Vehicle travel control apparatus

• US 10,000,211 B2
• Filed: 08/27/2014
• Issued: 06/19/2018
• Est. Priority Date: 09/06/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamada, Hiroshi, Nanami, Takeshi
• Primary Examiner(s): Olszewski, John
• Assistant Examiner(s): Merlino, David P.
• Application Number:
  US14/915,839
• Publication Number:
  US 20160200321A1
• Time in Patent Office: 1,392 Days
• Field of Search: None
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle

Abstract

A vehicle travel control apparatus for improved vehicle following includes a sensor that obtains preceding vehicle speed information representing a vehicle speed of a preceding vehicle, and preceding vehicle information representing at least one of a lateral position and a lateral speed of the preceding vehicle with respect to a traveling direction of a host vehicle, and a controller that, during a following mode in which the host vehicle follows the preceding vehicle, determines a target value related to acceleration/deceleration of the host vehicle based on the preceding vehicle speed information such that the host vehicle follows the preceding vehicle, and controls the acceleration/deceleration of the host vehicle such that the target value is implemented. During the following mode, the controller corrects the target value related to the acceleration/deceleration of the host vehicle based on the preceding vehicle information.

Claims

1. A vehicle travel control apparatus, comprising:

a sensor that obtains preceding vehicle speed information representing a vehicle speed of a preceding vehicle, and preceding vehicle information representing at least one of (i) a lateral distance of the preceding vehicle that is measured in a direction that is perpendicular to a traveling direction of a host vehicle from a point falling on an imaginary line that passes through the host vehicle and is parallel to the traveling direction of the host vehicle and (ii) a lateral speed of the preceding vehicle in the direction that is perpendicular to the traveling direction; and

a controller that, during a following mode in which the host vehicle follows the preceding vehicle, determines a target value related to acceleration/deceleration of the host vehicle based on the preceding vehicle speed information such that the host vehicle follows the preceding vehicle, and controls the acceleration/deceleration of the host vehicle such that the target value is implemented, wherein

the controller calculates, based on an operation state of a winker by a driver and the preceding vehicle information, a preceding vehicle leaving probability indicative of a probability that the preceding vehicle is out of a state in which the preceding vehicle is to be followed,

during the following mode, the controller suppresses control of the acceleration/deceleration in response to a first predetermined accelerator operation being detected, and cancels suppression of the control of the acceleration/deceleration in response to a second predetermined accelerator operation, having an operation amount less than an operation amount of the first predetermined accelerator operation, being detected,

the controller corrects the target value related to the acceleration/deceleration of the host vehicle based on the preceding vehicle leaving probability only in a state immediately after canceling the suppression of the control of the acceleration/deceleration, and

suppressing control of the acceleration/deceleration includes setting an accelerator pedal override state where the controller overrides the target value with a driver demand acceleration calculated based upon the first predetermined accelerator operation.

2. The vehicle travel control apparatus of claim 1,

wherein the controller calculates the preceding vehicle leaving probability such that a magnitude of the preceding vehicle leaving probability becomes higher as the lateral distance or the lateral speed of the preceding vehicle becomes greater.

3. The vehicle travel control apparatus of claim 1, wherein the controller limits a change in the preceding vehicle leaving probability for a predetermined period when the lateral distance or the lateral speed of the preceding vehicle starts to decrease from its increasing state.

4. The vehicle travel control apparatus of claim 1,

wherein the controller limits a change in a correction amount of the target value for a predetermined period when the lateral distance or the lateral speed of the preceding vehicle starts to decrease from its increasing state.

5. The vehicle travel control apparatus of claim 1, wherein the preceding vehicle leaving probability is calculated such that the preceding vehicle leaving probability in the case where the winker is operated in such a direction that corresponds to a direction in which the lateral distance from the traveling direction or the lateral speed of the preceding vehicle increases is smaller than that in the case where the winker is operated in such a direction that corresponds to a direction in which the lateral distance from the traveling direction or the lateral speed of the preceding vehicle decreases.

6. The vehicle travel control apparatus of claim 1, wherein

the target value related to the acceleration/deceleration of the host vehicle is calculated by multiplying a target value of the deceleration by a correction gain, the target value of the deceleration being calculated based on the preceding vehicle speed information, and

the correction gain is calculated such that the correction gain becomes smaller as the preceding vehicle leaving probability becomes higher.

7. The vehicle control apparatus of claim 1, wherein the preceding vehicle information represents both of the lateral distance and the lateral speed of the preceding vehicle.