To prevent lane deviation by unnecessary operation intervention during a columnar travel by CACC as well as an approach to a subsequent vehicle.SOLUTION: The cruising controller for vehicle includes: an ACC function which executes a constant-speed travel at a target vehicle speed or follow-up travel for a preceding vehicle in target inter-vehicle time; a LKA function which maintains a travel within an own lane by follow-up control for a target route; a CACC function which executes a columnar travel by cooperation type inter-vehicle distance control by combining the ACC function with travel information of a columnar vehicle acquired in an inter-vehicle communication section; and a tracking control function executes, when it is determined that lane recognition incapability is determined during a columnar travel, steering control to execute a follow-up travel for a preceding vehicle on the basis of the information acquired in an environment state estimation section. The cruising controller, when interference occurrence of inter-vehicle communication or lane recognition incapability during a columnar travel is determined, notifies a driver of CACC function cancellation, transits to a follow-up travel by a tracking control function and changes an override threshold value of operation intervention for stopping the tracking control function to a larger value than that when normal.SELECTED DRAWING: Figure 4
【課題】CACCによる隊列走行中における不必要な操作介入による車線逸脱や後続車両との接近を防止する。【解決手段】目標車速での定速走行または目標車間時間で先行車両に追従走行するACC機能、目標経路への追従制御により自車線内の走行を維持するLKA機能、ACC機能に車車間通信部に取得される隊列車両の走行情報を併用して協調型車間距離制御により隊列走行を行うCACC機能、および、隊列走行中に車線認識不能と判断された場合に、環境状態推定部に取得される情報に基づいて先行車両に追従走行すべく操舵制御を行うトラッキング制御機能を有する車両の走行制御装置において、隊列走行中に車車間通信の障害発生または車線認識不能と判断された場合に、CACC機能解除を運転者に通知し、トラッキング制御機能による追従走行に移行し、トラッキング制御機能を停止させる操作介入のオーバーライド閾値を、正常時よりも大きい値に変更する。【選択図】図4
CRUISING CONTROLLER FOR VEHICLE
車両の走行制御装置
2020-09-10
Patent
Electronic Resource
Japanese
Online Contents | 1994