Vehicle traveling control device
A vehicle traveling control device includes: a deceleration correction determination unit, a lane detection evaluation unit, a control gain setting unit, and a deceleration control unit. The deceleration correction determination unit acquires information on a curve ahead of a host vehicle and determines on a basis of the curve information whether host vehicle speed deceleration correction is necessary during entry to the curve. The lane detection evaluation unit evaluates a road surface situation of a road prior to the curve entry by a state of detection of a lane ahead of the curve in a case where the deceleration correction is determined necessary. The control gain setting unit sets a control gain of the deceleration correction on a basis of an evaluation value of the lane detection state. The deceleration control unit performs host vehicle speed deceleration control during the curve entry on the basis of the control gain.
1. A vehicle traveling control device comprising:
a deceleration correction determination unit configured to acquire information on a curve ahead of a host vehicle and determine on a basis of the curve information whether host vehicle speed deceleration correction is necessary during entry to the curve;
a lane detection evaluation unit configured to evaluate a road surface situation of a road prior to the curve entry by a state of detection of a lane ahead of the curve in a case where the deceleration correction is determined necessary;
wherein the lane detection evaluation unit is configured to evaluate the road surface situation by using a ratio between a set distance ahead of the curve and a distance of the lane detected in the set distance as the evaluation value
a control gain setting unit configured to set a control gain of the deceleration correction on a basis of an evaluation value of the lane detection state; and
a deceleration control unit configured to perform host vehicle speed deceleration control during the curve entry on the basis of the control gain.
2. The vehicle traveling control device according to claim 1 , wherein the control gain setting unit is configured to set a deceleration correction control gain on the basis of the curve information as a normal control gain when the lane detection state evaluation value is equal to or greater than a threshold and change the normal control gain in a direction in which the normal control gain decreases when the lane detection state evaluation value does not reach the threshold.
3. The vehicle traveling control device according to claim 1 , wherein the control gain setting unit is configured to set a deceleration correction control gain on the basis of the curve information as a normal control gain when the lane detection state evaluation value is equal to or greater than a threshold and change the normal control gain in a direction in which the normal control gain decreases when the lane detection state evaluation value does not reach the threshold.
4. The vehicle traveling control device according to claim 1 , wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.
5. The vehicle traveling control device according to claim 1 , wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.
6. The vehicle traveling control device according to claim 2 , wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.
7. The vehicle traveling control device according to claim 3 , wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.