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    Copyright:

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    9 views11 pages

    Us 8489305

    Uploaded by

    Abdulhaq Hadi Alhaddad
    hi

    Copyright:

    © All Rights Reserved
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    «2 United States Patent Arai et al. 'US008489305B2 (10) Patent No. 4s) Date of Patent: US 8,489,305 B2 Jul. 16, 2013 (54) CAR-FOLLOWING CONTROLLER AND ‘CAR-FOLLOWING CONTROL METHOD (75) Inventors: Toshiaki Aral, Wako (JP); Hiroshi Sato, Wako UP) om wo Assignee: Honda Motor Co, Ltd. Tokyo (JP) Notice: Subject to aay disclaimer, the team ofthis pleat is extended or adjusted under 35 USC. 154(b) by 69 days ay 13/260,006 @y 66) Appl. No. PCT Filed: Ape. 14,2010 PCT No, §371 (0), (2).(4) Date PCT Pub, Nos WO2010/131542 PCT Pubs Date: Nov. 18, 2010 PCTIP2010056662 (Oct. 26,2011 (en) (63) Prior Publication Data US 2012005380841 Mar. 1,2012 60) Foreign Application Priority Data May 12,2009 (JP) 2009-15224 Gb Ince. BoOK 31/00 (2006.01) (2) US.CL usp 701196; 180/170 (58) Fleld of Clasification Search spc’ “701/98, 96; 180167171 See application file for complete search history, 66) References Cited US. PATENT DOCUMENTS 5091726 8 + 21992 Show S602 A * 101997 Mo 32097 & * "22000 hos aa 2o100rs6s36 AL* 102010 Malige Sorvopsise? AL* '22013 Yamashiro FOREIGN PATENT DOCUMENTS. lo-t47160 A Lone aooaiowois A 4/3002 2007-69729 A 2007 soor-aon9 & 32007 70196 sana “096 012 "avs * cited by examiner Primary Examiner — Yooel Beauliew (74) Attornes, Agent, or Firm — Arent Fox LLP on ‘When a preceding vehicle (Vb) starts during deceleration ofa vehicle (Va) which is tying to stop following the stopped preceding vehicle (Vb), ifthe vehicle (Va) accelerates follow ing the preceding vehiele (Vb), the driver possibly mistakes that the vehicle is equipped with an stomtie star funtion A virial preceding vehicle (Vb) is set atthe top position of the preceding vehicle (Vb, sa that the vehicle (Va) is tempo rarily stopped following the stopping. virwal preceding vehicle (Vb) even if the actual preceding vehicle (Vb) is started, As a result, the veiele (Va) is ot started until the river indicates the intention to start by operating & start switch, and the driver ean be prevented from mistaking that the Vehicle is equipped with an automatic start fanction. ABSTRACT 8 Claims, § Drawing Sheets RECEDING VEHIGLE STOPS AND. SUBJECT VEHICLE ALSO DECELERATES| ERIN... SERESTERTAVeLeEEDNG SUB EgT, e |SPLACED AT THE POSITION ee V> olin VIE SEUSS SIT BEE crane Tu (B) _wradne 10 Ye V=olkmi) = Vv ae sraxng, 4EPie Ee GPa (ikm/n) V>0 lensh] U.S. Patent Tul. 16, 2013 Sheet 1 of 5 US 8,489,305 B2 FIG.1 Sa Sb Sc (OBJECT DETECTION) [VEHICLE SPEED MEANS DETECTION MEANS} | START SWITCH PRECEDING Vi BET ERMINE ON MEANS| FOLLOWING CONTROL MEANS [THROTTLE ACTUATOR BRAKE ACTUATOR US 8,489,305 B2 Sheet 2 of 5 Sul. 16, 2013 U.S, Patent [4/4] O< A [yu] o= A en See aay Soy Hawes agzgaicn OM ensues) “WLalA, LOarans SdOLS FIOISA LOArENS SHL 3YOS3E ISAC SLYVLS FTOIHSA ONIGIOAYd SHL SI NSA3 3 IOIHSA DNIGIOSd IVNLYIA SHL OL LOadS38 HIM GANNILNOO SI TOULNOD dOlsS [4/49] O= A [Hun] o0 [km/h] V =0 [km/h] STOP HOLD SeRIaS Va PRECEDING (B) BRAKING | BRAKING VEHICLE Vb V =0 [km/h] V =0 [km/h] MAINTAIN STOP UNTIL, THERE IS A START OPERATION PRECEDING (C) BRakiye wens Va VEHICLE Vb V=0 [km/h] V >0 [km/h] U.S. Patent Tul. 16, 2013 Sheet 5 of 5 US 8,489,305 B2 FIG.5 PRECEDING VEHICLE STOPS AND SUBJECT VEHICLE ALSO DECELERATES SUBJECT PRECEDING (A) VEHICLE Va V > 0 [km/h] V=0 [km/h] PRECEDING VEHICLE STARTS. BEFORE SUBJECT VEHICLE STOPS VEHICLE v. VEHICLE VB a (B) BRAKING 7-5 V>Ol[km/h] = V>0 [km/h] SUBJECT VEHICLE APPEARS TO AUTOMATICALLY START SUBJECT PRECEDING (C) VEHICLE Va VEHICLE Vb CS US 8,489,305 B2 1 ‘CAR-FOLLOWING CONTROLLER AND CAR-FOLLOWING CONTROL METHOD Ros REFERENCE TO RELATED "APPLICATION ‘This Application isa National Stage entry’ of International Application No. PCT!P20101086662, having an interna- tional filing date of Ape. 14, 2010; which claims priority 10 Japanese Application No, 2009-115224, filed May’ 12, 200, the disclosure of each of which is hereby incorporated in its entirety by reference. ‘TECHNICAL FIELD ‘The present invention relates to acar-following controller that inchndes object doretion means for detecting an abjoctin the direction of tavel of a subject vehicle, vehicle speed ‘detection means for detecting a vehicle speed of the subject vehicle, contol start command means for commanding star- ing of following control, preceding vehicle determination means for detemaining the slate of travel, among objects ‘detected by the object detection means, ofa preceding vehicle that the subject vehicle is following, and following control means or eaerying out accelerationdeceleration control and sop hold control of the subject vehicle based on the vehicle speed of the subject vehicle and the inter-ehicle distance with espect to the preceding vehicle when starting of follow- jing control is commanded by the contol star command ‘Furthermore the present invention relates to car-fllow= Jing control method in Which the sate of travel ofa preceding ‘chicle thats subject vehicle sfllowing is determine from ‘information about an object in the direction of tavel of the subject vehicle detected by object detection means and accel- ‘eration deceleration control and stop hold control of de sub 4Ject Vehicle are curied out, based on the vehicle speed ofthe ‘subject vehicle and the inter-vehiele distance with respect 10 the proceding vehicle, when stating of following contol is ‘commanded. BACKGROUND ART With regard to a carfollowing controller that makes 3 subject vehicle follow a preceding vehicle that repeatedly ‘ops and starts, while maintaining a constant inter vehicle distance, s0 aso alleviate the burden of operation on a driver ‘when theres congestion, ete, here isan arrangement known rom ent Docent {Blo in hi forte parse a dealing with a ease in which it would be dangerous sujet vetile somacally sad Whe bw iy ape ‘ceding vehicle at an intersection, level crossing t.,stating ‘of the subject vehicle i prohibited unless the driver operates a stat switch or depresses an accelerator pedal even when starting ofthe preceding vehicle is detected Patent Document I: Japanese Patent Application Laid-open ‘No, 10-147160 DISCLOSURE OF INVENTION Problems 1 be Solved by the Invention In the above-mentioned conventional arangement,start- ing ofa subject vehicles prohibited unless the driver operates astart switch or depresses an accelerator pedal, burt the driver ‘might mistakenly think thatthe subject vehicle hs a function 0 o 2 of automatically starting without requiring the operation of a start switeh or depression ofan aecelerator pedal under the sation below FIG. 4 shows the operation of «conventional car-following, controller a normal situation; in FIG. 4 (A) when preced- ing vehiele Vb decclerates and stops a subject vehicle Va follows and decelerate and in te subsequent FG. 4 (B) the subject vehicle Va stops just before the stopped preceding vehicle Vb. In FIG. 4 (C), the subject vehicle a maintains the stopped state without starting until the diver operates a start switch or depresses an accelerator pedal. In this case, the river does not mistakenly think thatthe subject vehicle Va tas the Finction of automaticaly starting. FIG. shows the operation of the conventional ea-fllow- ing controller ina specific situation; in FIG. § (), when the precoding. vehicle Vb decelerates and stops the subject vehicle Va follows and decelerate. Ifthe preceding vehicle ‘Vb has started before the subject vehicle Va has stopped asin the subsequent FIG. 5 (B), in FIG. §(C) during deceleration the subject vehicle Va without stopping accelerates while following the preceding vehicle Vb. During this process, since the driver does not carry out operation of stat switch fr depression of an accelerator pedal the driver might mi ‘akenly think that the subject vehicle Va as the funtion of aulomatcaly starting. ‘The present invention has been accomplished under the shove-mentioned circumstances, and itis an object thereof to prevent driver fom mistakenly thinking that, with regard to car following controller a subject vehicle has a function of Automatically starting while following stating ofa preceding vehicle. ‘Means for Solving the Problems In order to stain the above object, aosording to a fest aspect ofthe present invention, there is provided a car-fl- lowing controller comprising object detection means for detecting an abject in the direction of trvel of a subject vehicle, vehicle speed detection means for detecting a vehicle speedo the subject vehicle, control start command means for commanding the starting of following control, preceding vehicle detemnination means for determining the sate of travel, among objects detected by the object detection means, ‘of a preceding vehicle thatthe subject vehicle is Zllowing. ‘and following conteol means for carying out aeceleration! eceleration control and stop hold control of the subject vehicle based on the vehicle speed of the subject vehicle and the infersvehicle distance with respeet to the preceding vehicle when stating of following canto is commanded by the contol start command means, characterizedin that the following conteol means determines that stop determination conditions forte subject vehicle are fulfilled ifthe preceding ‘vehicle determination means detects stopping ofthe preced- ing vehicle and, after the stop determination conditions are fulfilled, caries out temporary stop hold control after the subject vehicle is subjected to deceleration control regardless ‘of whether or not he preceding vehicle has tart Punter, according to. second aspect ofthe present inven ‘ion, in addition 10 the first aspect, the following control ‘means determines that stop determination conditions forthe subject vehicle are fullled if, when the preceding vehicle determination means deteets stopping of the preceding vehicle, the inter-vehile distance with respec othe preced- ing Vehicle i less than a predetermined value and the vehicle speed of the subject vehicle is less than a predetermined value US 8,489,305 B2 3 Purthermore, acconting to a thin! aspect of the present ‘vention, in addition to the first or second aspect of the present invention, if stop determination conditions for the ‘Subject vehicle are filld, the following contol means ets ‘a vrwal preceding Vehicle at the stop position of the preced Jing vehicle and earies out deceleration contol and stop hold ‘contol with respect wo the viral preceding vehicle ‘Moreover, according to a fourth aspect of the present ‘invention, in addition o the thidaspect, the following control mans releases the setting of the viral preceding vehicle after stop hold control with respect to the viral preceding vehicle i excoute. Purther, according toa fifth aspect of the present invention, there is provided a car-following contol method in which the state of tavel ofa preceding vehicle tht a subject vehile is following is determined from information about an object, in the direction of travel of the subject vehicle, detected by ‘object detection means, and accoleration/deceleration contol and stop hold control ofthe subject vehicle are carried out based ofa vehicle spocd ofthe subject vehicle and an inter vehicle distance with respect tothe preceding vehicle when the starting of following control is commanded, characterized Jn that the method comprises first step of determining that ‘top determination conditions forthe subject vehicle ae ful- filled if stopping ofthe preveding vehicle is detected, and a second slep of, after the slop determination conditions are {filed exerying out temporary stop hold contol after the subject Vehicle is subjected to deceleration control regardless ‘of whether or not the preceding vehicle as stared Punhermore, according to a sixth aspect of the present ‘invention, inaction co the ith aspect, itis determined that ‘top determination conditions forthe subject vehicle are fl- file ifn he frst step he nter-vehicle distance with respect to the proveding vebile when the preceding vehicle has stopped is Tess than a predetermined value and the vehicle speed of the subject vehicle is less than a predetermined value. ‘Moreover, aevording (0 a seventh aspect of the present ‘invention, ination the filth o sixth aspect, the second stepa virtual preceding vehicles seta thestop position ofthe preceding vehicle and deceleration contol and stop hold ‘contol with respect tothe virtual proveding vehicle are car Fied out, Punter, according to an eighth aspect, in addition to the seventh aspect, inthe sccond step the sting of the virtual preceding Vehicle is released aller stop hold contol with Fespoct to the virtual preceding vehicle i executed. A start switch Se of an embodiment corresponds to contol start command means of the present invention. Elects ofthe Invention Inaoeordance withthe fis aspect ofthe present invention, the preceding vehicle determination means determines, rom ‘an object detected by the object detection means, the state of travel of a preceding vehicle thatthe subject vehicle is fol- Jowing, and when the driver operates the control start com- ‘mand means the following control means carries out follos= ing control in which the subject vehicle is subjected © accelerationideceleation and being held stopped based on the vehicle speed of the subject vehicle and the inter-vehicle distance with respect to the preceding vehicle. Sine the fol- Towing. control means determines that stop determination ‘conditions for the subject vehicle are fulfilled when the pre= ‘ding vehicle determination means detects that the prec ing vehiele has stopped, and aller the stop determination ‘conditions are fulfilled temporary stop hold control is carried 0 o 4 ‘out after the subject vehicle is subjected to deceleration eon- {col regardless of whether or not the preceding vehicle has started, if the preveding vehicle has starved before the subject vehicle has stopped due to the preceding vehicle having stopped, the subject vehicle is alway’ subjected to temporary stop bold contol. Therefore, starting the subject vehicle requires the driver to operate the contol start command ‘cas, adits possible to prevent the driver fom mistakenly ‘thinking thatthe subject vehicle has function of automat cally staring while following stating of the preceding vehicle Funbermore, in acordance with the second aspect ofthe present invention, since the following control means deter ‘mines that stop determination conditions for the subject vehicle are flied when the inter-vehicle distance when the preceding vehicle has stopped is less than a predetermined value and the vehicle speed of the subject vehicle is less than a predetermined value, itis possible to prevent the subject vehicle from automatically stopping unnecessarily if the inter-vehicledistance when the preceding vehicle has topped js sufficiently large and the driver would be given an uncom {ortable sensation if the subject vehicle stopped, or if the vehicle speed of the subject vehicle when the preceding vehicle has topped is suflciently lane andthe driver has the {intention of overtaking the preceding vehicle ‘Moreover, in accordance with the third aspect of the present invention, since the following control means caries ‘ut deceleration contro and stop hold control with espect 10 the virwal preceding vehicle set atthe stop positon of the recoding vehicle when it determines that the stop determi ‘ation conditions for the subject vehicle are fulfilled, even if the actual preceding vehicle has already started, the subject vehicle staps while fllowing stopping of the vital proced- ing vehile and doesnot start unt a lar operation is carried cut by the driver. Thereloreit is possible to prevent the driver ‘rom mistakenly thinking thatthe subject vehicle as anauto- ‘matie start funtion Furiermore, in accordance with the fourth aspect af the present invention, since the following control means releases the setting forthe viral preceding vehicle alter stop hold control with respect to the virtual proceding vehicle is ‘executed, following control with respect tothe actual preced- ing vehicle eam be carried out therelter without problems. ‘Moreover in aecordance wth the fifth aspect of the present invention, the slate of travel of the proceing vehicle thatthe subject vehicle is following is determined from information, detected by the object detection means, about an object inthe rection of travel ofthe subject vehicle, and when the starting of fallowing control iseommanded acceleration\Jeceeration ‘control and stop hod control the subject vehicle ae carried ‘ut based onthe vehicle speed ofthe subject vehicle and the inter-vehicle distance with respect to the preceding vehicle Since inthe frst stp if stopping of the proveding vehicle is Setocted its determined that stop determination conditions Tor the subject vehicle are Tulle, and in the second step after the stop determination conditions areflfilledtem porary ‘Stop hold control is carried ou after the subject vehicle is subjected to deceleration control regardless of whether or not the preceding vehicle has started, ithe preceding vehicle has started before the subject vehicle has stopped due to the preceding vehicle having stopped, the subject vehicle is always subjected to temporary stop hold contol. Therefore, starting the subjeet vehicle requires the driver to operate the ‘control start command means, and tis possible to prevent the river from mistakenly thinking that te subject vehicle has a function of attomaticaly starting while following starting of the preceding vehicle US 8,489,305 B2 5 Punhermore, in accordance with the sixth aspect of the present invention, since jn the fist step it i determined that ‘Sop determination conditions foe the subject vehicle are filled when the intervehicle distance when the preceding vehicle has stoppod is less than a predetermined valve and the Vehicle speed ofthe subject vebicle is less than a predeter ‘ined value, itis possible to prevent the subject vehicle fram ‘automaticaly stopping unnecessarily ifthe snter-vehicle diss tance when the preceding vehicle has stopped is suficiently Jarge and the driver would be given an uncomforable sens- tion ifthe subject vehicle stopped, o tthe vehicle speed of the subject vehicle when the preceding vehicle has sapped is sulicently large andthe driver bas the intention of overtaking the proveding veicle ‘Moreover, in accontance with the seventh aspect of the present invention, since in the second step deceleration con- trol and stop hold control with respect to the viral preceding ‘ehicle sot atthe stop positon of the preceding vehiele are ‘carted out when itis determined thatthe stop detemination| ‘conditions for the subject vehicle ae Tullled, even ifthe ‘etual preceding vehicle has already stared, the subject vehicle stops while following stopping of the vital preved- Jing vehicle and doesnot start ua a tart operation is carried ‘out by the drive. Therefore itis posible to prevent the driver rommisiaknl inking ta he sujet eile ss an at TFunermore in accordance with the eighth aspect of the present invention, since in the second step tbe setting forthe Viral proveding vehicle is released aller stop hold control ‘with respect to the viral preceding vehicle is executed, {ollawing control with respect to te aetual preceding vehicle ‘can be carried out thereafter without problems, BRIEF DESCRIPTION OF DRAWINGS FIG. 1 isa block diagram showing the overall constitution ‘ofa carfollowing controller. ist embodiment) FIGS. 2(4)-(B) are diggrams for explaining the operation ‘of following contol. first embodiment) FIG, 3 isa flowchart for explaining the operation of fol- Towing conto, frst embodiment) FIG. 4 a diagram for explaining the operation ofa ear following controller in 2 normal situation. (conventional ‘example) TIG, § isa diagram for explaining the operation of the ‘car-fllowing controller ina specific situation. (Conventional example) EXPLANATION OF REFERENCE NUMERALS. AND SYMBOLS, MA Preceding vehicle dotermination means M2 Following control means Sa Object detection mens Sb Vehicle speed detection means Se Start swith (control start command means) Vi Subject vehicle Vb Preceding vehicle ‘Vb Virial preceding vehicle [BEST MODE FOR CARRYING OUT THE INVENTION A mode for carrying out the present invention is explained below by reference to FIG. 110 FIG. 3 First Embodiment As shown in FIG. 1, an electronic control unit U of a ‘car-fllowing controller includes preceding vehicle deter 0 o 6 ‘ation means M1 and following control means M2. The pre- ceding vehicle determinstion means MI has connected thereto objet detection means Sa, which isa radar device for detecting an object stich asa preceding vehicle Vb in frontot subject vehicle Va, and the folowing control moans M2 has Connected thereto vehicle speed detection means Sb for {etocting a vehicle spoed of te subject vehicle Va anda start ‘switch Se that is operted by the driver when starting follow ‘ng contol and also has connocted thereto a throttle actuator Aa and a brake actuator Ab that automatically accelerate! ‘decelerate and stop the subject veicle Va in order to make the subject vehicle Va follow the preveding vehicle Vb ‘The preceding vehicle determination means M1 deter- nines atu preceding vehicle Vb, among objects detected by the object detection means Sa, an object that is onthe course of the subject vehicle Va, has a reflection level that is predetermined value or greater, and has a relative spoed ‘within a predetermined range, and calculates a relative dis- ‘tance thereo (thats, an intervehicle distance) anda relative “The following contro! means M2 controls the operation of thethrotle actuator Asandithe brake actuator Abhasedon the inter-vehile distance with respect to the preceding vehicle ‘Vb determines by the preceding vehicle determination means ‘MIL the vehicle spoed ofthe subject vehicle Va detected by the vehicle speed detection means Sb, ad operation ofthe start switch Se by thedriver,inonler © make thesuljoct vehicle Va Tallow the preceding vehicle Vb while maintaining a prede- termined inter-vehiele distance, In addition, ifthe subject vehicle Va stops during following eontro, following control fs temporarily terminated at that point, and following contol is not restarted unless the driver earres out an ON operation forthe stat switch Se, The reason therefor isto prevent the subject vehicle Va from automatically starting while follow ing the starting ofthe preveding vehicle Vib when it is neces- sary forthe subject vehiele Vato maintain a stopped sate ia order to secure safety at an intersection, level emossing, ee even if the preceding vehicle Vb starts ‘As already described by reference to PIG. §, in a coawen= sional car-following controller, if @ precoding vehicle Vb starts before sbject vehicle Va docelertes and stops while following the preceding vehicle Vb that has decelerated and stopped. the subject vehicle Va during deceleration acceler ates, without stopping, while following the preceding vehicle ‘Vb, and the diver might mistakenly think that the subject vehicle Va has a fnetion of automaticaly stating. In onder to eliminate such a problem, in the preseat ‘embodiment contol as shown in FIG, 2iseartied ont, That ‘as shown in FIG. 2 (A), when the subject vehicle Va deceler ates while following the preceding vehicle Vb that has stopped. a vista preceding vehicle VB is stat position ‘where the preceding vehicle Vb has topped, andthe position ‘of the vital preceding vehicle Vb" is stored. As shown ia FIG. 2B), even ifthe preceding vehicle Vb has startod bofare the subject vehicle Va has stopped, since the subject vehicle ‘Va recognizes thatthe proveing whicle Vb is stopped atthe position ofthe virtual preceding vehicle VB, it stops tempo- ‘arly while following the virtual preceding vehicle Vb that bas stopped, Therefor, itis necessary’ forthe divert carry ‘outan ONoperation forthe start switch Se inorder to startthe subject vehicle Va, and itis possible to prevent the driver rom ‘mistakenly thinking that the subject vehicle Vi has an ato- ‘mati star function, “The above-mentioned operation is explained in further etal by reference tothe flowchart of FIG. 3 ies, when in step SI the preceding vehicle Vb is stopped the intervehicle distaace With respeet to the preceding US 8,489,305 B2 1 vehicle Vb is less than a predetermined value (12 m in the embodiment), andthe vehicle speed ofthe subject vehicle Va js less than a predetermined value (10 kavh in the embod ‘ment, in stop S2a viral preceding vehicle lags seta} (he Virtual preceding vehicle VW being present, and in step S8 2 ‘current inter-vchicle distance to the vista preceding vehicle Vb is sored as a provisional intervehicle distance, Ontheotherhand, ifthe answer step S1 ahoveisNO, that js, when the roceding vehicle Vb is not stopped, the intr= ‘chicle distace with respect tothe preceding vehicle Vb is not less than a predetermined valu, oF the vehicle speed of the subject vehicle Va isnot les than a predetermined value, ifinstep $4 the diver earies out an ON operation forthe star switch Se in order to start following control, the subject vehicle Va is stopped by the following contol, or the driver ‘urns OFF the following controler, since setting ofthe Virtual preceding vehicle Vb’ is unnecessary the vial preceding Yehicle flag is reset to 0 (the virtual proveding vehicle Viv being not present) in the subsesquent step S6 the setting ofthe virtual pr ‘ceding vehicle gis instep S7 the signof the vehiclespeed ‘of the subject vehicle Va detected by the vehicle speed dete tion means Shi reversed and the vale is defined a provi sional relative speed with respect to the viral preceding vehicle Vb, andinstep $8 a provisional inter-vehicle distance With respect tothe virtual preceding vehicle b's calculated from Here, 0.1 (see) is a sampling time with which the object, detection means Sa detects an abject. In step SP the inter- vehicle distance and the relative speed with reypeet to the preceding vehicle Vb are replaced hy the provisional inter vehicle distance and the provisional relative speed with respect to the vitul preceding vehicle Vb, and following ‘contol is executed thereatee while considering the vimwal preceding vehicle Vb’ asa preceding vehicle Vb. "As hereinbefore described, in accordance wit the present ‘embodiment, ti determined tha stop determination condi tions forthe subject vehicle Va are flfiled fie inter vehicle distance when the proveding vehicle Sb has stopped is less than 12 m and the vehicle speed ofthe subject vehicle Vis Jessthan 1O kav, and afer the stop determination conditions are fililed temporary stop hold contro i earied out alter the subject vehicle Va is subjected to deceleration control regantless of whether or not the preceding vehicle Vb has started. Therefore, if the preceding vehicle Vb starts before the subject vehicle Va stops while following the preceding vehicle Vb that has stopped, the subject vehicle Vals always subjected to temporary stop hokd control. This requires the river to operate the slant switch Se in order forthe subject ‘vehicle Vito star, ands possible io preven the driver from mistakenly thinking thatthe subject vehicle Vis a function ‘of atomatically stating while following the stating ofthe preceding vehicle Vb, thermore, since stop determination conditions forthe subject vehicle Va include the inter-vehicle distance when the preceding vehicle Vb has stopped being less than 12 mand the ‘ehicle speed ofthe subject vehicle Va when the preceding ‘vehicle Vb has stopped being loss than 10 kr, itis possible to provent the subject vehicle Va fom automatically stopping unnecessarily ithe intr-vehicle distance when the preceding vehicle has topped is suiiciently large and the driver would be given an uncomfortable sensation if the subject vehicle stopped, or ifthe vehicle speed ofthe subject vehicle Va whe 0 o 8 the preceding vehicle Vas stopped is suliciently lange and the driver has the intention of overtaking the preceding vehicle Vb, ‘An embodiment of the present invention is explained hove bu the present invention may be modified in a variety fof ways as long asthe modifications do act depart frm i spirit and scope thereof, For example, the control start command means of the present invention is not limited to the stat switch Se of the embodiment, and may bea sensor that detects depression of ‘an accelerator pedal by a driver “The invention claimed is: 1. A eat-following controller comprising ‘object detection devie (Sa) for detecting an object inthe

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