Vehicle control apparatus

• US 10,053,095 B2
• Filed: 09/07/2016
• Issued: 08/21/2018
• Est. Priority Date: 09/09/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Habu, Toshiya
• Primary Examiner(s): ARTHUR JEANGLAUD, GERTRUDE
• Application Number:
  US15/258,886
• Publication Number:
  US 20170066444A1
• Time in Patent Office: 713 Days
• Field of Search: 701 26, 701 93, 701300, 701301, 701527, 340435, 340436
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2754/20 Lateral distance
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 2754/50 Relative longitudinal speed
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

In a vehicle control apparatus, a preceding vehicle ahead of an own vehicle is detected. A movement trajectory of a target preceding vehicle is acquired. Based on the movement trajectory of the target preceding vehicle, a target route on which the own vehicle is to travel is set. Travelling control of the own vehicle is performed so as to follow the target preceding vehicle on the target route. An obstacle ahead of the own vehicle is detected. The target route is changed so as to extend a separation distance between the detected obstacle and a parallel portion of the target route that is parallel to the obstacle, based on a separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle.

Claims

1. A vehicle control apparatus comprising:

a preceding vehicle detecting unit that detects a preceding vehicle ahead of an own vehicle;

a movement trajectory acquiring unit that acquires a movement trajectory of a target preceding vehicle;

a target route setting unit that sets a target route on which the own vehicle is to travel, based on the movement trajectory of the target preceding vehicle;

an own vehicle control unit that performs travelling control of the own vehicle so as to follow the target preceding vehicle on the target route;

an obstacle detecting unit that detects an obstacle ahead of the own vehicle; and

a target route changing unit that changes the target route by increasing a first separation distance between the obstacle and a parallel portion of the target route that is parallel to the obstacle, the increase of the first separation distance being based on a second separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle.

2. The vehicle control apparatus according to claim 1, wherein:

the target route changing unit changes the target route so as to increase the first separation distance between the obstacle and the parallel portion of the target route that is parallel to the obstacle, when the second separation distance between the obstacle and the parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle is less than a predetermined threshold.

3. The vehicle control apparatus according to claim 2, wherein:

the target route changing unit changes the target route based on an own vehicle speed.

4. The vehicle control apparatus according to claim 2, wherein:

the target route changing unit changes the target route so as to reduce an amount of deviation of the own vehicle from an own traffic lane that is a traffic lane in which the own vehicle is traveling, when the own vehicle deviates from the own traffic lane when the own vehicle travels on the changed target route.

5. The vehicle control apparatus according to claim 2, wherein:

the own vehicle control unit reduces a vehicle speed of the own vehicle when the own vehicle deviates from the own traffic lane when the own vehicle travels on the changed target route.

6. The vehicle control apparatus according to claim 2, wherein:

the target route changing unit changes the target route such that, when a lane marker marking the own traffic lane is a solid line, the own vehicle does not run outside of the solid line.

7. The vehicle control apparatus according to claim 2, wherein:

the target route changing unit changes the target route so as to increase the first separation distance between the obstacle and the parallel portion of the target route that is parallel to the obstacle, based on a difference between a vehicle width of the own vehicle and a vehicle width of the target preceding vehicle.

8. The vehicle control apparatus according to claim 1, wherein:

the target route changing unit gradually changes the target route set by the target route setting unit.

9. The vehicle control apparatus according to claim 1, wherein:

the target route changing unit stops changing the target route when the obstacle is no longer detected.

10. The vehicle control apparatus according to claim 1, further comprising:

a setting unit that sets an acquisition position of the second separation distance between the obstacle and the parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle, based on the own vehicle speed, wherein

the target route changing unit changes the target route so as to increase the second separation distance acquired at the acquisition point set by the setting unit.

11. The vehicle control apparatus according to claim 1, wherein:

the target route changing unit changes the target route based on a state of the obstacle.

12. The vehicle control apparatus according to claim 1, wherein:

the target route changing unit changes the target route, when the obstacle detecting unit detects the obstacles on both left and right sides of the own traffic lane, such that second separation distances between the obstacles on both left and right sides and the parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacles are greater than a predetermined distance.

13. The vehicle control apparatus according to claim 12, wherein:

the vehicle control unit stops travelling control of the own vehicle when, as a result of the target route being changed such that a second separation distance between either of the obstacles on both left and right sides and the parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle is greater than the predetermined distance, a second separation distance between the other of the obstacles and the parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle becomes less than the predetermined distance.

14. The vehicle control apparatus according to claim 1, wherein:

the vehicle control unit makes the own vehicle change lanes to an adjacent traffic lane that is adjacent to the own traffic lane when the obstacle is detected in the own traffic lane by the obstacle detecting unit, under a condition that a road on which the own vehicle is traveling has a plurality of traffic lanes and an obstacle is not detected in the adjacent traffic lane adjacent.

15. The vehicle control apparatus according to claim 1, wherein:

the obstacle detecting unit detects the obstacle that is in the own traffic lane or a location adjacent to the own traffic lane.

16. A vehicle control apparatus comprising:

a preceding vehicle detecting unit that detects a preceding vehicle ahead of an own vehicle;

a movement trajectory acquiring unit that acquires a movement trajectory of a target preceding vehicle;

a target route setting unit that sets a target route on which the own vehicle is to travel, based on the movement trajectory of the target preceding vehicle;

an own vehicle control unit that performs travelling control of the own vehicle so as to follow the target preceding vehicle on the target route;

an obstacle detecting unit that detects an obstacle ahead of the own vehicle; and

a target route changing unit that changes the target route by increasing a first separation distance between the obstacle and a parallel portion of the target route that is parallel to the obstacle, the increase of the first separation distance being based on a second separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle, wherein

the own vehicle control unit stops travelling control of the own vehicle when the own vehicle deviates from an own traffic lane that is a traffic lane in which the own vehicle is traveling when the own vehicle travels on the changed target route.

17. A vehicle control apparatus comprising:

a preceding vehicle detecting unit that detects a preceding vehicle ahead of an own vehicle;

a movement trajectory acquiring unit that acquires a movement trajectory of a target preceding vehicle;

a target route setting unit that sets a target route on which the own vehicle is to travel, based on the movement trajectory of the target preceding vehicle;

an own vehicle control unit that performs travelling control of the own vehicle so as to follow the target preceding vehicle on the target route;

an obstacle detecting unit that detects an obstacle ahead of the own vehicle; and

a target route changing unit that changes the target route by increasing a first separation distance between the obstacle and a parallel portion of the target route that is parallel to the obstacle, the increase of the first separation distance being based on a second separation distance between the obstacle and a parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle, wherein

the own vehicle control unit stops travelling control of the own vehicle when the second separation distance between the obstacle and the parallel portion of the movement trajectory of the target preceding vehicle that is parallel to the obstacle is less than a predetermined threshold.