Car-following controller and car-following control method
When a preceding vehicle (Vb) starts during deceleration of a vehicle (Va) which is trying to stop following the stopped preceding vehicle (Vb), if the vehicle (Va) accelerates following the preceding vehicle (Vb), the driver possibly mistakes that the vehicle is equipped with an automatic start function. A virtual preceding vehicle (Vb′) is set at the stop position of the preceding vehicle (Vb), so that the vehicle (Va) is temporarily stopped following the stopping virtual preceding vehicle (Vb′) even if the actual preceding vehicle (Vb) is started. As a result, the vehicle (Va) is not started until the driver indicates the intention to start by operating a start switch, and the driver can be prevented from mistaking that the vehicle is equipped with an automatic start function.
1. A car-following controller comprising
object detection device (Sa) for detecting an object in the direction of travel of a subject vehicle (Va),
vehicle speed detection device (Sb) for detecting a vehicle speed of the subject vehicle (Va),
control start command device (Sc) for commanding the starting of following control,
preceding vehicle determination device (M 1 ) for determining the state of travel, among objects detected by the object detection device (Sa), of a preceding vehicle (Vb) that the subject vehicle (Va) is following, and
following control device (M 2 ) for carrying out acceleration/deceleration control and stop hold control of the subject vehicle (Va) based on the vehicle speed of the subject vehicle (Va) and the inter-vehicle distance with respect to the preceding vehicle (Vb) when starting of following control is commanded by the control start command device (Sc),
characterized in that the following control device (M 2 ) determines that stop determination conditions for the subject vehicle (Va) are fulfilled if the preceding vehicle determination device (M 1 ) detects stopping of the preceding vehicle (Vb) and, after the stop determination conditions are fulfilled, carries out temporary stop hold control after the subject vehicle (Va) is subjected to deceleration control regardless of whether or not the preceding vehicle (Vb) has started.
2. The car-following controller according to claim 1 , wherein the following control device (M 2 ) determines that stop determination conditions for the subject vehicle (Va) are fulfilled if, when the preceding vehicle determination device (M 1 ) detects stopping of the preceding vehicle (Vb), the inter-vehicle distance with respect to the preceding vehicle (Vb) is less than a predetermined value and the vehicle speed of the subject vehicle (Va) is less than a predetermined value.
3. The car-following controller according to claim 1 or claim 2 , wherein if stop determination conditions for the subject vehicle (Va) are fulfilled, the following control device (M 2 ) sets a virtual preceding vehicle (Vb′) at the stop position of the preceding vehicle (Vb) and carries out deceleration control and stop hold control with respect to the virtual preceding vehicle (Vb′).
4. The car-following controller according to claim 3 , wherein the following control device (M 2 ) releases the setting of the virtual preceding vehicle (Vb′) after stop hold control with respect to the virtual preceding vehicle (Vb′) is executed.
5. A car-following control method in which the state of travel of a preceding vehicle (Vb) that a subject vehicle (Va) is following is determined from information about an object, in the direction of travel of the subject vehicle (Va), detected by object detection device (Sa), and acceleration/deceleration control and stop hold control of the subject vehicle (Va) are carried out based on a vehicle speed of the subject vehicle (Va) and an inter-vehicle distance with respect to the preceding vehicle (Vb) when the starting of following control is commanded, characterized in that the method comprises
a first step of determining that stop determination conditions for the subject vehicle (Va) are fulfilled if stopping of the preceding vehicle (Vb) is detected, and
a second step of, after the stop determination conditions are fulfilled, carrying out temporary stop hold control after the subject vehicle (Va) is subjected to deceleration control regardless of whether or not the preceding vehicle (Vb) has started.
6. The car-following control method according to claim 5 , wherein it is determined that stop determination conditions for the subject vehicle (Va) are fulfilled if in the first step the inter-vehicle distance with respect to the preceding vehicle (Vb) when the preceding vehicle (Vb) has stopped is less than a predetermined value and the vehicle speed of the subject vehicle (Va) is less than a predetermined value.
7. The car-following control method according to claim 5 or claim 6 , wherein in the second step a virtual preceding vehicle (Vb′) is set at the stop position of the preceding vehicle (Vb) and deceleration control and stop hold control with respect to the virtual preceding vehicle (Vb′) are carried out.
8. The car-following control method according to claim 7 , wherein in the second step the setting of the virtual preceding vehicle (Vb′) is released after stop hold control with respect to the virtual preceding vehicle (Vb′) is executed.