Examples of driving support technologies include those described in Patent Documents 1-4.

[0003] Patent document 1 describes an autonomous driving method that detects an indication of an intention to change lanes to an adjacent lane from a leading vehicle and, if it detects that the leading vehicle has departed for the adjacent lane, releases acceleration suppression to allow the vehicle to follow the leading vehicle.

[0004] Patent document 2 describes a driving control device that includes a vehicle distance detection means for detecting the distance to a preceding vehicle, a vehicle speed detection means for detecting the vehicle speed, and a following control means for following the preceding vehicle so that the vehicle distance to the preceding vehicle becomes a target vehicle distance, and has a first following control mode in which the vehicle follows the preceding vehicle until it stops, and a second following control mode in which the vehicle follows the preceding vehicle until the vehicle speed drops to a predetermined low vehicle speed greater than 0.

[0005] Patent document 3 describes a driving control device for a vehicle that has the function of driving while maintaining a set distance from a preceding vehicle, which detects a target vehicle traveling in a lane adjacent to the lane in which the host vehicle is driving that is in a position to cut in between the host vehicle and the preceding vehicle, and changes the distance between the vehicles when it detects an alert situation in which there is a possibility of the target vehicle cutting in.

[0006] Patent Document 4 describes a vehicle control device that includes a recognition unit that recognizes the situation around the host vehicle, and a driving control unit that controls the acceleration / deceleration and steering of the host vehicle based on the recognition results by the recognition unit, and when the host vehicle passes through an intersection, and the planned direction of travel of the host vehicle is a direction that crosses the path of an oncoming vehicle and passes through the intersection, and there is a central reservation on the road on which the host vehicle is traveling, the driving control unit performs driving control according to the behavior of the leading vehicle that is traveling ahead of the host vehicle and is presumed to have the intention of traveling in the planned direction, thereby making the host vehicle follow the leading vehicle and pass through the intersection. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2023-010320 A [Patent Document 2] JP 2006-182259 A [Patent Document 3] JP 2016-147556 A [Patent Document 4] JP 2019-131077 A Summary of the Invention [Problem to be solved by the invention]

[0008] When controlling the driving force of a vehicle on the system side, it is required to perform the control without giving the driver any sense of discomfort.

[0009] The present disclosure aims to improve driver satisfaction by appropriately controlling driving force, and ultimately to contribute to the development of a sustainable transportation system. [Means for solving the problem]

[0010] A vehicle control device of one embodiment of the present disclosure includes a processor that controls the driving force of the vehicle so that the inter-vehicle distance between the vehicle and a preceding vehicle that the vehicle is to follow becomes one of a plurality of set values, and the processor acquires the travel angle of the preceding vehicle relative to the vehicle's direction of travel, and if the travel angle is greater than or equal to a threshold value, controls the inter-vehicle distance to be the smallest value among the plurality of set values. Effect of the Invention

[0011] According to the present invention, the driving force can be appropriately controlled. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device according to an embodiment of the technique of the present disclosure. [Diagram 2] FIG. 2 is a flowchart for explaining the processing of the control device 30 during follow-up cruise control. [Diagram 3] FIG. 3 is a schematic diagram (part 1) for explaining the operation when the preceding vehicle 1A enters a facility while the vehicle 1 is following the preceding vehicle 1A. [Figure 4] FIG. 4 is a schematic diagram (part 2) for explaining the operation when the preceding vehicle 1A enters a facility while the vehicle 1 is following the preceding vehicle 1A. [Diagram 5] FIG. 5 is a flowchart for explaining a preferred example of the processing of the control device 30 during follow-up cruise control. [Figure 6] FIG. 6 is a flowchart for explaining another preferred example of the processing of the control device 30 during follow-up cruise control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] FIG. 1 is a diagram showing a vehicle 1 controlled by a control device according to an embodiment of the technology of the present disclosure. The vehicle 1 shown in FIG. 1 is an automobile having a drive source, and wheels including drive wheels driven by the power of the drive source and steerable wheels (neither of which are shown). For example, the vehicle 1 is a four-wheel automobile having a pair of left and right front wheels and rear wheels. The drive source of the vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. In addition, the drive source of the vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front wheels and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels may be a steerable wheel, or both of the front wheels and the rear wheels may be steerable wheels.

[0014] As shown in FIG. 1, a vehicle 1 includes a sensor group 10, a navigation device 20, a control device 30, an EPS system (electric power steering system) 40, a communication unit 50, a driving force control system 60, a braking force control system 70, and an operation input unit 80.

[0015] The sensor group 10 acquires various detection values ​​related to the vehicle 1 or the periphery of the vehicle 1. The detection values ​​acquired by the sensor group 10 are sent to the control device 30 and used for controlling the running of the vehicle 1, etc.

[0016] The sensor group 10 includes, for example, a front camera 11a, a rear camera 11b, a left side camera 11c, a right side camera 11d, a front sonar group 12a, a rear sonar group 12b, a left side sonar group 12c, and a right side sonar group 12d. These cameras and sonar groups can function as external sensors that obtain information about the surroundings of the vehicle 1.

[0017] The front camera 11a, the rear camera 11b, the left side camera 11c, and the right side camera 11d output image data of surrounding images obtained by capturing images of the surroundings of the vehicle 1 to the control device 30. The surrounding images captured by the front camera 11a, the rear camera 11b, the left side camera 11c, and the right side camera 11d are also referred to as a front image, a rear image, a left side image, and a right side image, respectively. An image composed of the left side image and the right side image is also referred to as a lateral image.

[0018] The front sonar group 12a, the rear sonar group 12b, the left side sonar group 12c, and the right side sonar group 12d emit sound waves around the vehicle 1 and receive reflected sounds from other objects. The front sonar group 12a includes, for example, four sonars. The sonars constituting the front sonar group 12a are provided diagonally forward left, forward left, forward right, and diagonally forward right of the vehicle 1, respectively. The rear sonar group 12b includes, for example, four sonars. The sonars constituting the rear sonar group 12b are provided diagonally backward left, backward left, backward right, and diagonally backward right of the vehicle 1, respectively. The left side sonar group 12c includes, for example, two sonars. The sonars constituting the left side sonar group 12c are provided in the front left side and the rear left side of the vehicle 1, respectively. The right side sonar group 12d includes, for example, two sonars. The sonars constituting the right side sonar group 12d are provided at the front and rear of the right side of the vehicle 1, respectively.

[0019] Further, the sensor group 10 includes wheel sensors 13a and 13b, a vehicle speed sensor 14, and an operation detection unit 15. The wheel sensors 13a and 13b detect the rotation angles θa and θb of the wheels (not shown), respectively. The wheel sensors 13a and 13b may be configured by angle sensors or may be configured by displacement sensors. The wheel sensors 13a and 13b output a detection pulse every time the wheels rotate a predetermined angle. The detection pulses output from the wheel sensors 13a and 13b can be used to calculate the rotation angle and the rotation speed of the wheels. The travel distance of the vehicle 1 can be calculated based on the rotation angle of the wheels. The wheel sensor 13a detects, for example, the rotation angle θa of the left rear wheel. The wheel sensor 13b detects, for example, the rotation angle θb of the right rear wheel.

[0020] The vehicle speed sensor 14 detects the traveling speed of the body (not shown) of the vehicle 1, that is, the vehicle speed V, and outputs the detected vehicle speed V to the control device 30. The vehicle speed sensor 14 detects the vehicle speed V based on, for example, the rotation of a countershaft of the transmission.

[0021] The operation detection unit 15 detects the operation contents performed by the driver using the operation input unit 80, and outputs the detected operation contents to the control device 30. The operation input unit 80 may include, for example, an operation button that accepts an operation to execute various driving assistance modes. The operation input unit 80 may be shared with the touch panel 21 described later.

[0022] The navigation device 20 detects the current position of the vehicle 1 using, for example, a global positioning system (GPS), and provides the driver with guidance on a route to the destination. The navigation device 20 has a storage device (not shown) equipped with a map information database. The map information database includes position information of various facilities with a high frequency of traffic participants such as people and cars, such as department stores, supermarkets, convenience stores, restaurants, gas stations, parking lots, companies, factories, and schools.

[0023] The navigation device 20 is equipped with a touch panel 21 integrated with a display device, and a speaker 22. The touch panel 21 functions as an input device that accepts input of various information to the control device 30, and as a display device controlled by the control device 30. In other words, the driver can input various commands to the control device 30 via the touch panel 21. In addition, the display device integrated with the touch panel 21 displays various screens.

[0024] The speaker 22 outputs various types of guidance information to the driver by voice.

[0025] The control device 30 is a device (computer) that performs overall control of the entire vehicle 1. The control device 30 includes, for example, an input / output unit 31, a calculation unit 32, and a storage unit 35. The input / output unit 31 is an interface that performs input / output of data between the inside and outside of the control device 30 in accordance with the control of the calculation unit 32. The storage unit 35 is configured to include a non-volatile storage medium such as a flash memory, and stores various information (for example, data and programs) for controlling the operation of the vehicle 1.

[0026] The calculation unit 32 is configured with a processor such as a CPU (central processing unit), and controls each component of the vehicle 1 by executing a program stored in the storage unit 35 or the like. The calculation unit 32 performs follow-up driving control to make the vehicle 1 follow another vehicle (hereinafter referred to as a preceding vehicle) traveling ahead of the vehicle 1 while maintaining a constant inter-vehicle distance L from the preceding vehicle. The calculation unit 32 recognizes the preceding vehicle based on image data of the surrounding images acquired from the sensor group 10, and controls the driving force of the vehicle 1 so as to maintain a constant inter-vehicle distance from the recognized preceding vehicle. The calculation unit 32 recognizes, for example, a vehicle that is on a predicted driving route ahead of the vehicle 1 and that exists within a predetermined driving area that is recognized as a preceding vehicle, as a preceding vehicle.

[0027] In this following cruise control, the driving force is controlled so that the inter-vehicle distance L between the vehicle 1 and the preceding vehicle becomes one of a number of set values. In the following, it is assumed that there are four control values ​​for the inter-vehicle distance L, for example, set value A1, set value A2, set value A3, and set value A4. The magnitude relationship among the four set values ​​is set value A1<set value A2<set value A3<set value A4.

[0028] The EPS system 40 includes a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU (EPS electronic control unit) 45. The steering angle sensor 41 detects a steering angle θst of a steering wheel 46. The torque sensor 42 detects a torque TQ applied to the steering wheel 46.

[0029] The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to a steering wheel 46, thereby enabling automatic steering or assisting the driver in operating the steering wheel 46. A resolver 44 detects a rotation angle θm of the EPS motor 43. The EPS ECU 45 is responsible for the overall control of the EPS system 40. The EPS ECU 45 is equipped with an input / output unit, a calculation unit, and a storage unit (none of which are shown).

[0030] The communication unit 50 is a communication interface that communicates with an external device 2 separate from the vehicle 1 under the control of the control device 30. The control device 30 can communicate with the external device 2 via the communication unit 50. For communication between the vehicle 1 and the external device 2, for example, a mobile communication network such as a cellular line, WI-FI (registered trademark), Bluetooth (registered trademark), etc. can be adopted. The external device 2 can be managed by, for example, the manufacturer of the vehicle 1.

[0031] The driving force control system 60 includes a driving ECU 61. The driving force control system 60 executes driving force control of the vehicle 1. The driving ECU 61 controls the driving force (including acceleration) of the vehicle 1 by controlling an engine, a motor, etc. (not shown) based on an operation of an accelerator pedal (not shown) by the driver or an instruction from the control device 30. The driving ECU 61 includes an input / output unit, a calculation unit, and a storage unit (all not shown).

[0032] The braking force control system 70 includes a braking ECU 71. The braking force control system 70 executes braking force control of the vehicle 1. The braking ECU 71 controls a braking mechanism and the like (not shown) based on the driver's operation of a brake pedal (not shown), thereby controlling the braking force of the vehicle 1. The braking ECU 71 includes an input / output unit, a calculation unit, and a storage unit (all not shown).

[0033] 2 is a flow chart for explaining the processing of the control device 30 during follow-up running control. When the follow-up running control mode is set, the calculation unit 32 sets the control value of the inter-vehicle distance L to a value determined by default or a value selected by the driver. For example, the calculation unit 32 sets the control value of the inter-vehicle distance to a set value A3, recognizes the preceding vehicle and its running state based on the image data of the surrounding image and the detection information of the forward sonar group 12a, etc., and controls the driving force of the vehicle 1 according to the running state so that the inter-vehicle distance L between the preceding vehicle and the vehicle 1 becomes the set value A3 (step S1). Hereinafter, the preceding vehicle will be referred to as a preceding vehicle 1A.

[0034] While performing control so that the inter-vehicle distance L from the preceding vehicle 1A becomes the set value A3, the calculation unit 32 acquires the travel angle of the preceding vehicle 1A with respect to the travel direction of the vehicle 1, and determines whether the acquired travel angle is equal to or greater than the angle threshold value (step S2). The calculation unit 32, for example, recognizes the travel direction of the vehicle 1 and the travel direction of the preceding vehicle 1A, and derives the angle between these two travel directions as the travel angle. Alternatively, the calculation unit 32, for example, recognizes the lane of the road on which the vehicle 1 is traveling, and derives the angle of the travel direction of the preceding vehicle with respect to the lane as the travel angle.

[0035] The angle threshold used in the judgment in step S2 is set, for example, to the minimum travel angle that can be reached when a vehicle traveling on a road turns left to enter a facility adjacent to that road, and is set to an angle that cannot be reached when the vehicle changes lanes to move to an adjacent road or when the lane temporarily meanders to avoid an obstacle in the road.

[0036] If the determination in step S2 is NO, the calculation unit 32 continues the process of step S1. If the determination in step S2 is YES, the calculation unit 32 controls the driving force of the vehicle 1 so that the inter-vehicle distance L becomes the minimum value (here, the set value A1) among a plurality of set values ​​(set value A1, set value A2, set value A3, and set value A4) (step S3). That is, in step S3, the control value of the inter-vehicle distance L is changed from the previously selected set value A3 to the minimum set value A1.

[0037] After step S3, the calculation unit 32 determines whether the preceding vehicle 1A has deviated from the roadway (step S4). For example, the calculation unit 32 determines that the preceding vehicle 1A has deviated from the roadway when the entire preceding vehicle 1A has deviated from the lane of the roadway (or from the roadway when there is no lane) based on the image data of the surrounding image or the like.

[0038] If the determination in step S4 is NO, the calculation unit 32 continues the process in step S3, and if the determination in step S4 is YES, the calculation unit 32 returns the process to step S1. That is, in this case, the control value of the inter-vehicle distance L returns from the set value A1 to the original set value A3.

[0039] 3 and 4 are schematic diagrams for explaining the operation when the preceding vehicle 1A enters a facility while the vehicle 1 is following the preceding vehicle 1A. State ST1 in Fig. 3 shows a state in which the preceding vehicle 1A has temporarily stopped in order to enter the facility. In state ST1, the control value of the inter-vehicle distance L is set to a set value A3, so the vehicle 1 is also stopped with the inter-vehicle distance L set to the set value A3.

[0040] State ST2 in FIG. 3 shows a state in which the leading vehicle 1A starts turning left from state ST1 to enter the facility. When the leading vehicle 1A starts turning left, the travel angle of the leading vehicle 1A becomes equal to or greater than the angle threshold. Therefore, the control value of the inter-vehicle distance L is changed from the set value A3 to the set value A1. As a result, the vehicle 1 moves closer to the leading vehicle 1A than in state ST1 in order to reduce the inter-vehicle distance L to the set value A1.

[0041] State ST3 in Fig. 4 shows a state in which the preceding vehicle 1A and vehicle 1 have advanced further from state ST2. State ST4 in Fig. 4 shows a state in which the preceding vehicle 1A has advanced further from state ST3 and has left the roadway. In state ST4, the control value of the inter-vehicle distance L is changed from set value A1 to set value A3. In addition, the calculation unit 32 of vehicle 1 recognizes the new preceding vehicle 1B, and controls the driving force of vehicle 1 so that the inter-vehicle distance to the preceding vehicle 1B becomes set value A3.

[0042] In state ST2 of FIG. 3, it is assumed that the control value of the inter-vehicle distance L is maintained at the set value A3. In this case, the vehicle 1 remains stopped until the preceding vehicle 1A leaves the driving path. In contrast, according to the process of FIG. 2, the vehicle 1 can be gradually brought closer to the preceding vehicle 1A while the preceding vehicle 1A is entering the facility. As a result, the time during which the vehicle 1 is stopped can be shortened, and the timing of re-acceleration after the vehicle 1 is stopped can be advanced, enabling natural driving control close to the feeling of manual driving. Also, according to the process of FIG. 2, when the preceding vehicle 1A changes lanes or snakes to avoid an obstacle, the determination of step S2 becomes NO, and the control value of the inter-vehicle distance L is maintained at the set value A3. In this way, the inter-vehicle distance L is not changed more than necessary, enabling natural driving control without a sense of discomfort.

[0043] In addition, when the calculation unit 32 recognizes that there is another vehicle on the planned driving route of the preceding vehicle 1A based on image data of the surrounding image, for example in state ST3 of Figure 4, it is preferable to stop the vehicle 1 at a position where the inter-vehicle distance L from the preceding vehicle 1A becomes the set value A1.

[0044] 5 is a flowchart for explaining a preferred example of the process of the control device 30 during follow-up cruise control. When the follow-up cruise control mode is set, the calculation unit 32 performs the same process as step S1 in FIG. 2 (step S11).

[0045] The calculation unit 32 determines whether the preceding vehicle 1A has decelerated based on the detection information of the sonar group included in the sensor group 10 (step S12). If the determination in step S12 is NO, the process of step S11 is continued. If the determination in step S12 is YES, the calculation unit 32 determines whether the vehicle speed of the preceding vehicle 1A is equal to or greater than a speed threshold (step S13).

[0046] If the determination in step S13 is YES, it can be determined that there is a possibility that the preceding vehicle 1A has started to decelerate in order to enter the facility. In this case, the calculation unit 32 controls the driving force of the vehicle 1 so that the inter-vehicle distance L becomes the maximum value (here, the set value A4) among a plurality of set values ​​(set value A1, set value A2, set value A3, and set value A4) in preparation for the preceding vehicle 1A's entry into the facility (step S14). That is, in step S14, the control value of the inter-vehicle distance L is changed from the set value A3 to the set value A4. After step S14, the process proceeds to step S12.

[0047] After the preceding vehicle 1A starts to decelerate in order to enter the facility, when the preceding vehicle 1A approaches the facility and the speed of the preceding vehicle 1A decreases sufficiently, the determination in step S13 becomes NO. If the determination in step S13 becomes NO, the calculation unit 32 controls the driving force of the vehicle 1 so that the inter-vehicle distance L becomes the set value A3 (step S15). That is, in step S15, the control value of the inter-vehicle distance L is returned from the set value A4 to the original set value A3. After step S15, the processing from step S2 in FIG. 2 is performed.

[0048] According to the process shown in FIG. 5, when the preceding vehicle 1A starts to decelerate in order to make a left turn into the facility, the inter-vehicle distance L is controlled to be a maximum value. Therefore, the time during which the vehicle 1 stops can be shortened until the preceding vehicle 1A starts to turn left and leaves the road. As a result, the vehicle 1 can be smoothly accelerated after the preceding vehicle 1A leaves the road. In addition, when the preceding vehicle 1A is decelerating in order to enter the facility, the inter-vehicle distance L between the vehicle 1 and the preceding vehicle 1 is gradually shortened according to the vehicle speed of the preceding vehicle 1A, so that the vehicle 1 can be smoothly driven from when the preceding vehicle 1A starts to turn left into the facility until the preceding vehicle 1A finishes turning left.

[0049] 6 is a flowchart for explaining another preferred example of the processing of the control device 30 during follow-up cruise control. When the follow-up cruise control mode is set, the calculation unit 32 performs the same processing as step S1 in FIG. 2 (step S21). Note that in step S21, it is assumed that the preceding vehicle 1A traveling at a slower speed than the vehicle 1 is recognized as a vehicle to be followed. Also, in step S21, it is assumed that the control value of the inter-vehicle distance L is set to a set value A1. When the processing of step S21 is started, the inter-vehicle distance L is sufficiently larger than the set value A1, and the inter-vehicle distance L gradually decreases from this point.

[0050] After step S21, the calculation unit 32 acquires the inter-vehicle distance L and determines whether the inter-vehicle distance L is equal to or greater than the inter-vehicle threshold value TH1 (step S22). The inter-vehicle threshold value TH1 is a value greater than the set value A1. If the determination in step S22 is YES, the calculation unit 32 sets the control value of the inter-vehicle distance L to the set value A4 and controls the driving force of the vehicle 1 (step S23).

[0051] If the determination in step S22 is NO, the calculation unit 32 determines whether the inter-vehicle distance L is equal to or greater than the inter-vehicle threshold value TH2 (step S24). The inter-vehicle threshold value TH2 is smaller than the inter-vehicle threshold value TH1 and the set value A4, but is larger than the set value A1. If the determination in step S24 is YES, the calculation unit 32 sets the control value of the inter-vehicle distance L to the set value A3, and controls the driving force of the vehicle 1 (step S25).

[0052] If the determination in step S24 is NO, the calculation unit 32 determines whether the inter-vehicle distance L is equal to or greater than the inter-vehicle threshold value TH3 (step S26). The inter-vehicle threshold value TH3 is smaller than the inter-vehicle threshold value TH2 and the set value A3, and is larger than the set value A1. If the determination in step S26 is YES, the calculation unit 32 sets the control value of the inter-vehicle distance L to the set value A2, and controls the driving force of the vehicle 1 (step S27).

[0053] If the determination in step S26 is NO, the calculation unit 32 controls the driving force of the vehicle 1 with the control value of the inter-vehicle distance L set to the set value A1 (step S28). After steps S23, S25, S27, and S28, the process returns to step S22. The calculation unit 32 performs the processes from step S2 onwards shown in FIG. 2 in parallel with the processes from step S22 onwards shown in FIG. 6.

[0054] If the control value of the following distance L set in step S21 is the set value A2, steps S26 and S28 are omitted, and the process of step S27 is performed if the determination in step S24 is NO. If the control value of the following distance L set in step S21 is the set value A3, steps S24, S26, S27, and S28 are omitted, and the process of step S25 is performed if the determination in step S22 is NO. If the control value of the following distance L set in step S21 is the set value A4, the processes of steps S22, S23, S24, S25, S26, S27, and S28 are not performed, and the control value of the following distance L is maintained at the set value A4 regardless of the following distance.

[0055] By the above process, for the preceding vehicle 1A traveling at a slower speed than the vehicle 1, the control value of the inter-vehicle distance L is not rapidly reduced to the set value A1 set in step S21, but as the vehicle 1 approaches the preceding vehicle 1A, the control value of the inter-vehicle distance L is gradually reduced. Therefore, when the preceding vehicle 1A starts to enter the facility, it is possible to prevent the vehicle 1 from getting too close to the preceding vehicle 1A. As a result, while the preceding vehicle 1A is turning left into the facility, it is possible to control the vehicle 1 to approach the preceding vehicle 1A as shown in Figures 3 and 4, and the vehicle 1 can travel smoothly when the preceding vehicle 1A enters the facility.

[0056] 5 and 6, the calculation unit 32 preferably holds the control value of the following distance L at a value determined by default or a set value selected by the driver (set value A3 in the example of FIG. 5, and set value A1 in the example of FIG. 6) when the vehicle 1 is traveling on a highway or the vehicle speed of the vehicle 1 is equal to or greater than a predetermined value. In this way, it is possible to prevent the vehicle 1 from suddenly decelerating due to the control value of the following distance L being changed to a large value while the vehicle 1 is traveling at high speed, and it is possible to appropriately secure the distance between the vehicle 1 and the following vehicle.

[0057] The calculation unit 32 may also be configured to determine the operating state of the direction indicator of the preceding vehicle 1A. In this case, even if the determination in step S2 of Fig. 2 is NO, for example, if the direction indicator (left direction indicator) on the facility side of the preceding vehicle 1A continues to flash for a predetermined time, the calculation unit 32 may determine that there is a high possibility that the preceding vehicle 1A will enter the facility and perform the process of step S3. In this way, it is possible to determine that the preceding vehicle 1A is in a state of entering the facility before the preceding vehicle 1A starts to turn toward the facility.

[0058] When performing control (lane change control, right turn control, left turn control, or the like) to cause the vehicle 1 to leave the road, the calculation unit 32 preferably holds the control value of the inter-vehicle distance L at the setting value (setting value A3 in the examples of Fig. 2 and Fig. 5, setting value A1 in the example of Fig. 6) that was set when the following driving control mode was started. By doing so, for example, it is possible to prevent the inter-vehicle distance from being changed while the vehicle 1 is changing lanes, and to perform the lane change safely.

[0059] Although one embodiment of the present disclosure has been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to such an embodiment. It is clear that a person skilled in the art can come up with various modified or amended examples within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present invention. In addition, the components in the above-mentioned embodiment may be arbitrarily combined within the scope of the invention.

[0060] For example, in the above-described embodiment, a four-wheeled automobile is exemplified as a vehicle, but the vehicle is not limited to this. A vehicle to which the technology of the present disclosure can be applied may be a two-wheeled automobile (a so-called motorcycle).

[0061] This specification describes at least the following items. Note that, in parentheses, components corresponding to those in the above-mentioned embodiment are shown, but the present invention is not limited to these.

[0062] (1) A control device (control device 30) for a vehicle (vehicle 1), A processor (arithmetic unit 32) is provided, The processor, obtaining a travel angle of a preceding vehicle to be followed by the vehicle relative to a travel direction of the vehicle; A control device that controls the distance between the vehicle and the preceding vehicle based on the travel angle.

[0063] (2) The control device according to (1), The processor, A control device that controls the inter-vehicle distance so that, when the traveling angle is equal to or greater than a threshold value, the inter-vehicle distance becomes smaller than when the traveling angle is less than the threshold value.

[0064] (3) The control device according to (2), The processor, controlling a driving force of the vehicle so that the inter-vehicle distance becomes one of a plurality of set values; A control device that, when the traveling angle is equal to or greater than a threshold value, controls the inter-vehicle distance so that it becomes smaller than the set value that is set when the traveling angle is less than the threshold value.

[0065] (4) The control device according to (3), The processor, When the traveling angle is equal to or greater than a threshold value, the control device controls the inter-vehicle distance to become the minimum value (set value A1) of the plurality of set values.

[0066] For example, when a vehicle ahead of the vehicle stops temporarily in front of a facility adjacent to the roadway and turns left from the roadway to enter the facility, the travel angle of the leading vehicle is equal to or greater than the threshold. According to any one of (1) to (4), in this case, the distance between the vehicle and the leading vehicle is changed to a value smaller than a value set in advance, for example, so that the vehicle can gradually approach the leading vehicle while the leading vehicle is turning left. As a result, the timing of re-accelerating the vehicle can be accelerated, enabling natural driving control, compared to a configuration in which the control value of the distance between the vehicles is maintained at the set value selected by the driver.

[0067] (5) The control device according to (4), The control device, when the processor detects deceleration of the preceding vehicle, controls the inter-vehicle distance to become the maximum value (set value A4) of the plurality of set values.

[0068] According to (5), when the preceding vehicle decelerates to enter the facility, the vehicle distance is controlled to be the maximum value. This reduces the time the vehicle stops between when the preceding vehicle starts to enter the facility and when it leaves the road. As a result, the vehicle can smoothly accelerate after the preceding vehicle leaves the road.

[0069] (6) The control device according to (5), The processor is a control device that detects deceleration of the preceding vehicle and, when the speed of the preceding vehicle is equal to or greater than the vehicle speed threshold, controls the inter-vehicle distance to the maximum value, and, when the processor detects deceleration of the preceding vehicle and the speed of the preceding vehicle is less than the vehicle speed threshold, controls the inter-vehicle distance to the pre-selected set value (set value A3).

[0070] According to (6), when a leading vehicle enters a facility, the distance between the vehicles gradually decreases as the leading vehicle decelerates, allowing the vehicles to travel smoothly from the time the leading vehicle starts entering the facility to the time it finishes entering the facility.

[0071] (7) The control device according to (4), When the processor recognizes a preceding vehicle traveling at a slower speed than the vehicle as a vehicle to be followed, it obtains the distance between the preceding vehicle and the vehicle, selects one of the multiple setting values ​​based on the distance, and controls the inter-vehicle distance to become the selected setting value.

[0072] According to (7), when there is a preceding vehicle slowing down to enter a facility, the distance between the preceding vehicle and the vehicle can be gradually reduced, thereby enabling the vehicle to travel smoothly from the time the preceding vehicle starts to enter the facility until it finishes doing so.

[0073] (8) A control device according to any one of (3) to (7), The processor is a control device that holds the control value of the inter-vehicle distance at the preselected set value (set value A3) when the vehicle is traveling on a highway or the vehicle speed of the vehicle is equal to or greater than a predetermined value.

[0074] According to (8), it is possible to prevent sudden deceleration of the vehicle due to the control value of the inter-vehicle distance being changed to a larger value while the vehicle is traveling at high speed, and it is possible to appropriately maintain the distance between the vehicle and the following vehicle.

[0075] (9) A control device according to any one of (1) to (8), A control device in which the travel angle is the angle between the travel direction of the vehicle and the travel direction of the preceding vehicle, or the angle of the travel direction of the preceding vehicle with respect to a lane of a road.

[0076] According to (9), it is possible to determine with high accuracy a state in which the leading vehicle is likely to enter the facility.

[0077] (10) A control device according to any one of (4) to (7), The processor is capable of determining the operation state of the turn signal of the preceding vehicle, and if the turn signal remains flashing for a predetermined period of time, the control device controls the inter-vehicle distance to be the minimum value.

[0078] According to (10), it is possible to determine earlier whether the leading vehicle is in a state of entering the facility.

[0079] (11) A control device according to any one of (1) to (10), The processor is a control device that recognizes a target vehicle that is on a predicted driving route ahead of the vehicle and within a driving area recognized as a preceding vehicle as the preceding vehicle.

[0080] According to (11), the preceding vehicle can be recognized with high accuracy.

[0081] (12) A control device according to any one of (3) to (7), The processor is a control device that maintains the control value of the inter-vehicle distance at the preselected set value (set value A3) when controlling the vehicle to leave the road or when the preceding vehicle changes lanes.

[0082] According to (12), it is possible to prevent the vehicle distance from being changed more than necessary, thereby enabling safe driving control. [Explanation of symbols]

[0083] 1 vehicle 30 Control device 32 Arithmetic section

Claims

1. A control device for a vehicle, A processor is provided. The processor, obtaining a travel angle of a preceding vehicle to be followed by the vehicle relative to a travel direction of the vehicle; A control device that controls the distance between the vehicle and the preceding vehicle based on the travel angle.

2. The control device according to claim 1 , The processor, A control device that controls the inter-vehicle distance so that, when the traveling angle is equal to or greater than a threshold value, the inter-vehicle distance becomes smaller than when the traveling angle is less than the threshold value.

3. The control device according to claim 2, The processor, controlling a driving force of the vehicle so that the inter-vehicle distance becomes one of a plurality of set values; A control device that, when the traveling angle is equal to or greater than a threshold value, controls the inter-vehicle distance so that it becomes smaller than the set value that is set when the traveling angle is less than the threshold value.

4. The control device according to claim 3, The processor, A control device that controls the inter-vehicle distance to become the minimum value among the plurality of set values ​​when the traveling angle is equal to or greater than a threshold value.

5. The control device according to claim 4, The control device, when the processor detects deceleration of the preceding vehicle, controls the inter-vehicle distance to become the maximum value among the plurality of set values.

6. The control device according to claim 5, The processor is a control device that detects deceleration of the preceding vehicle and, when the speed of the preceding vehicle is equal to or greater than a vehicle speed threshold, controls the inter-vehicle distance to the maximum value, and, when the processor detects deceleration of the preceding vehicle and the speed of the preceding vehicle is less than the vehicle speed threshold, controls the inter-vehicle distance to the pre-selected set value.

7. The control device according to claim 4, When the processor recognizes a preceding vehicle traveling at a slower speed than the vehicle as a vehicle to be followed, it obtains the distance between the preceding vehicle and the vehicle, selects one of the multiple setting values ​​based on the distance, and controls the inter-vehicle distance to become the selected setting value.

8. The control device according to any one of claims 3 to 7, The processor is a control device that maintains the control value of the inter-vehicle distance at the preselected set value when the vehicle is traveling on a highway or the vehicle speed of the vehicle is equal to or greater than a predetermined value.

9. The control device according to any one of claims 1 to 7, A control device in which the travel angle is the angle between the travel direction of the vehicle and the travel direction of the preceding vehicle, or the angle of the travel direction of the preceding vehicle with respect to a lane of a road.

10. The control device according to any one of claims 4 to 7, The processor is capable of determining the operation state of the turn signal of the preceding vehicle, and if the turn signal remains flashing for a predetermined period of time, the control device controls the inter-vehicle distance to be the minimum value.

11. The control device according to any one of claims 1 to 7, The processor is a control device that recognizes a target vehicle that is on a predicted driving route ahead of the vehicle and within a driving area recognized as a preceding vehicle as the preceding vehicle.

12. The control device according to any one of claims 3 to 7, The processor is a control device that maintains the control value of the inter-vehicle distance at the preselected set value when controlling the vehicle to leave the road or when the leading vehicle changes lanes.

Images