Vehicle running control system
View Patent ↗At least a follow-up target inter-vehicle distance is set on the basis of information about a preceding vehicle recognized by a forward-environment recognition device mounted in a subject vehicle and including a stereo camera, and it is determined whether or not the preceding vehicle is making a right/left turn. When a right/left turn of the preceding vehicle is detected, the follow-up target inter-vehicle distance is multiplied by a correction coefficient so as to set a different follow-up target inter-vehicle distance for the right/left turn.
1. A vehicle running control system comprising:
front-environment recognition means mounted in a subject vehicle, the front-environment recognition means recognizing at least a preceding vehicle, and an inter-vehicle distance between the preceding vehicle and the subject vehicle;
right/left turn judging means for judging a right or left turn of the preceding vehicle on the basis of information about the preceding vehicle recognized by the front-environment recognition means; and
target inter-vehicle distance setting means for setting a target inter-vehicle distance between the subject vehicle and the preceding vehicle on the basis of one of a vehicle speed of the preceding vehicle calculated from the information about the preceding vehicle recognized by the front-environment recognition means and a speed of the subject vehicle, wherein
the target inter-vehicle distance is a target distance established for comparison with the recognized inter-vehicle distance,
the target inter-vehicle distance includes a first target inter-vehicle distance set when the right/left turn judging means determines that the preceding vehicle is making a right or left turn, and a second target inter-vehicle distance set when the preceding vehicle is traveling straight ahead, and
the first target inter-vehicle distance is shorter than the second target inter-vehicle distance.
2. The vehicle running control system according to claim 1 , wherein, when the right/left turn judging means determines that the preceding vehicle is making the right or left turn, the target inter-vehicle distance setting means sets the first target inter-vehicle distance by correcting the second target inter-vehicle distance.
3. The vehicle running control system according to claim 2 , wherein
a time taken until an inter-vehicle distance between the preceding vehicle and the subject vehicle becomes zero is estimated based on the recognized inter-vehicle distance,
a correction value for correcting the second target inter-vehicle distance is set on the basis of the sum of the estimated time and an allowance time, and
the first target inter-vehicle distance is set by multiplying the second target inter-vehicle distance by the correction value.
4. The vehicle running control system according to claim 2 , wherein a time taken until the preceding vehicle moves out of a traveling lane in front of the subject vehicle is estimated, and a correction value for correcting the second target inter-vehicle distance is set on the basis of the estimated time.
5. The vehicle running control system according to claim 2 , wherein a width of the subject vehicle and a lap ratio in a lateral direction of the preceding vehicle with respect to the width of the subject vehicle are calculated, a time taken until the lap ratio becomes zero is estimated, and a correction value for correcting the second target inter-vehicle distance is set on the basis of the estimated time.