Follow-up run control device
A follow-up run control device controlling a running state of a vehicle in a state where peripheral vehicles running before or behind the vehicle exist includes: deviation acquiring means for acquiring information regarding a deviation between a relative positional relation and a target relative positional relation of the vehicle and the peripheral vehicles with respect to preceding vehicles running just before; and follow-up control amount calculating means for calculating a follow-up control amount of the vehicle to control the running state of the vehicle on the basis of the information regarding the deviations of a plurality of vehicles acquired by the deviation acquiring means.
1. A follow-up run control device controlling a running state of a vehicle in a state where peripheral vehicles running before or behind the vehicle exist, comprising:
determination means for determining the peripheral vehicles having an influence on a run control of the vehicle,
wherein the peripheral vehicles performing inter-vehicle communication with the vehicle are communicating peripheral vehicles, and
wherein at least one of the peripheral vehicles running in a forefront among the communicating peripheral vehicles in a same lane has an influence on a run control of the vehicle;
deviation acquiring means for acquiring information regarding a deviation between a relative positional relation and a target relative positional relation of the vehicle and the peripheral vehicles with respect to preceding vehicles running just before; and
follow-up control amount calculating means for calculating a follow-up control amount of the vehicle to control the running state of the vehicle on the basis of the information regarding the deviations of a plurality of vehicles acquired by the deviation acquiring means,
wherein when m (where m=2, 3, . . . ) peripheral vehicles exist, the follow-up control amount u of the vehicle calculated by the follow-up control amount calculating means is expressed by the following expression,
u
=
k
1
D
1
+
c
1
D
1
′
+
k
2
(
D
1
+
D
2
)
+
c
2
(
D
1
′
+
D
2
′
)
+
…
+
k
m
(
D
1
+
D
2
+
…
+
D
m
)
+
c
m
(
D
1
′
+
D
2
′
+
…
+
D
m
′
)
where D 1 represents the deviation between the relative positional relation and the target relative positional relation of the vehicle with respect to the preceding vehicle thereof, D 1 ′ represents the temporal differentiation of the deviation D 1 , D n represents the deviation between the relative positional relation and the target relative positional relation of the (n−1)-th peripheral vehicle before the vehicle with respect to the preceding vehicle thereof, D n ′ represents the temporal differentiation of the deviation D n , and k 1 to k m and c 1 to c m are constants.
2. The follow-up run control device according to claim 1 , wherein the deviation acquiring means acquires the information regarding the deviations of the communicating peripheral vehicles by inter-vehicle communications with the corresponding communicating peripheral vehicles, and
wherein the follow-up control amount calculating means calculates the follow-up control amount of the vehicle and the follow-up control amounts of the communicating peripheral vehicles on the basis of the information regarding the deviations of a plurality of vehicles acquired by the deviation acquiring means.
3. The follow-up run control device according to claim 1 , further comprising vehicle lane probability acquiring means for acquiring a vehicle lane probability representing accuracy likelihood that one peripheral vehicle exists in the same lane as the vehicle,
wherein the follow-up control amount calculating means calculates the follow-up control amount of the vehicle additionally on the basis of the vehicle lane probabilities of the peripheral vehicles.
4. The follow-up run control device according to claim 2 , further comprising vehicle lane probability acquiring means for acquiring a vehicle lane probability representing accuracy likelihood that one peripheral vehicle exists in the same lane as the vehicle,
wherein the follow-up control amount calculating means calculates the follow-up control amount of the vehicle additionally on the basis of the vehicle lane probabilities of the peripheral vehicles.