Vehicle traveling control device
A device performs speed control, determines the start and the end of an intervention operation, interrupts the speed control when an intervention operation is started, selects a correction candidate from a target speed and a target inter-vehicle distance based on the presence of a preceding vehicle and on the speed difference between the vehicle and the preceding vehicle, determines whether there is a change in the vehicle speed or in the inter-vehicle distance in a determination period, determines whether there is a difference between the target speed and the vehicle speed when the intervention is ended or between the target inter-vehicle distance and the inter-vehicle distance when the intervention is ended, and corrects the target speed or the target inter-vehicle distance under a predetermined condition. After the intervention operation is ended, the device restarts the speed control using the corrected target speed or the corrected target inter-vehicle distance.
1. A vehicle traveling control device that performs traveling control of a vehicle, comprising:
an other-vehicle recognition portion configured to recognize a presence of a preceding vehicle traveling in a traveling lane ahead of the vehicle;
an external situation recognition portion configured to recognize a speed difference between the vehicle and the preceding vehicle and an inter-vehicle distance between the vehicle and the preceding vehicle when the other-vehicle recognition portion recognizes the preceding vehicle;
a traveling state recognition portion configured to recognize a speed of the vehicle;
a vehicle control portion configured to perform speed control of the vehicle using the speed of the vehicle and a target speed that is set in advance and using the inter-vehicle distance and a target inter-vehicle distance that is set in advance;
an intervention determination portion configured to determine a start and an end of an intervention operation, performed by a driver of the vehicle, in the speed control;
an intervention control portion configured to cause the vehicle control portion to interrupt the speed control when the intervention determination portion determines the start of the driver's intervention operation in the speed control, and causes the vehicle control portion to restart the speed control when the intervention determination portion determines the end of the driver's intervention operation in the speed control;
a candidate selection portion configured to select a correction candidate from the target speed and the target inter-vehicle distance based on the presence of the preceding vehicle and on the speed difference between the vehicle and the preceding vehicle;
a change determination portion configured to determine whether there is a change in the speed of the vehicle or there is a change in the inter-vehicle distance in a first determination period, the first determination period being a period from a predetermined time before the end of the driver's intervention operation in the speed control to the end of the driver's intervention operation in the speed control;
a difference determination portion configured to determine whether there is a difference between the target speed and the speed of the vehicle when the driver's intervention operation in the speed control is ended or whether there is a difference between the target inter-vehicle distance and the inter-vehicle distance when the driver's intervention operation in the speed control is ended; and
a target correction portion configured to correct the target speed or the target inter-vehicle distance, wherein
if the candidate selection portion selects the target speed as the correction candidate,
the change determination portion determines whether an amount of change in the speed of the vehicle in the first determination period is equal to or smaller than a first speed threshold, the difference determination portion determines whether a difference between the speed of the vehicle when the driver's intervention operation in the speed control is ended and the target speed is equal to or larger than a second speed threshold, and the target correction portion corrects the target speed to the speed of the vehicle when the driver's intervention operation in the speed control is ended if:
the change determination portion determines that the amount of change in the speed of the vehicle in the first determination period is equal to or smaller than the first speed threshold, and if:
the difference determination portion determines that the difference between the target speed and the speed of the vehicle when the driver's intervention operation in the speed control is ended is equal to or larger than the second speed threshold, and
if the candidate selection portion selects the target inter-vehicle distance as the correction candidate,
the change determination portion determines whether an amount of change in the inter-vehicle distance in the first determination period is equal to or smaller than a first inter-vehicle distance threshold, the difference determination portion determines whether a difference between the target inter-vehicle distance and the inter-vehicle distance when the driver's intervention operation in the speed control is ended is equal to or larger than a second inter-vehicle distance threshold, and the target correction portion corrects the target inter-vehicle distance to the inter-vehicle distance when the driver's intervention operation in the speed control is ended if:
the change determination portion determines that the amount of change in the inter-vehicle distance in the first determination period is equal to or smaller than the first inter-vehicle distance threshold, and if:
the difference determination portion determines that the difference between the inter-vehicle distance when the driver's intervention operation in the speed control is ended and the target inter-vehicle distance is equal to or larger than the second inter-vehicle distance threshold, and
if the intervention determination portion determines that the driver's intervention operation in the speed control is ended,
the vehicle control portion restarts the speed control using the target speed or the target inter-vehicle distance corrected by the target correction portion.
2. The vehicle traveling control device according to claim 1 , wherein
the external situation recognition portion acquires positions of lane lines that are boundaries of the traveling lane of the vehicle,
the traveling state recognition portion recognizes a lateral position of the vehicle in the traveling lane,
the vehicle control portion performs steering control using the lateral position of the vehicle and a target lateral position that is set in advance,
the intervention determination portion determines a start and an end of an intervention operation, performed by the driver of the vehicle, in the steering control,
the intervention control portion causes the vehicle control portion to interrupt the steering control when the intervention determination portion determines the start of the driver's intervention operation in the steering control, and causes the vehicle control portion to restart the steering control when the intervention determination portion determines the end of the driver's intervention operation in the steering control, and
the candidate selection portion selects the target lateral position as the correction candidate based on the start of the intervention operation in the steering control, and
after the candidate selection portion selects the target lateral position as the correction candidate,
the change determination portion determines whether an amount of change in the lateral position of the vehicle in a second determination period is equal to or smaller than a first lateral position threshold, the second determination period being a period from a predetermined time before the end of the driver's intervention operation in the steering control to the end of the driver's intervention operation in the steering control, and the difference determination portion determines whether a difference between the target lateral position and the lateral position of the vehicle when the driver's intervention operation in the steering control is ended is equal to or larger than a second lateral position threshold, and
the target correction portion corrects the target lateral position to the lateral position of the vehicle when the driver's intervention operation in the steering control is ended if:
the change determination portion determines that the amount of change in the lateral position of the vehicle in the second determination period is equal to or smaller than the first lateral position threshold, and if
the difference determination portion determines that the difference between the target lateral position and the lateral position of the vehicle when the driver's intervention operation in the steering control is ended is equal to or larger than the second lateral position threshold, and
if the intervention determination portion determines that the driver's intervention operation in the steering control is ended,
the vehicle control portion restarts the steering control using the target lateral position corrected by the target correction portion.
3. A vehicle traveling control device that performs traveling control of a vehicle, comprising:
an external sensor that detects an external situation that is surrounding information on the vehicle;
an internal sensor that detects information according to a traveling state of the vehicle;
an actuator that performs traveling control of the vehicle; and
an ECU configured to:
recognize a presence of a preceding vehicle traveling in a traveling lane ahead of the vehicle based on the external situation detected by the external sensor,
recognize a speed difference between the vehicle and the preceding vehicle and an inter-vehicle distance between the vehicle and the preceding vehicle when the preceding vehicle is recognized,
recognize a speed of the vehicle based on the information detected by the internal sensor,
perform speed control of the vehicle using the actuator based on the speed of the vehicle and a target speed that is set in advance, and on the inter-vehicle distance and a target inter-vehicle distance that is set in advance,
determine a start and an end of an intervention operation, performed by a driver of the vehicle, in the speed control,
interrupt the speed control when it is determined that the driver's intervention operation in the speed control is started, and restart the speed control when it is determined that the driver's intervention operation in the speed control is ended;
select a correction candidate from the target speed and the target inter-vehicle distance, based on the presence of the preceding vehicle and on the speed difference between the vehicle and the preceding vehicle,
determine whether there is a change in the speed of the vehicle or whether there is a change in the inter-vehicle distance in a first determination period, the first determination period being a period from a predetermined time before the end of the driver's intervention operation in the speed control to the end of the driver's intervention operation in the speed control,
determine whether there is a difference between the target speed and the speed of the vehicle when the driver's intervention operation in the speed control is ended or whether there is a difference between the target inter-vehicle distance and the inter-vehicle distance when the driver's intervention operation in the speed control is ended, and
correct the target speed or the target inter-vehicle distance, wherein
if the target speed is selected as the correction candidate,
the ECU determines whether an amount of change in the speed of the vehicle in the first determination period is equal to or smaller than a first speed threshold, determines whether the difference between the speed of the vehicle when the driver's intervention operation in the speed control is ended and the target speed is equal to or larger than a second speed threshold, and corrects the target speed to the speed of the vehicle when the driver's intervention operation in the speed control is ended if:
it is determined that the amount of change in the speed of the vehicle in the first determination period is equal to or smaller than the first speed threshold, and if
it is determined that the difference between the target speed and the speed of the vehicle when the driver's intervention operation in the speed control is ended is equal to or larger than the second speed threshold, and
if the target inter-vehicle distance is selected as the correction candidate,
the ECU determines whether an amount of change in the inter-vehicle distance in the first determination period is equal to or smaller than a first inter-vehicle distance threshold, determines whether a difference between the target inter-vehicle distance and the inter-vehicle distance when the driver's intervention operation in the speed control is ended is equal to or larger than a second inter-vehicle distance threshold, and corrects the target inter-vehicle distance to the inter-vehicle distance when the driver's intervention operation in the speed control is ended if:
it is determined that the amount of change in the inter-vehicle distance in the first determination period is equal to or smaller than the first inter-vehicle distance threshold, and if
it is determined that the difference between the inter-vehicle distance when the driver's intervention operation in the speed control is ended and the target inter-vehicle distance is equal to or larger than the second inter-vehicle distance threshold, and
if it is determined that the driver's intervention operation in the speed control is ended,
the ECU causes the actuator to restart the speed control using the corrected target speed or the corrected target inter-vehicle distance corrected.