JPS6236580A - Preceding vehicle detector - Google Patents

Abstract

PURPOSE:To attain a higher safety, by releasing the action of tracking a car running ahead in response to the control of an operator to secure the action of tracking the car running ahead when the ahead-running car previously tracked moved to another lance. CONSTITUTION:An ahead-running car distance decision means 37 receives distance/direction signals lR, lC and lL from a radar 31 to calculate the distance signal l to the car running ahead. A computation processing means 35 controls the vehicle speed with the control of an acceleration/deceleration mechanism 41 based on the own vehicle speed signal (v) from a vehicle sensor 33 and the distance signal l from the ahead-running car distance decision means 37. When the ahead-running car previously tracked moves to another lane away from that where the own car is running, a target car tracking release signal is fed to the ahead-running car distance decision means 37 from a target car tracking releasing means 39 in response to the control of an operator to release the operation of tracking the car running ahead as the tracking of the car is needed no more.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a preceding vehicle detection device that transmits electromagnetic waves in front of one's own vehicle and tracks a preceding vehicle while receiving reflected waves of the electromagnetic waves from the preceding vehicle.

[Technical background of the invention and its problems] A radar device is mounted on a vehicle to detect a preceding vehicle, obstacles, etc. in front of the vehicle, thereby controlling the vehicle speed and tracking the vehicle in front. Various developments are underway (e.g.,
7892>.

By the way, in this conventional device that uses a radar device mounted on a vehicle to track a preceding vehicle, the preceding vehicle that is detected and tracked by the radar device is traveling in the same lane as the own vehicle. Since it is not possible to determine whether or not the vehicle is traveling in the same lane as the own vehicle, it cannot be detected even if the vehicle deviates from the same lane as the own vehicle and moves into another lane. This means that the vehicle is continuously following the vehicle even though it is not the vehicle in front. As a result, for example,
Even if another slow-moving preceding vehicle is running in front of the own vehicle's driving lane after the preceding vehicle has moved to another lane, this other preceding vehicle will be ignored, making subsequent tracking difficult. There is a problem that the vehicle cannot run properly.

[Object of the Invention] This invention has been made in view of the above, and its purpose is to prevent the preceding vehicle from moving into another lane when the vehicle being followed moves to another lane. An object of the present invention is to provide a preceding vehicle detection device that ensures smooth tracking operation and improves safety.

[Summary of the Invention] In order to achieve the above object, the present invention, as shown in FIG. The gist of the present invention is to include a tracking control means 3 for controlling the own vehicle to track the preceding vehicle, and a canceling means 5 operated by the driver to cancel the tracking operation for the preceding vehicle.

[Embodiments of the invention] Hereinafter, the present invention will be explained in detail using the drawings.

FIG. 2 shows an embodiment of the present invention, in which the preceding vehicle distance determining means 37 receives distance direction signals R, lc, and Ai from the radar device 31, and performs processing to be described later. The distance signal A to the preceding vehicle calculated while tracking the preceding vehicle is supplied to the arithmetic processing means 35, and the arithmetic processing means 35 receives the host vehicle speed signal V from the vehicle speed sensor 33 and the distance signal from the preceding vehicle distance determination means 37. The vehicle speed is controlled by controlling the acceleration/deceleration mechanism 41 based on the distance, and when a target preceding vehicle cancellation signal is supplied from the target preceding vehicle canceling means 39 to the preceding vehicle distance determining means 37, a tracking operation for the preceding vehicle is performed. This is the configuration to be canceled.

The target preceding vehicle release means 39 is comprised of, for example, a push button switch provided near the driver's seat. When the driver operates this pushbutton switch, a target preceding vehicle release signal is supplied to the preceding vehicle distance determining means 37, and the preceding vehicle that has been following the preceding vehicle under the ail+ control of the preceding vehicle distance determining means 37 is This cancels the tracking operation. This is because, for example, if the preceding vehicle that was being followed deviates from the vehicle's driving lane and moves to another driving lane, it is no longer necessary to track the preceding vehicle, so the target preceding vehicle is canceled in such a case. The tracking operation for the preceding vehicle is canceled by operating three push button switches.

The radar device 31 is roughly divided into a light output section 43, a light reception section 45, and a control section 47. The light output unit 43 includes a light output device 51 having an optical axis in the front direction of the vehicle body, and angles θR and θ in the right direction and left direction, respectively, with respect to the optical axis in the front direction of the vehicle body.
Optical output device 49 having an optical axis shifted by L(θR-θL)
and 53, for example, three optical output devices. Each optical output device 49°5T, 53 is a laser diode 55,
57.59 and a lens 61.63.65, the ray 11 outputted by the laser diode 55, 57.59 is transmitted through the lens 61.63.65 to spread angles θTR, θTC.
, θTL (θTR=θTC=θT), intensity LTR,L
TC, LTL (LTR-LTO=lTL). Therefore, the laser is emitted along the optical axis in the front direction of the vehicle body and symmetrically with respect to the optical axis.

The light receiving section 45 captures the light reflected by the reflector of the laser emitted from the light outputting section 43 in this way, and includes a light receiving element 67 and a condensing lens 69 that forms a focal point on the light receiving surface of the light receiving element 67. The configuration has the following. The control unit 47 controls laser emission and light reception to determine the distance and direction to the reflector, and the pulse modulator 71 . amplifier 73
．． This configuration includes a comparator 75 and an arithmetic circuit 77. The pulse modulator 71 sequentially outputs a pulse modulation signal with a pulse width of about 100 n5ec and an oscillation frequency of KH7 to the laser diodes 55, 57, and 59 to drive and control these, and synchronizes with the output of the pulse modulation signal. The optical radiation signal is output to the arithmetic circuit 77. Amplifier 73 and comparator 7
5 amplifies the received light signal obtained by photoelectrically converting the light received by the light receiving element 67, and extracts a signal exceeding a set level from the received light signal as a signal reflected by the reflector of the laser emitted from the light output section 43. It is output to the arithmetic circuit 77. Since the arithmetic circuit 77 determines the direction and distance in which the reflector exists based on the input time difference between the light emission signal and the reflected signal, distance calculation is performed using the input time difference using the following equation.

Distance: 吏=m-T/2 Here, ■ is the speed of light (3X108m/sec), T
is the input time difference.

FIG. 3 is a flowchart showing the processing performed by the preceding vehicle distance determining means 37.

Before explaining the -6 processing flow shown in Fig.
The principle or concept of the process flow shown in the figure will be explained with reference to FIGS. 4 and 5.

The processing shown in flowchart i~ in FIG.
Based on the distance signals in each direction detected in step 1, this is a process for accurately detecting and tracking only the true preceding vehicle even when the preceding vehicle traveling in the lane of the own vehicle is traveling on a curved road, for example. By accurately detecting the preceding vehicle in this way, for example, on a curved road, it is possible to prevent other vehicles traveling in other lanes from being erroneously detected as the preceding vehicle.
It is used to detect only the true distance between vehicles in front and maintain an appropriate safe distance between vehicles.

More specifically, the direction distance signal to the preceding vehicle detected by the center, right, and left laser beams from the light output devices 51, 49.53 in the front direction, right direction, and left direction of the own vehicle, that is, the front distance C1, Rightward distance sexual love R1, leftward distance ll
In order to always know which laser beam is used to detect the vehicle in front that is being tracked based on changes in distance (i indicates the passage of time) and changes in these distances, the vehicle in front is detected by the central laser beam. central flag C if
is set to "11", and if the right laser beam is detected, the right flag R is set to rlJ, and if the left laser beam is detected, the left flag L is set to "1". By controlling the flag, you can clearly see whether the vehicle in front is being captured by the laser beam through the flag display, and this allows you to detect the vehicle in front that you are following without making a mistake, even if you drive into a curved road, for example. There is.

For example, if the central Ledebeam captures and tracks a preceding vehicle traveling on a straight road at time t1.1 with a frontal distance (lcl, 1), at the next time point, for example, it enters a right curved road and the leading vehicle If the adjacent right laser beam detects the preceding vehicle at a rightward distance IRt just before the vehicle moves out of the detection range of the central sea 1F beam and becomes undetectable by the central laser beam, then this preceding vehicle is simply continuously detected. Since it only curved to the right, the front distance fLc detected by the central laser beam at the previous time [1, 1;
+-+ and the rightward distance uRt detected by the right laser beam at time [i] There is not a very large change in the distance; they are almost the same, or even if they do change, the change is small and relatively small. is considered to be within a predetermined distance α of the value. Therefore, when comparing the front distance 1c+-1 and the rightward distance 1R+ and determining that the distances are the same or that the difference in distance is within the predetermined distance α,
This makes it possible to identify that the preceding vehicle detected by the Kanaishi laser beam is the preceding vehicle that was previously detected and tracked by the central laser beam. In other words, even if the vehicle in front that was being tracked enters a curved road and changes its position relative to the vehicle in front, and the detected laser beams change, the distance detected by each laser beam, that is, the inter-vehicle distance. It is possible to reliably identify the vehicle in front that has been being tracked based on the degree of change in the vehicle, thereby preventing the vehicle from losing sight of the vehicle in front or erroneously identifying another vehicle as the vehicle in front.

In addition, in Figure 4, the preceding vehicle indicated by a shaded rectangle and the own vehicle indicated by a rectangle without diagonal lines pass from a straight road to a right curved road, return to a straight road, then pass a left curved road and straighten. This figure shows the relationship between the laser beam and the preceding vehicle, and its changes, according to the time lapse from t1 to t12, in which the preceding vehicle enters and is detected within the detection range of the laser beam when traveling on a route returning to the road. . Figure 5 shows the azimuth and distance signals for the preceding vehicle detected by the radar equipment @31 during this series of changes, that is, the front distance W1 hair C1 right direction distance value length R1 left direction distance value and the center flag C1 right flag at that time The set content of R1 left flag L, that is, the relationship between "1" or "0" changes from 1 to [1
This is shown for 2. The processing flow shown in FIG. 3 and outlined above is based on the following figures: 4 and 5. The processing flow shown in FIG. 4 and FIG. This system reliably detects the vehicle in front of you so that you do not lose sight of the vehicle in front.

As can be seen from Figures 4 and 5, when driving on a straight road, the preceding vehicle enters the detection range of the central laser beam and is detected by the beam, and the front distance FB1MIO determines the distance to the preceding vehicle. The central flag C is 11''. When driving on a right curve, the preceding vehicle enters the detection range of the right radar beam and is detected by the beam, the right direction distance value IR represents the distance to the preceding vehicle, and the right flag R is "1".
It has become. When driving on a left curve, the preceding vehicle enters the detection range of the left laser beam and is detected by the beam, the left direction distance value IL represents the distance to the preceding vehicle, and the left flag L becomes "1". ing. In addition, the azimuth distance signal ai c,
Since fLR and hiri are the inter-vehicle distances to the vehicle in front that is being followed, they are maintained at almost constant values determined by the vehicle speed. When the left laser beam is detected, the leftward distance IL1. is adjusted to the position of the beam flap. lL is changing rapidly, and at time t5-t6 or ts-t
As shown between 10 and 10, when the right laser beam detects a vehicle traveling on the ground lane, the rightward distance lR is not constant but changes at a considerable speed.

Next, the processing flow shown in FIG. 3 will be explained with reference to FIGS. 4 and 5. The processing flow in FIG.
7 (see Figure 2), for example, a certain period of time due to interrupt processing in a microcomputer, for example, the number 1011.
It is activated and executed every second, and each time it is activated, that is, at time [-1, the optical output devices 49, 51 of the radar device 31 in both the right direction, the front direction, and the left direction are first activated.
．． Azimuth distance signal to the preceding vehicle detected by the right, center, and left laser beams from 53, that is, the right direction distance value I
R+frontal distance C1 and left direction distance value CL1 are input in sequence (step 110). In the next step 120, the left direction distance value R1,1 and the front distance value IC detected and stored at the previous startup, that is, at time 1=+-+
b+, the left direction distance value 1.1 is read from the memory.

In this way, in steps 110 and 120, the current time t=
Right direction distance value xR+, front distance value fLC1 at i
Left direction distance value Ai L1 and right direction distance at the previous time r=bI 1lII I R+-+, front distance value 10
After inputting and reading the H1 left direction distance value 1t-i-1, the processing flow starts with a first process 70- (steps 130 to 13) for the preceding vehicle detected by the central radar beam.
9) and the second processing flow for the preceding vehicle detected by the right laser beam.

steps 140 to 146), and a third processing flow for the preceding vehicle detected by the left laser beam (step 150).
~156), and a fourth process flow (steps 157, 15) for determining whether or not to cancel the tracking operation for the target preceding vehicle.
8>, set the inter-vehicle distance 11 between the target preceding vehicle to be followed, and set the left direction distance value 1? A fifth processing flow (steps 160 to 250) stores the front distance value C1 and the left direction distance value Li in the memory.

First, the first processing flow shown in steps 130 to 139 identifies whether the preceding vehicle was detected only by the central radar beam by checking whether the central flag C is "1" in step 130. do. When the center flag C is "1", the preceding vehicle has been detected by the center laser beam, which means that the time t O-t, , t 4-t, in FIGS. 4 and 5.
, t 10 - t 11. In this state, the preceding vehicle may curve to the right when it encounters a right-curving road, for example, as in the change at time t1→[2, or as in the change at time [8]. curve to the left,
Or, the vehicle may be traveling on a straight road without changing. Therefore, it is detected which state the preceding vehicle has advanced to based on the detected and read distance signals in each direction, and a flag R, L or C indicating the detected direction is detected.
is set to indicate that the preceding vehicle is being detected by the laser beam in the direction indicated by the hit flag, ensuring that the preceding vehicle is always captured.

That is, in steps 131 to 133, in order to check whether the preceding vehicle is making a right curve as shown in the change at time t1→[2, the right direction distance value nRi, the front distance value UC+, Calculate the distance difference from I,
This distance! l (Check whether the difference is within a predetermined distance α. This predetermined distance α is a relatively small value as mentioned above, and more specifically, the predetermined distance α is determined by the processing flow shown in FIG. 3. The time interval at which the interrupt is activated may be a value with a slight margin for the change in the distance between the preceding vehicle and the host vehicle, for example, several 10,111 seconds, taking into account the ranging accuracy of the radar device 31 of ±1 m, the vehicle speed, etc. Since the change in inter-vehicle distance is within 1 mQ, it is sufficient to provide an allowance for this and select the predetermined distance α-4IIl.

As a result of the check in step 131, the fact that the distance difference is within the predetermined distance α means that the preceding vehicle has curved to the right. This means that it has been identified that the preceding vehicle is the same as the preceding vehicle detected by the laser beam and having the front distance value Act,I, and therefore the process proceeds to step 132. In this step 132, the distance difference n between the front distance 111 value 1c+ and the front distance value ucM is calculated, and it is checked whether this distance difference is within a predetermined distance α. If the preceding vehicle curves completely to the right at time ti and cannot be detected by the central laser beam (naturally, when the following preceding vehicle cannot be detected within a predetermined distance change range), the front distance value IC+ is infinite. Therefore, the distance difference between the front distance value 1c+ and the front distance value 10H is larger than the predetermined distance α, and it is determined that the preceding vehicle is completely within the detection range of the right laser beam and is detected by this beam. be done. Therefore, in the next step 133, the center flag C-0, the right flag R-1, and the left flag are set to 0, and the process proceeds to step 157.

In addition, in step 131, if the right direction distance (the distance difference between the orthogonal R1 and the front distance C1-1 is not within the predetermined distance α, and in step 132, the distance difference between the front distance C1 and the front distance C1-01.1). is within the predetermined distance α, the preceding vehicle may not have curved to the right, but may have curved to the left as at time t8 or continued straight ahead, so step 1 is first performed.
34 to 136, first calculate the distance difference between the left direction distance value lLt and the front distance linkage C+-+, and if this distance difference is within a predetermined distance α. Check if it exists.

As a result of the check in step 134, the fact that the distance difference is within the predetermined distance α means that the preceding vehicle has curved to the left as at time t8. It has been identified that the preceding vehicle is the same as the preceding vehicle that has been detected by the central laser beam and has the frontal distance C1,1, and therefore the process proceeds to step 135. In step 135, as in step 132, the distance difference between the front distance 1 ct-+ and the front distance value 1 ct-+ is determined, and it is checked whether this distance difference is within a predetermined distance α. If the preceding vehicle curves completely to the left at time ti and cannot be detected by the central laser beam, the front distance! 11
Since 1f and faicl are infinite, the front distance is 1 C.
1 and the front distance C+-+ becomes larger than the predetermined distance α, and it is determined that the preceding vehicle has completely entered the detection range of the left laser beam and is detected by the beam. Therefore, in the next step 136, the central flag C=O,
The right flag R=0° and the left flag L-1 are set, and the process proceeds to step 157.

In addition, if the distance difference between the left direction distance linkage Li and the front distance value (LGi-+ is not within the predetermined distance α in step 134, and if the distance difference between the left direction distance linkage Li and the front distance value (LGi-+) is not within the predetermined distance α, and in step 135, the front distance
If the distance difference between the front distance C1,1 and the front distance m C1,1 is within the predetermined distance α, it is possible that the preceding vehicle does not curve to the left but continues straight ahead, so proceed to step 137. Frontal distance 1 officer C1 and frontal distance linkage C1,
A distance difference from the distance I is calculated, and it is checked whether this distance difference is within a predetermined distance α. The fact that this distance difference is within the predetermined distance α means that it is determined that the preceding vehicle is detected by the center laser beam at time ti as well as at time 11.1. The flag C-1, right flag R=O, and left flag L=O are set to be the same as Moe, and the process proceeds to step 157.

Further, in step 137, if the distance difference between the front distance value 1c: and the front distance value no + - + is not within the predetermined distance α, then, for example, at time t12, the preceding vehicle is in another driving lane where the preceding vehicle cannot be detected by any laser beam. Since it can be determined that the vehicle in front is gone, the process proceeds to step 139 and the center flag C-0 and right flag R=0.
．． The left flag is set to L=O to indicate that there is no preceding vehicle, and the process proceeds to step 157.

Further, as a result of checking the central flag C in step 130, if the central flag C=0, step 1
Proceeding to step 40, it is checked whether the right flag R is "1". When the right flag R is "1", the preceding vehicle is making a right curve and is detected only by the right laser beam, which is at time t2-t3 in FIGS. 4 and 5.

This is the case at tll-t12, and in this state, the preceding vehicle may return to running straight after curving to the right as at time [4, or may continue to curve to the right without changing.

Therefore, in the case of right flag R-1, step 14 is performed first.
1 to 143, in order to check whether the preceding vehicle is curved to the right as at time t4 and then returns to running straight, first, the front distance value 1ci and the rightward distance value ff1Ri,t are calculated. A distance difference is calculated, and it is checked whether this distance difference is within a predetermined distance α. As a result of the check in step 141, the fact that the distance difference is within the predetermined distance α means that the preceding vehicle has returned to driving straight from the right curve, and is detected by the central laser beam at the front distance 1 + II 吏 Ci. The car is now detected by the right laser beam and the right direction distance value! It has been identified that the preceding vehicle is the same as the preceding vehicle that had LRi-+, and therefore the process proceeds to step 142. This step 1
In step 42, the distance difference between the rightward distance 1i11uRi and the rightward distance value lR1-+ is calculated, and it is checked whether this distance difference is within a predetermined distance α. The preceding vehicle is at time t
If the right direction distance value IR+ is infinite when it returns to completely straight running at i and cannot be detected by the right laser beam, the distance difference between the right direction distance value IR+ and the right direction distance value 1R+-+ is a predetermined distance. It is determined that the preceding vehicle is completely within the detection range of the central laser beam and is being detected by the beam. Therefore, in the next step 143, the center flag C-1, the right flag R-0, and the left flag L-0 are set, and the process proceeds to step 157.

Further, if the distance difference between the front distance value icJ and the rightward distance value uR+-+ is not within the predetermined distance α in step 141, and in step 142, the rightward distance (alR+
If the distance difference between IR+ and rightward distance values IR+ and + is within the predetermined distance α, the preceding vehicle may not have returned to driving straight from the right curve but is continuing the right curve. Proceeding to step 144, the distance difference between the rightward distance value IRi and the rightward distance 111ffiR1 is calculated, and it is checked whether this distance difference is within a predetermined distance α. The fact that this distance difference is within the predetermined distance α means that it has been determined that the preceding vehicle is being illuminated by the right laser beam at time ti as well as at time t I-1, so the process proceeds to step 145 and the center The flag C-0, right flag R=1, and left flag L==O are set as before, and the process proceeds to step 157.

Further, in step 144, if the distance difference between the rightward distance value R1 and the rightward distance 11lRi−+ is not within the predetermined distance α, the preceding vehicle has moved to another driving lane, etc. that cannot be detected by any laser beam. Since it can be determined that there is no preceding vehicle, the process proceeds to step 146, where the center flag C=O, right flag R=0, and left flag L=O are set to indicate that there is no preceding vehicle, and the process proceeds to step 157. .

Furthermore, if the result of checking the right flag R in the step 140 is the right flag R-0, step 150 is performed.
It is checked whether the left flag L is "1" or not. When the left flag L is "1", the preceding vehicle is making a left curve and is detected only by the left laser beam, but this is due to the time t in Figures 4 and 5.
This is the case at 8-tg, and in this state, the preceding vehicle may return to running straight after curving to the left as at time t9, or may continue to curve to the left without changing.

Therefore, if the left flag L=1, first step 15
1 to 153, in order to check whether or not the preceding vehicle is curved left at time [9] and returns to straight running, first calculate the frontal distance Vilci and the left direction distance value uL + - + which distance. The difference is screened out and it is checked whether this distance difference is within a predetermined distance α. As a result of the check in step 151, the fact that the nη recorded distance difference is within the predetermined distance α means that the preceding vehicle has returned to driving straight from the left curve, and is newly detected by the central laser beam, causing the front distance value ici to be shifted to the right. It has been identified that the vehicle is the same preceding vehicle as the preceding vehicle which has been detected by the left laser beam and has a leftward distance value of 1Li-+, and therefore the process proceeds to step 152. In this step 152, the distance difference n between the leftward distance value ML: and the leftward distance value iLt,+ is calculated, and it is checked whether this distance difference is within a predetermined distance α. If the preceding vehicle completely returns to running straight at time ti and cannot be detected by the left laser beam, the leftward distance value uL+ is infinite, so the leftward distance value hiLi and the leftward distance value ff1L+, + The distance difference becomes larger than the predetermined distance α, and it is determined that the preceding vehicle has completely entered the detection range of the central laser beam and is detected by the beam. Therefore, in the next step 153, the center flag C-1, right flag R-O1, and left flag L=O are set, and the process proceeds to step 157.

Further, if in step 151 the distance difference between the front distance value IC1 and the left direction distance value IL+-1 is not within the predetermined distance α, and in step 152, the left direction distance value
If the distance difference between the left direction distance value L + - + is within the predetermined distance α, it is possible that the preceding vehicle has not returned to driving straight from the left curve but is continuing the left curve. Proceed to step 154 to determine the left direction road 1ift value ILi.
and leftward distance L1-+ which distance difference is excluded, and it is checked whether this distance difference is within a predetermined distance α. The fact that this distance difference is within the predetermined distance α means that it has been determined that the preceding vehicle is being emitted by the left laser beam at time tr as well as at time j i-1, so the process proceeds to step 155 and moves to the center. The flag C-0, right flag R=0, and left flag L=1 are set as before, and the process proceeds to step 157.

Further, in step 154, if the distance difference between the left direction distance linkage Li and the left direction distance value l L r, + is not within the predetermined distance α, the preceding vehicle moves to another driving lane etc. where it cannot be detected by any laser beam. Since it can be determined that there is no preceding vehicle, the process proceeds to step 156 where the center flag C-0, right flag R=0° and left flag L=0 are set to indicate that there is no preceding vehicle, and the process proceeds to step 157. .

As described above, the first step. After reliably detecting the target preceding vehicle through the second and third processing flows and tracking the preceding vehicle while marking the detected laser beam with the center flag C9 right flag R or left flag shi, step In the fourth processing flow of steps 157 and 158, it is determined whether or not the tracking operation for the target preceding vehicle is canceled, and further step 16
Proceeding to the fourth processing flow after 0, the inter-vehicle distance intersection 1 with the target preceding vehicle is set, and the rightward distance Mri, front distance 1iilc +, and leftward distance fa! input in step 110 are set. Performs processing to store LL+ in memory.

First, check whether there is a target preceding vehicle cancellation signal from the target preceding vehicle cancellation means 39 (step 157). If the signal is on the right, the center flag C-0, the right flag R=0. The left flag L is set to 0 to cancel the tracking operation for the target preceding vehicle, and the process proceeds to step 160.

Next, in steps 160, 170, and 180, which flag C, R, or L in the first to third processing flows is determined.
is set, and sets the azimuth distance value corresponding to the set flag, that is, the front distance value C1, the right direction distance value iR1, or the left direction distance value L1, as the inter-vehicle distance 1■ (step 161 ,171.181
>. Control is performed to follow the preceding vehicle according to the set inter-vehicle distance A1 (Step 190), and the right direction distance value IR+, the front distance value C1, and the left inner road 161tffil-1 read in step 110 are stored in the memory. (step 240), then set the interrupt time suffix 1 to 1.
, 1, and the process ends (step 250).

Additionally, during the first to third processing flows, if the preceding vehicle has gone out of the laser beam detection range and cannot be detected, and as a result, all flags C, R, and L are set to rOJ. is step 160,170.180
from step 200 to step 210.230
The next step is to select the target preceding vehicle. That is, first, in step 210, the front distance detected so far...-l c i-, +, lc
From the temporal change of i-3, lc i-2゜rc i-1, it can be determined whether the front distance value IC+ is the distance to the preceding vehicle or the distance to the roadside target object, for example, in Japanese Patent Application No. 58-229042. Determine using the disclosed method. If it is determined that the distance is from the preceding vehicle, set the center flag C-1, right flag R=O, and left flag L=O in step 230.
), the rightward distance value I read in step 110
Ri + frontal distance value lot and left internal path distance L1 are stored in the memory (step 240), then the suffix 1 of the interrupt time is incremented to 1,1, and the process is terminated (step 250).

In the above embodiment, the case where the number of laser beams is 3 was explained, but other number of beams, for example 2.4
,5. . . . etc. may be selected, and the preceding vehicle detection ability can be expected to correspond to the number.

In addition, in the above embodiment, the case where a plurality of light transmitters are provided and one light receiver is provided, but the light transmitter has a high output,
It is also possible to use one light receiver with a wide spread angle and to provide a plurality of light receivers having different light receiving field characteristics in the horizontal direction.

Furthermore, the detection effect may be increased by using a detection means that detects the distance of a plurality of received light pulses within a certain beam.

Further, in the above embodiments, a radar method using a laser beam is described, but the invention is not limited to this, and other radar methods such as radio waves and ultrasonic waves are described, but the invention is not limited to this. Of course, other radar methods such as , radio waves, and ultrasonic waves may also be used.

[Effects of the Invention] As explained above, according to the present invention, a canceling means is provided and the tracking operation for the preceding vehicle is canceled when the driver performs an operation. If the vehicle moves to another leading lane, the tracking operation for the preceding vehicle is canceled and only the true leading vehicle that is traveling in the own vehicle's driving lane is accurately tracked. Even if a slower preceding vehicle is present in the vehicle's driving lane after the preceding vehicle that was being followed has moved to another lane, the system can accurately detect that other preceding vehicle and drive safely. can be achieved.

[Brief explanation of drawings]

FIG. 1 is a diagram corresponding to claims of the present invention, FIG. 2 is a configuration diagram of a preceding vehicle detecting device showing an embodiment of the present invention, FIG. 3 is a flowchart showing the operation of the preceding vehicle detecting device of FIG. FIG. 4 is a diagram showing a specific example of the detection state of the preceding vehicle, and FIG. 5 is a time chart in the specific example. 1... Transmission means 3... Tracking control means 5...
Release means

Claims (1)

[Claims] (1) a transmitting means for transmitting electromagnetic waves in front of the own vehicle; a tracking control means for controlling the own vehicle to track the preceding vehicle while receiving reflected waves of the transmitted electromagnetic waves from the preceding vehicle;
A preceding vehicle detection device comprising: a canceling means operated by a driver to cancel a tracking operation for the preceding vehicle.