Source: https://patents.google.com/patent/CN105814619B/en
Timestamp: 2019-11-12 09:11:04
Document Index: 384831943

Matched Legal Cases: ['art 12', 'art 14', 'art 12', 'art 12', 'art 14', 'art 14', 'art 14', 'art 14', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 12', 'art 14', 'art 12', 'art 12', 'art 12', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 14', 'art 12', 'art 12', 'art 12', 'art 12', 'art 14', 'art 14', 'art 12', 'art 14', 'art 12', 'art 14', 'art 12', 'art 12']

CN105814619B - Travel controlling system - Google Patents
Travel controlling system Download PDF
CN105814619B
CN105814619B CN201380081615.5A CN201380081615A CN105814619B CN 105814619 B CN105814619 B CN 105814619B CN 201380081615 A CN201380081615 A CN 201380081615A CN 105814619 B CN105814619 B CN 105814619B
CN105814619A (en
The travel controlling system (10) of the present invention has：Crossing parking vehicle judging part (12), according to acquired in front vehicles detection means (1) from this car respectively the range information untill front vehicles and junction ahead apart from the crossing until being present in this front side acquired in acquisition device (2) range information, to judge whether front vehicles are off the parking vehicle at crossing；And vehicle parking position prediction section (13), in the case where being judged as that front vehicles are parking vehicle, parking spot of this car at crossing is predicted according to the range information of parking vehicle.
The present invention relates to the travel controlling system with the function that front vehicles are tracked with traveling.
The drive-control technique for being referred to as adaptive cruise (adaptive cruise) as described below just input actually makes With：That is, in the travel controlling system of vehicle automatic running is made with the speed set by driver, with sensor detected vehicle with The distance between front vehicles, in the case where being close to a certain degree with front vehicles, it is adapted with the speed of front vehicles Ground adjusts the speed of this car.Recently, the travel controlling system with following function has also come into operation：That is, not only it is driven The output adjustment of system (power train), the control of actuator is also carried out, in the case where front vehicles are slowed down or are stopped The function of stopping this car.
In in general travel controlling system as described above, due to according to the relative distance and speed with front vehicle Spend to control the travel speed of this car, this car is adjusted compared to the state for multiple vehicles that experienced driver judges front The situation of speed, easily influenceed by the acceleration and deceleration of front vehicle, it may occur that the situation of unexpected acceleration and deceleration.Therefore, special Following tracking travel controlling system is disclosed in sharp document 1, is not only the vehicle in front, also the multiple vehicles of computing is relative Position relationship controls this car, thus, it is possible to realize that the tracking of the motion that considers multiple vehicles travels.
In addition, disclose following structure：That is, in signal lamp intersection, when stopping because of red signal, in order to aid in improving The operating of fuel efficiency, in the operating servicing unit of patent document 2, using from infrastructure (hereinafter referred to as infrastructure, Communicating to obtain the information of the information of signal lamp and the vehicle near stop line infrastructure), predicts this car The position of stopping, so as to implement to improve the operating of fuel efficiency.
Similarly, following structure is disclosed in the driving assist system of patent document 3：According to signal information and stopping The length of stopping force 5 at crossing, at the time of predicting that stopping force 5 starts when becoming green light, providing this car to driver can The not parking and speed that passes through crossing.
Patent document 1：International Publication No. 2010/100725
Patent document 2：Japanese Patent Laid-Open 2011-95828 publications
Patent document 3：International Publication No. 2012/144255
In the technology disclosed in above-mentioned patent document 1, as the example of the sensor of the multiple vehicles in detection front, use Millimetre-wave radar.Detected using millimetre-wave radar in the case of front vehicle more multiple vehicles in front, due to Reflection in gap and road surface between vehicle and road surface etc. so that electric wave reaches the vehicle in front of this, receives by reflection Electric wave afterwards, so as to detect vehicle that driver cannot be directly viewed.
In view of the principle of radar, base also can be comparatively detected for the above-mentioned vehicle that cannot be directly viewed In distance and speed that Doppler frequency is obtained, but because the intensity difference of electric wave causes calculated directional precision to compare front Vehicle to be significantly deteriorated.Therefore, on the Ordinary Rd that Duo Tai parking vehicles be present, can not judge to be parked in front car Vehicle before be because crossing red signal and be parked in the parking vehicle on this lane line thus this car need subtracted The situation of speed, or the vehicle being parked in before the vehicle of front be parking vehicles thus this car can be laterally beyond without slowing down Situation, therefore, it is impossible to be slowed down in practice for vehicle before the vehicle in front, front can not be based only upon The information of vehicle slowed down.
In addition, it is necessary to pass through communication in the technology disclosed in patent document 2 and patent document 3 is driving assist system Come from infrastructure side receiving signal lamp information and parking vehicle information.Accordingly, there exist following problem：Be provided with signal lamp, The crossing of infrastructure as vehicle equipment and communication equipment, the vehicle that can only have corresponding mobile unit to reprinting enter Row auxiliary.
The present invention is exactly to complete in view of the above problems, its object is to provide a kind of travel controlling system, is not being set Put the crossing of infrastructure, in the state of the vehicle in front does not slow down also or not stopped also, also can according to this just before The state of vehicle before square vehicle starts the deceleration of this car.
The travel controlling system of the present invention has：Crossing parking vehicle judging part, according to from this car respectively to front vehicles Untill range information and the crossing until being present in this front side range information, to judge whether front vehicles stop Only in the parking vehicle at crossing；And vehicle parking position prediction section, front car is being judged as by crossing parking vehicle judging part In the case of being parking vehicle, parking spot of this car at crossing is predicted according to the range information of parking vehicle.
According to the present invention, determine and be present in the front vehicles of more than 1 of this front side and be off parking at crossing Vehicle or parking vehicles, in the case where being off the parking vehicle at crossing, this is predicted according to the position of parking vehicle Car crossing parking spot, it is therefore not necessary to which the deceleration based on tracking vehicle, and does not dispense signal lamp even in crossing The infrastructure of information and parking vehicle information, also deceleration fortune can be carried out as target using parking spot of this car at crossing Turn.Therefore, it is possible to provide following travel controlling system：That is, at the crossing of no infrastructure, even if the vehicle in front is also In the state do not slowed down or do not stopped also, as long as the vehicle in front of it stopped, then this car is with regard to that can reduce speed now.
Fig. 1 is the block diagram of the structure for the travel controlling system for showing embodiment 1.
Fig. 2 is the figure that explanation has used the example slowed down during the travel controlling system of embodiment 1 at crossing.
Fig. 3 is showing of slowing down of place of explanation when having used the travel controlling system of embodiment 1 beyond crossing The figure of example.
Fig. 4 is the figure of the vehicle parking position Forecasting Methodology for the travel controlling system for illustrating embodiment 1.
Fig. 5 shows the parking spot presumption model corresponding with the size at crossing of the travel controlling system of embodiment 1 The figure for the change enclosed, it is an example at smaller crossing.
Fig. 6 shows the parking spot presumption model corresponding with the size at crossing of the travel controlling system of embodiment 1 The figure for the change enclosed, it is an example at larger crossing.
Fig. 7 shows the parking spot presumption model corresponding with the size at crossing of the travel controlling system of embodiment 1 The figure for the change enclosed, it is an example when smaller crossing blocks.
Fig. 8 is the flow chart of the crossing processing unit action for the travel controlling system for showing embodiment 1.
Fig. 9 is the flow chart of the action of the driving mode switching part for the travel controlling system for showing embodiment 1.
Below, in order to which the present invention is described in more detail, the mode for implementing the present invention is illustrated with reference to the accompanying drawings.
Fig. 1 is the block diagram of the structure for the travel controlling system 10 for representing embodiment of the present invention 1.
Travel controlling system 10 is by the crossing including crossing parking vehicle judging part 12 and vehicle parking position prediction section 13 Processing unit 11, driving mode switching part 14 and travel speed control unit 15 are formed, and are connected with front vehicles detection means 1, junction ahead is apart from acquisition device 2, travel speed setting device 3, and information of vehicles provides device 4, actuator control apparatus 5, Transmission system control device 6, and notice device 7, are used as external device (ED).These external device (ED)s can also be built in traveling control In device 10 processed.Or some or all structural elements of travel controlling system 10 can also be built in external device (ED).
The hardware of travel controlling system 10 by carry out calculation process CPU (Central Processing Unit：Center Processor), the memory of storage information, supply unit, the communication interface that is communicated with external device (ED) etc. and in general automobile With ECU (Electronic Control Unit：Electric control unit) identical component forms.In order to illustrate the present invention, by row The each structural element sailed in control device 10 is divided into each structural element to record, but can also be with a CPU come unified The calculation process of each structural element of ground processing.
Front vehicles detection means 1 by millimetre-wave radar such as forming, for multiple vehicles of this front side, detection Go out and the relative distance of this car, relative velocity and relative direction.
Because as long as front vehicles detection means 1 detects distance, speed and the direction of front vehicles, so also may be used Communication unit is utilized not utilize the onboard sensors such as millimetre-wave radar, via inter-vehicular communication or car networking Etc. (telematics) server obtains mutual vehicle position information.
Moreover, in the case where front vehicles detection means 1 has communication unit, set when it is close in infrastructure side When being equipped with crossing of vehicle detection apparatus and communicator etc. and the information of infrastructure side can be received, it can also utilize The vehicle location on the crossing periphery included in information received from infrastructure side.
Junction ahead, for example using the map datum for being built in guider, is examined apart from acquisition device 2 from the position of this car Measure positioned at the crossing in front, the path distance between acquisition.
Path distance refers to the distance along road, is then the distance along the corner shape around the corner.
As long as the road distance untill can getting crossing apart from acquisition device 2 due to junction ahead, so not Using the map datum of vehicle-mounted guider etc., but come via communication units such as smart mobile phones with reference on server Map datum gets the road distance untill crossing, or can also utilize the map number being previously downloaded on smart mobile phone According to.
Moreover, junction ahead can be provided with the road of communicator close apart from acquisition device 2 in infrastructure side When mouth waits and can receive the information of infrastructure side, the road included in the information received from infrastructure side is utilized Mouthful road alignment information (distance, road shape, the size at crossing untill crossing, the position temporarily stopped etc.).
Travel speed setting device 3 such as the speed configuration switch for automatic cruising by being arranged on steering wheel Lai Form, the speed by this car during lower switch is set as travel speed.
Because as long as travel speed setting device 3 can set travel speed, so will can for example preset Limitation speed in the map datum of guider, the limitation speed obtained via communication unit, identification road markings and The upper limit speeds such as the limitation speed of acquisition are set as travel speed.
Travel speed setting device 3 can have following function：That is, using the map datum of guider etc., travelling on The appropriate speed less than limitation speed is become during turning etc..
Moreover, travel speed setting device 3 can be provided with the road of communicator travelling in infrastructure side When, by the communicator being referred to as on the position of depressed part by being arranged on tunnel or gradient changes and is easier to block Specified speed is set as travel speed.
Information of vehicles provides that device 4 collects the travel speed of this car, gear, (internal combustion mechanism is electronic for the species of driving source Machine etc.) and driver whether have information etc. of operation actuator and throttle, and provide to travel controlling system 10.
Crossing 12 front according to detected by front vehicles detection means 1 of parking vehicle judging part of crossing processing unit 11 The range information and junction ahead of multiple vehicles apart from the road distance untill junction ahead acquired in acquisition device 2, The multiple vehicles for judging front are parking vehicles, or the parking car for stopping or temporarily stopping because of the red light of junction ahead .
The vehicle parking position prediction section 13 of crossing processing unit 11 is judged as in front in crossing parking vehicle judging part 12 In the case that crossing has parking vehicle, the position that this car and front vehicles are stopped close to the parking vehicle is predicted.Car Parking spot prediction section 13 will be notified to driving when junction ahead stopping via notice device 7 predicting this car The person of sailing.
Parking vehicle determination methods and vehicle parking position prediction section 13 for crossing parking vehicle judging part 12 The detailed action of parking spot Forecasting Methodology can be additionally carried out illustrating.
Driving mode switching part 14 switches setting speed driving mode, crossing deceleration mode, front vehicles tracking traveling mould Driving mode as formula, and the target velocity in the driving mode after computing switching, and notify to travel speed control unit 15.Other explanation can be done for the operation method of various driving modes and target velocity, but for example under the deceleration mode of crossing, Driving mode switching part 14 is handled according to the information of front vehicles detection means 1, the information of travel speed setting device 3, crossing The information in portion 11 and the speed that this car that device 4 is provided is provided by information of vehicles, computing is untill junction ahead is stopped at Target velocity change, and be sequentially output to travel speed control unit 15.
Travel speed control unit 15 to actuator control apparatus 5 and the output order of transmission system control device 6 so that The speed of this car that device 4 is provided is provided by information of vehicles turns into the target velocity exported by driving mode switching part 14.
Driving mode switching part 14 synergistically acts with travel speed control unit 15, realizes automatic cruising function.
Actuator control apparatus 5 is control system in the case of the deceleration for needing progress can not be realized by engine brake etc. The device of dynamic device, acts brake based on the instruction of travel speed control unit 15, adjusts the deceleration of this car.
Transmission system control device 6 is the transmission for controlling engine output or the gear ratio of motor output and transmission etc. The device of the output of system, instructing to control the output of transmission system based on travel speed control unit 15, adjust adding for this car Speed and deceleration.
Notice device 7, predicting this car will be on front road such as being formed by display device or voice output In the case that mouth stops, instruction is received from crossing processing unit 11, using display, sound, arouses sound (buzzing etc.) to notify to drive The person of sailing.
Originally, reference picture 2 and Fig. 3 illustrate the summary of the action of the travel controlling system 10 of embodiment of the present invention 1.
Fig. 2 is shown make use of travel controlling system 10 in the case of the example slowed down at crossing.Stop shown in Fig. 2 Truck position presumption scope A details will be described later.
In road-map shown in top half in Fig. 2, this car 100 just travels on road 200, front to limit speed Vehicle 101 is travelled in the front of this car 100 with slightly higher speed, therefore, although not being tracking state, either follows the trail of shape Whether state also follows the trail of state, and travel controlling system 10 all carries out identical action, so saving the explanation to following the trail of state.
Just in tracing process or it is that the front vehicles 101 that will be followed the trail of do not have started deceleration, but in front vehicles 101 Front front vehicles 102,103 be in junction ahead 201 stops because of red light (not shown) or because temporarily stop etc. and The state of stopping.Opposite vehicle 104 stops at junction ahead 201 because of red signal etc..
Fig. 2 the latter half shows the change of the speed and distance of this car 100 and front vehicles 101 with curve mode. In addition, the distance that the distance of curve transverse axis corresponds on road 200.
In addition, in the case where vehicle is slowed down with certain speed, if curve transverse axis is the time, velocity variations turn into Straight line, but due to transverse axis is distance and as the curve obtained after integrated.For the ease of saying in Fig. 2, Fig. 3, Fig. 4 described later It is bright, velocity variations are set to folding line, but be strictly conic section.
Thinner line represents the velocity variations of front vehicles 101, and thicker dotted line represents to travel mould using existing tracking The velocity variations of this car 100 of formula (automatic cruising).In existing automatic cruising function, from detecting that front vehicles 101 open Begin to slow down and close to this Che Shiqi, be combined with the deceleration of front vehicles 101 this car 100 and similarly slowed down, so preceding When square vehicle 101 carries out anxious slow down, the deceleration of this car 100 is similarly anxious deceleration, causes taking sense to be deteriorated.It is additionally, since dimension The output of transmission system is held untill reducing speed now, therefore unnecessary energy can be consumed.
On the other hand, in the crossing deceleration mode (being represented in Fig. 2 with thick line) of the present invention, even if front vehicles 101 are also Do not reduce speed now, detect front vehicles 102 and front vehicles 103 stop at junction ahead 201 less than place when, judge It is because red light etc. stops at the vehicle of junction ahead 201 temporarily for front vehicles 102 and front vehicles 103, is judged as front car 101 must stop at after front vehicles 102, and be judged as that this car 100 needs to stop at after the front vehicles 101, from And predict the parking spot (the prediction parking spot P100 shown in Fig. 2) of this car 100.
When being stopped in the state of in the absence of front vehicles 101~103 on stop line, represented with thinner dotted line Implement to improve the velocity variations during operating of fuel efficiency, the operating of the raising fuel efficiency is to close throttle in advance to make engine system Action, the section of longer not consumed energy is obtained by disconnecting fuel.Even if the feelings of front vehicles 101~103 be present Under condition, in order to similarly implement to improve the operating of fuel efficiency, under the crossing deceleration mode of the present invention, even if front vehicles 101 in the state for not having started deceleration, and also disconnecting throttle as target using the prediction parking spot P100 of this car 100 makes engine system Action, improve the operating of fuel efficiency so as to as the velocity variations represented by thicker solid line.
As described above, in the present invention, by switching driving mode near crossing, so that in tracing process, Also the operating of the good raising fuel efficiency of taking sense can be carried out.
Then, figure 3 illustrates the example slowed down beyond crossing.Identically with Fig. 2, this car 100 is with limitation Speed travels on road 200, and front vehicles 101 are travelled with slightly higher speed.Parking vehicles 105,106 are the cars for being parked in roadside .Fig. 3 the latter half shows the change of the speed and distance of this car 100 and front vehicles 101 with curve.Thicker line table Show the speed of this car 100, thinner line represents the speed of front vehicles 101.Front vehicles 101 when close to parking vehicle 105, Do not slow down in the case where easily overtaking other vehicles but exceed parking vehicles 105,106 using steering operation.In the case, this car 100 also do not slow down, but exceed parking vehicles 105,106.
On the other hand, this car 100 is sailed next etc. can not utilize in opposed vehicle and turned to when close to parking vehicles 105,106 Operation is come in the case of being avoided, when parking vehicles 105 are present in front, as shown in thicker dotted line, and progress Brake hard stops.In the case, the state of tracking front vehicles 101 will not be turned into, and using parking vehicles 105 as just Front obstacle carries out brake operating.
In the case where identifying the vehicle for being present in the front of this car 100 merely with millimetre-wave radar (such as above-mentioned patent Document 1), Fig. 2 front vehicles 102,103 for being parked in junction ahead 201 and the parking vehicles 105,106 that are parked in beyond crossing Vehicle location and speed are all identical, and it is parking vehicle or parking vehicles to lead to not differentiation.Therefore, in the embodiment party of the present invention In formula 1, in the case of only there is crossing in the front of this car 100, parking vehicle is judged as crossing parking vehicle (such as Fig. 2 In 103) rather than parking vehicles (such as parking vehicles 105,106 in Fig. 3) front vehicles 102, predict that the prediction of this car stops Truck position, judge whether to switch to crossing deceleration mode.
Then, using Fig. 4, the prediction to the prediction parking spot of the vehicle parking position prediction section 13 of crossing processing unit 11 Method illustrates.
Current time t1 will be set to, moment t1 this car 100 is shown on the road-map of Fig. 4 top half, it is preceding Square vehicle 101~103, the position of opposite vehicle 104.Show that now this car 100 is with before in the curve of Fig. 4 the latter half Relation between the speed of square vehicle 101~103 and the distance untill junction ahead 201.Crossing processing unit 11 is via front Vehicle detection apparatus 1 periodically obtains the speed of each vehicle and the information of position (distance), is shown in solid lines in curve The change of the speed and distance of each vehicle untill the t2 at the time of moment, t1 was after certain time.
Because front vehicles 102 and front vehicles 103 in order to stop at junction ahead 201 proceed by deceleration, therefore, Vehicle parking position prediction section 13 obtains deceleration according to moment t1 speed and moment t2 speed.In addition, in front car 102 and front vehicles 103 with the deceleration continued deceleration in the case of, vehicle parking position prediction section 13 distinguishes predetermined speed Parking spot (prediction the parking spot P102, front vehicles 103 of front vehicles 102 prediction at the time of vanishing with them Parking spot P103).
Deceleration is not had started between moment t1 to moment t2 in front vehicles 101 but predicts the pre- of front vehicles 102 In the case of surveying parking spot P102, it is necessary to be parked in after the position.Therefore, vehicle parking position prediction section 13 predicts front The situation that vehicle 101 keeps certain vehicle headway and stopped behind the prediction parking spot P102 of front vehicles 102 is (preceding The prediction parking spot P101 of square vehicle 101).
This car 100 must be stopped at behind the prediction parking spot P101 of front vehicles 101, so vehicle parking position Prediction section 13 predicts this car 100 and certain vehicle headway and situation about stopping is kept behind prediction parking spot P101 (the prediction parking spot P100 of this car 100).
That is, vehicle parking position prediction section 13 predicts this car 100 with before successively according to the order of close junction ahead 201 Existing 101~103 respective parking spot of front vehicles between square crossing 201, finally predict the parking stall of this car 100 Put.
Fig. 2 as shown previously is such, in the case where front vehicles 102,103 have stopped, predicting parking spot P102, P103 are identical with the parking spot of reality.
Thus, if front vehicles reduce speed now, even if front vehicles do not stop, parking spot can also be predicted.
Then, using Fig. 4~Fig. 7, the presumption parking spot of crossing parking vehicle judging part 12 of crossing processing unit 11 is pushed away The presumption method for determining scope illustrates.
Action for carrying out the vehicle parking position prediction section 13 shown in Fig. 4 close to the vehicle of junction ahead 201.It will see Range set as the vehicle close to junction ahead 201 estimates scope A for parking spot, by from the center of junction ahead 201 Play the scope untill certain distance and be set to object.The size of junction ahead 201 is with the different and different of touchdown point, in the past In the case that distance 203 of the square crossing 201 untill stop line 202 is larger, it is necessary to accordingly estimate scope A to parking spot It is corrected.
If, will be from this in addition, the positional information of stop line 202 in map datum possessed by guider etc. be present Scope untill stop line 202 plays certain distance is set to parking spot presumption scope A, to estimating scope A in the parking spot The vehicle prediction parking spot of interior parking or deceleration, but due to stop line will not be stored in common guider 202 position, so the position of stop line 202 must be estimated.
It is stored with map datum possessed by guider etc.：Be referred to as link, from the crossing on road or Light the distance untill next crossing core and the information in direction in the ground at turning；And be referred to as node, The information of the point (the crossing center 204 shown in Fig. 4) of multiple intersections.
As shown in figure 4, being capable of the width based on the road of intersection from distance 203 of the crossing center 204 untill stop line 202 The crossing attribute informations such as degree carry out presumption to a certain extent, as long as so have in the intersection data information of map datum The information of the road width of the road of intersection, crossing parking vehicle judging part 12 just can be by the distances untill stop line 202 203 are estimated as " half+certain distance of road width ".
On the other hand, in the case of there is no the information of road width in the attribute information of crossing, as long as according to number of track-lines, road The species (be general the path through life, or major trunk roads such as national highway, etc.) on road, the various attribute informations for being contained in map datum come Estimate road width.
In addition, in the case where front vehicles detection means 1 is capable of detecting when the stopping of opposite vehicle 104, crossing parking Vehicle judging part 12 think the shape of junction ahead 201 be it is linear symmetrical on the basis of crossing center 204, can will be from passing through Distance of the line at crossing center 204 untill the parking spot of opposite vehicle 104 is set to from the line by crossing center 204 to stopping Distance 203 untill fare 202.
Then, illustrate to correct parking spot presumption scope A using crossing parking vehicle judging part 12 using Fig. 5~Fig. 7 Bearing calibration and judge the determination methods of parking vehicles and signal lamp parking vehicle.
Fig. 5 is the less examples of junction ahead 201-1, and Fig. 6 is the larger examples of junction ahead 201-2.In this example, In map datum possessed by guider, only number of track-lines is previously stored with larger crossing.
In the less junction ahead 201-1 shown in Fig. 5, the crossing of the data according to the map of crossing parking vehicle judging part 12 Attribute information etc. estimates the distance 203 from crossing center 204 untill stop line 202.
In less junction ahead 201-1, because distance 203 of the crossing center 204 untill stop line 202 is also smaller, So crossing parking vehicle judging part 12 by the distance estimated (such as 10m) and certain distance (such as contemplate 1 to 4 it is common Vehicle is 40m in the case of being stopped) it is added, judge that parking spot estimates scope A as 50m.Then, parking space It is judged as long as putting prediction section 13 and parking spot being estimated into vehicle 121,122 existing in scope A=50m because red light etc. stops It is judged as mooring in junction ahead 201-1 signal lamp parking vehicle, and by the vehicle 120 in scope A is not estimated in parking spot Car vehicle.
As long as in addition, vehicle parking position prediction section 13 is estimating scope A=from junction ahead 201-1 to parking spot The prediction parking spot P100 of this car 100 is predicted in the range of 50m.
The 40m shown as certain distance is an example, can be adjusted as parameter, can be in map datum On preset distances based on the common volume of traffic and different.
In the larger junction ahead 201-2 shown in Fig. 6, number of track-lines is unilateral 3 tracks, and therefore, stop line 202 is away from road Mouth center 204.In the case, crossing parking vehicle judging part 12 enters according to number of track-lines to the distance untill stop line 202 Row expands correction, and correction is also enlarged to parking spot presumption scope A based on the correcting value, and as parking spot presumption model Enclose A1.As a result, the vehicle 120 of parking vehicles is judged as on larger front road in Fig. 5 less junction ahead 201-1 Mouth 201-2 is judged as crossing parking vehicle.Vehicle 121,122 is also judged as crossing parking vehicle.
Fig. 7 shows example when less junction ahead 201-1 is blocked.Even in less junction ahead 201-1, In the case of less blocking occurs because of signal lamp, it is also possible to the situation that multi-section vehicle 130~134 continuously stops occurs.Such as It is upper described, when front vehicle detection apparatus 1 detects that multi-section vehicle is spaced the situation of stopping at a certain distance, crossing parking car The parking spot presumption scope A of the standard of judging part 12 to being estimated by Fig. 5 method is enlarged correction, and is set as blocking up Parking spot presumption scope A2 during plug.Thus, measured parking spot estimates scope A and is judged as the car of parking vehicles 130 are judged as crossing parking vehicle when based on parking spot presumption scope when blocking.
Specifically, according to the testing result of front vehicles detection means 1, the interval between each vehicle 130~134 D0~D3 is respectively in the range of predetermined distance (such as 10 ± 7m), and think the situation that each vehicle 130~134 continuously stops Under, parking spot presumption scope A etc. processing is corrected by crossing parking vehicle judging part 12.In addition, the length on vehicle Degree, although the length of large car can be longer, millimetre-wave radar can be to the works under load-carrying portion, trailer portion, vehicle etc. Shape is reacted to export multiple test points, thus vehicle 130~134 can be judged as according to these test points it is large-scale In the case of car, it can also correspondingly increase parking spot presumption scope A correction distance.In addition, between it can utilize vehicle Communication in the case of obtaining the vehicle class of vehicle 130~134, can adjust parking stall according to the difference of the vehicle class Put presumption scope A correction distance.
Then, reference picture 8 and Fig. 9 flow chart, is described in more detail the action of travel controlling system 10.In addition, saying When bright, illustrate the processing method (Fig. 8) of crossing processing unit 11 and the processing method (Fig. 9) of driving mode switching part 14 respectively.By In travel speed control unit 15 act with the control identical of in general automatic cruising device, so omitting the description.
First, reference picture 8 come illustrate the processing of crossing processing unit 11 act.
(1) judgement of crossing parking vehicle and the prediction of vehicle parking position processing
In the prediction processing of the vehicle parking position, it is assumed that this car for being mounted with travel controlling system 10 is in close to road Mouthful situation illustrate.
Crossing parking vehicle judging part 12 is obtained from this among the information obtained from junction ahead apart from acquisition device 2 Distance (step ST1) of the truck position untill the crossing of front.In addition, crossing parking vehicle judging part 12 is based on from junction ahead The information of included in the information obtained apart from acquisition device 2, junction ahead stop line and the road width of intersection etc., use Information in the position of presumption stop line, to estimate parking line position.When in the letter obtained from junction ahead apart from acquisition device 2 When in breath not particularly with the information of the position for estimating stop line, the parking line position of the crossing size of established standardses (step ST2).Then, crossing parking vehicle judging part 12 will leave the crossing center certain distance range set of junction ahead Scope (for example, Fig. 4 parking spot estimates scope A) is estimated for parking spot, according to the stop line position estimated in step ST2 Put to correct parking spot presumption scope (step ST3).Parking spot presumption scope, which will be used for judgement, to be played from crossing center Parking vehicle untill what scope is identified as temporarily ceasing the parking vehicle in junction ahead, from crossing center to stop line Untill it is in larger distance in the case of, be enlarged parking spot presumption scope correction.
Then, vehicle parking position prediction section 13 is obtained and existed among the information obtained from front vehicle detection apparatus 1 In the position of the front vehicles of this front side and speed.Due to millimetre-wave radar is set as into front vehicles in embodiment 1 Detection means 1, so position and the speed of front vehicles can be obtained simultaneously, but using the detection for being only capable of test position In the case of device, location-based change is also carried out simultaneously in vehicle parking position prediction section 13 to obtain the processing of speed (step ST4).
In the case that vehicle parking position prediction section 13 has the vehicle to slow down in front vehicles, prediction assumes that this subtracts Parking spot (step ST5) when fast state continues, judge the parking of predicted parking spot and the vehicle stopped Position whether there is in the range of parking spot presumption (step ST6).
Parking vehicle is present in (step ST6 in the case of parking spot presumption scope：It is), vehicle parking position prediction section 13 obtain from this car to the number of track-lines (step parking vehicle (including presumption parking vehicle) from front vehicle detection apparatus 1 ST7).Then, vehicle parking position prediction section 13 is in the parking car positioned at the nearest position of this car obtained in step ST5 After (including presumption parking vehicle) plus more chassis calculated by step ST7 distance (for example, per chassis according to car Length 5m and vehicle headway 5m, add up to 10m), predict the parking spot (such as Fig. 4 prediction parking spot P100) of this car (step ST8).
(step ST6 in the case of parking vehicle is not present in the range of parking spot presumption：It is no), vehicle parking position is pre- Remove the prediction parking spot (step ST9) of this car in survey portion 13.
Afterwards, flow returns to step ST1 processing, and repeats above-mentioned processing.
Then, reference picture 9 illustrates the processing action in traveling pattern switching portion 14.
In in general automatic cruising device, by pressing the speed configuration switch for carrying out automatic cruising under steam Deng so as to be stored current speed as travel speed setting value.Example is set as other travel speeds, such as The knowledge that the limitation speed of road that can be included in the map datum by guider, the speed obtained with vehicle-mounted vidicon identify Other result etc. is used as travel speed setting value.
Travel speed setting device 3 carries out above-mentioned travel speed set action, and stores traveling speed setting value.
Driving mode switching part 14 obtains the travel speed setting value (step that travel speed setting device 3 is stored ST10).Then, driving mode switching part 14 judges that front vehicle is based on the information obtained from front vehicle detection apparatus 1 It is no to slow down or close to this car (step ST11).
Slow down earlier than this car in front vehicle and close to this car in the case of (step ST11：It is), it is arranged to chase after The front vehicles tracking driving mode (step ST20) that the mode of vehicle travels immediately ahead of track, the speed of front vehicle is set For target velocity (step ST21).
In front, vehicle does not have started (step ST11 in the case of deceleration：It is no), the judgement of driving mode switching part 14 is The no prediction parking spot (for example, Fig. 4 prediction parking spot P100) that this car is set by vehicle parking position prediction section 13 (step ST12).(the step ST12 in the case where setting the prediction parking spot of this car：It is), driving mode switching part 14 is sentenced Whether the driving mode before settled is crossing deceleration mode (step ST13).
(the step ST13 in the case where current driving mode is not crossing deceleration mode：It is no), set crossing deceleration mould Formula (step ST14), as improve fuel efficiency operating, this car of computing towards prediction parking spot deceleration target curve, and Set, so as to which for example fuel can be disconnected with engine brake deceleration.
Optimal deceleration target curve changes according to the species of the transmission system of vehicle, so driving mode switching part 14 According to gasoline car with or the size of regenerative braking etc. of the engine brake of diesel vehicle, hybrid vehicle or electric car enter Row setting.For example, the deceleration realized with engine brake is set into smaller (in longer distance stop), for being capable of profit Deceleration is set to larger (stopping in relatively short distance) come the hybrid electric vehicle of energy and electric car reclaimed with regeneration. In the case where needing to change amount of regeneration according to situation, deceleration can also be dynamically set.
(the step ST13 in the case where having been set at crossing deceleration mode：It is), driving mode switching part 14 sets mesh Speed is marked, so as to the deceleration (step ST16) of set deceleration target curve in becoming along step ST15.
(step ST12 in the case of the prediction parking spot of this car is not set in step ST12：It is no), driving mode is cut Change portion 14 and judge whether that the speed of front vehicle is more than travel speed setting value (step ST17), the speed of vehicle in front (step ST17 in the case of larger：It is), it is set as setting speed driving mode (step ST18), travel speed setting value is set It is set to target velocity (step ST19).
(the step ST17 in the case of the speed of front vehicle is less：It is no), before driving mode switching part 14 is set as Side's tracking driving mode (step ST20), is set as target velocity (step ST21) by the speed of front vehicle.
Afterwards, flow returns to step ST10 processing, and repeats above-mentioned processing.
Travel speed control unit 15 controls brake control 5 and transmission system control device 6, so that it is to travel mould Target velocity set by formula switching part 14 is travelled.
In Fig. 8 and Fig. 9 processing action, parking vehicle in the range of parking spot presumption be present (comprising presumption parking Vehicle) although in the state of slowed down with crossing deceleration mode, the signal lamp of such as junction ahead is changed into green from red light Lamp, in the case of vehicle (near parking vehicle of the junction ahead) startup of forefront, the parking vehicle from second It can start successively, so the prediction parking spot of this car need not be stopped at.Therefore, driving mode switching part 14 is in forefront vehicle In the case of startup, even if there are other parking vehicles (comprising presumption parking vehicle), crossing deceleration mode is also released, it is quick to turn Normal mode (such as front tracking driving mode or setting speed driving mode) is moved to, so as to prevent unnecessary subtract Speed.
In the case where the parking vehicle of junction ahead is more, even if forefront vehicle launch, the startup of subsequent vehicle is all The time is needed, so in the case of just releasing crossing deceleration mode in only forefront vehicle launch, may result at crossing When the deceleration carried out under deceleration mode there is a need to when junction ahead (subsequent vehicle do not pass through also etc.) the crossing deceleration mode is just Situation about being released from.
In view of above-mentioned possibility, on the basis of " in the case that forefront vehicle has been turned on " this condition, based on stopping The quantity of car vehicle carrys out Setting pattern and releases stand-by time, in traveling pattern switching portion 14, by making to open from forefront vehicle The time delay untill releasing crossing deceleration mode is moved, so as to implement smoothly to run.
Specifically, vehicle parking position prediction section 13 pushes away when carrying out Fig. 8 step ST6 judgement in parking spot In the case that the forefront vehicle for determining in scope to exist in parking vehicle and the parking vehicle has been turned on, into step ST9 place Reason, the prediction parking spot of this car is removed (after by mode release stand-by time).
Thus, by Fig. 9 step ST12 judgement, be transferred to beyond the deceleration mode of crossing driving mode (that is, release Crossing deceleration mode).
In addition, in the vehicle for being loaded with the engine with idling flameout function, the feelings of crossing deceleration mode are being transferred to When this car is slowed down and stopped under condition, it is preferably prevented from cutting the engine.Specifically, when being transferred to crossing pattern, from traveling Speed controlling portion 15 is indicated to transmission system control device 6, the upper limit speed for entering idling flameout is brought up to set Fuel cut-off during fixed deceleration is able to the speed (such as 20km/h) recovered.
Further, since the possibility that acceleration is transferred to when releasing crossing deceleration mode is higher, so by forbidding idling to put out Fire, or be lowered into the upper limit speed (for example, 5km/h) of idling flameout, because engine start prolongs during so as to prevent from further accelerating Cause driving feeling to be deteriorated late, and can significantly save fuel.
Herein, the state transition diagram of travel controlling system 10 is shown in Figure 10.It is relative with the explanation of the state transition diagram Ying Di, the action for notifying device 7 is illustrated.
If switching on power, travel controlling system 10 turns into holding state 30.
Even holding state 30, the information of the vehicle in the front detected by front vehicles detection means 1 can be also inputted Deng, and perform Fig. 8 action etc..
In the holding state 30, in the case of speed configuration switch of automatic cruising etc. is pressed in driver, traveling Speed setting device 3 detects that switch is pressed, and speed now is stored as travel speed setting value.Then, mould is travelled Formula switching part 14 is set as setting speed driving mode 31, and travel speed setting value is set as into target velocity.Traveling speed Spend control unit 15 and control vehicle, so as to be travelled with target velocity.In the case where relieving automatic cruising by driver, OK Sail speed setting device 3 and detect that automatic cruising is released from, notify to driving mode switching part 14, and return to holding state 30. By driver come to release the condition subsequent of automatic cruising be usually to press cancel switch, step on brake, operate gear etc..
In setting speed driving mode 31, there is parking vehicle close to crossing and at crossing (comprising presumption parking vehicle) In the case of, driving mode switching part 14 switches to crossing deceleration mode 32.In crossing deceleration mode 32, driving mode switching The sets target speed of portion 14, vehicle is controlled by travel speed control unit 15, so as to using the prediction parking spot of this car as target To implement that the deceleration operating of fuel consumption can be suppressed.
Now, even if the vehicle immediately ahead of this car reduces speed now, due to when being transferred to crossing deceleration mode 32 automatically Reduce speed now, so confusion can occur because of unexpected automatic retarding for driver, in order that it is system event that driver, which will not misunderstand, Barrier, instructed from crossing processing unit 11 to notice device 7 to notify to come into crossing deceleration mode.Notify the basis of device 7 The instruction of crossing processing unit 11, export the display to driver notification or sound or arouse sound (buzzing etc.).
Parking vehicle at crossing starts so as in the case of without parking vehicle, and this car is close to front vehicle In the case of, driving mode switching part 14 switches to front tracking driving mode 33 from crossing deceleration mode 32.
Under front tracking driving mode 33, when below setting speed of the speed in this car of front vehicles, driving mode The speed of front vehicles is set as target velocity by switching part 14, and travel speed control unit 15 maintains appropriate vehicle distances, and Carry out traveling control.
In front vehicles follow the trail of driving mode 33, there is parking vehicle close to crossing and at crossing (comprising presumption parking Vehicle) in the case of, driving mode switching part 14 switches to crossing deceleration mode 32.Even if front vehicles do not reduce speed now, OK The also sets target speed of pattern switching portion 14 is sailed, so as to using the prediction parking spot of this car as target implement that fuel can be suppressed The deceleration operating of consumption.In addition, being indicated from crossing processing unit 11 notice device 7, road is come into driver notification Mouth deceleration mode.
But in moderating process, what the front vehicles in front were decelerated to more than the deceleration of this car and begun to In the case of, front vehicles tracking driving mode 33 is switched to rapidly.
On the other hand, there is parking vehicle close to crossing and crossing in holding state 30 (comprising presumption parking vehicle) In the case of, notified from crossing processing unit 11 to driving mode switching part 14, driving mode switching part 14 is switched to driving Slow down the crossing deceleration attention mode 34 paid attention at member's notice crossing.In this case, do not carried out using travel speed control unit 15 Traveling control (automatic cruising), is travelled by operation of the driver to throttle and gear.The parking vehicle at crossing starts so as to not have In the case of having parking vehicle, holding state 30 is returned.
In addition, when not acting automatic cruising, when needing to stop at crossing, that is, pass through vehicle parking position In the case that prediction section 13 sets the prediction parking spot of this car, preferably referred to from crossing processing unit 11 to notice device 7 Show to be notified to driver.Thus, it is that truck etc. causes the driver of this car to can't see red signal even in front In the case of, situation about must be stopped at crossing can be also notified, even if truck suddenly slows down at crossing, driver also copes with.
It is complex without recording due to becoming diatom, but driving mode switching part 14 is promptly close to front vehicles, if Do not add promptly to move and can then turn into the state directly hit, in the case, from holding state 30, setting speed driving mode 31st, crossing deceleration mode 32, front vehicles tracking driving mode 33 and crossing deceleration attention mode 34 these all states Switch to emergency brake modes 35.Receive after driving mode switching part 14 is transferred to the notice of crossing deceleration attention mode 34 Travel speed control unit 15 control brake control 5, carry out brake hard using higher deceleration, so as to avoid with before The shock of square vehicle.
Driving mode switching part 14 stops this car using brake hard, in no front vehicles or the situation of barrier Under, switch to holding state 30.
As described above, according to embodiment 1, travel controlling system 10 is that have that front vehicles tracking traveling work(can be realized The driving mode switching part 14 of energy and the device of travel speed control unit 15, the front vehicles are followed the trail of in driving functions, will be located at Front vehicle among the front vehicles of more than one of this front side is tracked traveling as tracking vehicle；But also Have：Crossing parking vehicle judging part 12, according to front vehicles detection means 1 obtained from this car respectively to front vehicles it Between range information and junction ahead apart from acquisition device 2 obtained untill being present in the crossing of this front side Range information, to judge whether front vehicles are off the parking vehicle at crossing；And vehicle parking position prediction section 13, In the case of being judged as that front vehicles are parking vehicle using crossing parking vehicle judging part 12, believed according to the distance of parking vehicle Cease to predict parking spot of this car at crossing.Therefore, it is possible to provide following travel controlling system 10：That is, it is being not provided with base The crossing of Infrastructure, though the vehicle in front also in the state do not slowed down or do not stopped also, as long as in front of it Vehicle stopped, then this car is with regard to that can reduce speed now.
In addition, according to embodiment 1, vehicle parking position prediction section 13 according to from this car respectively to the distance of front vehicles Information changes to obtain the change of the respective travel speed of front vehicles, so as to predict the parking spot at crossing, according to institute The parking spot of prediction judges whether front vehicles are off the parking vehicle at crossing, and predicts that this car stops at crossing Truck position.Therefore, even for the front vehicles in being travelled towards crossing, also it is capable of deciding whether it is parking vehicle, Jin Erneng Enough predict the parking spot of this car come the operating that reduces speed now.
According to embodiment 1, road of the crossing parking vehicle judging part 12 according to acquired in junction ahead apart from acquisition device 2 The attribute information of mouth, thus it is speculated that from distance of the center at crossing untill stop line, certain distance is added to the distance deduced To set parking spot presumption scope, by the front vehicles stopped in the range of parking spot presumption or stopping is estimated to be Front vehicles in the range of parking spot presumption are judged as parking vehicle.Therefore, even in the map number of guider etc. The information not comprising stop line can also set parking spot presumption scope in, and estimating scope according to the parking spot can sentence Whether disconnected front vehicles are parking vehicles.
According to embodiment 1, at crossing, parking vehicle judging part 12 is believed to the distance of front vehicles respectively according to from this car Cease and in the case that the range information at crossing is judged as that front vehicles continuously stop, expand parking spot presumption scope. Therefore, in the case of being blocked even in crossing, parking vehicle and parking vehicles also can correctly be distinguished.
According to embodiment 1, travel controlling system 10 is configured to driving mode switching part 14, driving mode switching Portion 14 switches and implements front vehicles tracking driving mode and crossing deceleration mode, and the front vehicles follow the trail of driving mode to follow the trail of The speed of vehicle is that target is travelled, and in the road deceleration mode, not reduced speed now even if tracking vehicle also can be with by vehicle The parking spot that parking spot prediction section 13 is predicted is target to be slowed down.Even the front vehicles in front are at crossing In the state of not slowing down or stopping, the vehicle in front of it also makes this car reduce speed now if stopping, and thus allows for multiplying Sit sense well and improve the operating of fuel efficiency.
According to embodiment 1, driving mode switching part 14 is being judged to be judged as stopping by crossing parking vehicle judging part 12 In the case that the front vehicles of car vehicle start startup, crossing deceleration mode is released.Therefore, it is possible to prevent unnecessary subtract Speed.
In addition, according to embodiment 1, driving mode switching part 14 is being judged to be judged by crossing parking vehicle judging part 12 For parking vehicle front vehicles start startup in the case of, according to the quantity of parking vehicle come postpone release crossing deceleration mode Time.The situation of crossing deceleration mode, Neng Goushi are released during therefore, it is possible to prevent from needing to be slowed down with crossing deceleration mode Apply smoothly traveling control.
According to embodiment 1, driving mode switching part 14 is with different and different with the species of the driving source according to this car Deceleration come the crossing deceleration mode to be slowed down, switch and implement crossing deceleration mode according to the species of driving source.Cause This, can carry out the operating of more proper raising fuel efficiency.
According to embodiment 1, travel controlling system 10 has the traveling for the upper limit speed for controlling this car to enter idling flameout Speed controlling portion 15, travel speed control unit 15 will enter in the case where the species of the driving source of this car is internal combustion engine The upper limit speed for implementing the idling flameout of crossing deceleration mode is set higher than being not carried out the situation of crossing deceleration mode.Therefore, It can be stopped using the positive engine under the deceleration mode of crossing to realize the raising of fuel efficiency.On the other hand, due to non- The state of crossing deceleration mode, (such as when needing to accelerate because of green light) makes engine be not easy to stop in the state of may accelerating Only, so can prevent from causing restarting engine when engine stops and again speeded up afterwards in the state of non-crossing deceleration mode Acceleration delay.
According to embodiment 1, crossing parking vehicle judging part 12 switches to crossing deceleration mould in traveling pattern switching portion 14 In the case of formula, implement the meaning of crossing deceleration mode to driver notification via the notice device 7 for being loaded into this car.Therefore, Although the front vehicles in front do not have started deceleration but in the case that this car has started to deceleration, driver will not be because of prominent Right automatic retarding and cause confusion, system jam will not be mistakenly considered.
According to embodiment 1, crossing parking vehicle judging part 12 in the case where being judged as that front vehicles are parking vehicle, The meaning that this car stops at crossing is predicted driver notification via the notice device 7 for being loaded into this car.Therefore, do not make automatically It when cruise acts, when the red signal that driver can't see front, can notify to slow down, need situation about stopping.
According to embodiment 1, travel controlling system 10 is configured to front vehicles detection means 1, front vehicles inspection Device 1 is surveyed using tip of a hair ripple radar or inter-vehicular communication to obtain from this car range information untill front vehicles respectively. Therefore, even if not dispensing the signal information at crossing and the infrastructure of parking vehicle information, raising fuel oil can also be carried out The operating of efficiency.
In addition, the present invention can deform in its invention scope to the arbitrary structures key element of embodiment, Huo Zhe Arbitrary structural element is omitted in embodiment.
As described above, whether travel controlling system involved in the present invention is followed the trail of vehicle and is slowed down and all predict this Che roads Mouthful parking spot, implemented using the parking spot as target suppress fuel consumption deceleration operate, therefore, it is possible to suitable for In travel controlling system of operating for aiding in improving fuel efficiency etc..
1 front vehicles detection means, 2 junction aheads are apart from acquisition device, 3 travel speed setting devices, 4 vehicles letter Breath provides device, 5 brake controls, 6 transmission system control devices, 7 notice devices, 10 travel controlling systems, 11 tunnels Mouth processing unit, 12 crossing parking vehicle judging parts, 13 vehicle parking position prediction sections, 14 driving mode switching parts, 15 rows Sail speed controlling portion, 30 holding states, 31 setting speed driving modes, 32 crossing deceleration modes, the tracking of 33 front vehicles Driving mode, 34 crossing deceleration attention modes, 35 emergency brake modes, 100 cars, 101~103 front vehicles, 104 Opposite vehicle, 105,106 parking vehicles, 120~122 vehicles, 200 roads, 201,201-1,201-2 junction ahead, 202 Stop line, 203 distance untill stop line, 204 crossing centers, A, A1 parking spot presumption scope, A2 stop when blocking Truck position estimates scope, P100~P103 prediction parking spots.
1. a kind of travel controlling system,
There are the travel controlling system front vehicles to follow the trail of driving functions, and front vehicles tracking driving functions will be located at this Chinese herbaceous peony The front vehicles in the front among the front vehicles of more than one of side are tracked traveling, its feature as tracking vehicle It is have：
Crossing parking vehicle judging part, according to from described car respectively to the range information of the front vehicles and until depositing It is the range information untill the crossing in the front of described car, judges whether the front vehicles are off at the crossing Parking vehicle；And
Vehicle parking position prediction section, it is being judged as that the front vehicles are the parkings by the crossing parking vehicle judging part In the case of vehicle, parking spot of the described car at the crossing is predicted according to the range information of the parking vehicle,
The crossing parking vehicle judging part is estimated from the center at the crossing to parking according to the attribute information at the crossing Distance untill line, scope is estimated to set parking spot plus certain distance to the distance deduced, the parking will be stopped at The front vehicles in the range of position deduction are judged as the parking vehicle, by the parking spot estimate scope outside it is described before Square vehicle is judged as parking vehicles.
Vehicle parking position prediction section is according to the change from the described car range information untill the front vehicles respectively Change to try to achieve the change of the respective travel speed of the front vehicles, so as to predict parking of the front vehicles at the crossing Position, judge whether the front vehicles are that will stop at the parking at the crossing according to the parking spot predicted Vehicle, and predict parking spot of the described car at the crossing.
The crossing parking vehicle judging part is according to from the described car range information untill the front vehicles and straight respectively Range information untill the crossing and in the case of being judged as that the front vehicles continuously stop, expanding the parking stall Put presumption scope.
4. travel controlling system as claimed in claim 1, it is characterised in that
Possesses driving mode switching part, the driving mode switching part at least switches and implemented：Front vehicles follow the trail of driving mode, hold Row follows the trail of driving functions using the speed of the tracking vehicle as the front vehicles that target is travelled；And crossing deceleration mould Formula, slowed down using the parking spot for the described car predicted by vehicle parking position prediction section as target.
5. travel controlling system as claimed in claim 4, it is characterised in that
The driving mode switching part is being judged as being judged as by the crossing parking vehicle judging part institute of the parking vehicle State in the case that front vehicles start startup, release the crossing deceleration mode.
The driving mode switching part is being judged as being judged as by the crossing parking vehicle judging part institute of the parking vehicle State in the case that front vehicles start startup, postpone to release the crossing deceleration mode according to the quantity of the parking vehicle Time.
7. travel controlling system as claimed in claim 4, it is characterised in that
The driving mode switching part is subtracted with the deceleration different and different with the species of the driving source of described car The crossing deceleration mode of speed, switches and implements the crossing deceleration mode according to the species of the driving source.
8. travel controlling system as claimed in claim 7, it is characterised in that
Enter the travel speed control unit of the upper limit speed of idling flameout with described car of control,
In the case that the species of driving source of the travel speed control unit in described car is internal combustion engine, will it implement described Upper limit speed during the deceleration mode of crossing into the idling flameout is set higher than that the crossing deceleration mould is not carried out The situation of formula.
9. travel controlling system as claimed in claim 4, it is characterised in that
The crossing parking vehicle judging part in the case where the driving mode switching part switches to the crossing deceleration mode, Via the meaning for being loaded into the notice device of described car to driver notification and implementing the crossing deceleration mode.
10. travel controlling system as claimed in claim 1, it is characterised in that
The crossing parking vehicle judging part is in the case where being judged as that the front vehicles are the parking vehicle, via loading Predict that driver notification described car stops at the meaning at the crossing in the notice device of described car.
With front vehicles detection means, obtained using millimetre-wave radar or inter-vehicular communication from described car respectively to institute State the range information untill front vehicles.
CN105814619A CN105814619A (en) 2016-07-27
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