Vehicle acceleration and deceleration control device

• US 10,144,399 B2
• Filed: 11/04/2015
• Issued: 12/04/2018
• Est. Priority Date: 11/10/2014
• Status: Active Grant

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Sugano, Takashi, Kusumoto, Shimpei
• Primary Examiner(s): Weber, Tamara L
• Application Number:
  US15/301,885
• Publication Number:
  US 20170021812A1
• Time in Patent Office: 1,126 Days
• Field of Search: None
• CPC Class Codes: B60K 28/08 responsive to conditions relating to the cargo, e.g. overload
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2210/12 Friction
• CPC Class Codes: B60T 2210/24 Curve radius
• CPC Class Codes: B60T 2210/30 Environment conditions or position therewithin
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2220/00 Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
• CPC Class Codes: B60T 2250/02 Vehicle mass
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/00 Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force by changing number of effective brake cylinders in power brake systems B60T17/10
• CPC Class Codes: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• CPC Class Codes: B60T 8/18 responsive to vehicle weight or load, e.g. load distribution using electrical circuitry on regulation means B60T8/17; B60T8/30 takes precedence; responsive to weight and speed condition B60T8/58
• CPC Class Codes: B60T 8/246 Change of direction
• CPC Class Codes: B60T 8/58 responsive to speed and another condition or to plural speed conditions
• CPC Class Codes: B60W 2540/00 Input parameters relating to occupants
• CPC Class Codes: B60W 2540/049 Number of occupants
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2552/30 : Road curve radius
• CPC Class Codes: B60W 2552/40 : Coefficient of friction
• CPC Class Codes: B60W 2554/00 : Input parameters relating to objects
• CPC Class Codes: B60W 2554/406 : Traffic density
• CPC Class Codes: B60W 2555/20 : Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/10 : Historical data
• CPC Class Codes: B60W 2720/103 : Speed profile
• CPC Class Codes: B60W 2720/106 : Longitudinal acceleration
• CPC Class Codes: B60W 30/045 : Improving turning performance
• CPC Class Codes: B60W 30/14 : Adaptive cruise control
• CPC Class Codes: B60W 30/18145 : Cornering
• CPC Class Codes: B60W 40/08 : related to drivers or passengers
• CPC Class Codes: B60W 40/09 : Driving style or behaviour
• CPC Class Codes: B60W 40/13 : Load or weight

Abstract

A target acceleration/deceleration setting unit (28) of a vehicle acceleration/deceleration controller (16) sets a target acceleration or deceleration at a location at which a curve starts to be a predetermined maximum deceleration, sets a target acceleration or deceleration at a location at which the curve ends to be a predetermined maximum acceleration, sets a target acceleration or deceleration at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero, and sets a target deceleration D (Ld) at a location to which the travelling distance from the location at which the curve starts is Ld and a target acceleration A (La) at a location to which the travelling distance from the predetermined intermediate location is La to satisfy respective predetermined relations.

Claims

1. A vehicle control device for a vehicle, the vehicle control device comprising:

a brake of the vehicle;

an engine of the vehicle; and

a vehicle acceleration/deceleration controller that controls an acceleration and deceleration of the vehicle in a direction of travel of the vehicle from entry of the vehicle into a curve to exit of the vehicle from the curve, the vehicle acceleration/deceleration controller comprising;

a curve shape information obtaining unit configured to obtain shape information including a radius of curvature of the curve in front of the vehicle;

a target acceleration/deceleration setting unit configured to set target accelerations and decelerations of the vehicle in the direction of travel of the vehicle between a location at which the curve starts and a location at which the curve ends; and

an acceleration/deceleration control unit configured to, when the vehicle travels from the location at which the curve starts to the location at which the curve ends, control the acceleration and deceleration of the vehicle in the direction of travel of the vehicle in accordance with the target accelerations and decelerations set by the target acceleration/deceleration setting unit, wherein

the acceleration/deceleration control unit controls the brake and the engine,

the target acceleration/deceleration setting unit

sets one of the target accelerations and decelerations at the location at which the curve starts to be a predetermined maximum deceleration,

sets another one of the target accelerations and decelerations at the location at which the curve ends to be a predetermined maximum acceleration,

sets still another one of the target accelerations and decelerations at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero,

sets a target deceleration D (Ld) at a location to which a travelling distance from the location at which the curve starts is Ld between the location at which the curve starts and the predetermined intermediate location to satisfy a following expression (1);

Dmax·

(1−

Ld/L1)≤

D(Ld)≤

Dmax·

cos(π

Ld/2L1)

where Dmax represents the predetermined maximum deceleration, and L1 represents a travelling distance between the location at which the curve starts and the predetermined intermediate location, and

sets a target acceleration A (La) at a location to which a travelling distance from the predetermined intermediate location is La between the predetermined intermediate location and the location at which the curve ends to satisfy a following expression (2);

Amax·

La/L2≤

A(La)≤

Amax·

sin(π

La/2L2)

where Amax represents the predetermined maximum acceleration, and L2 represents a travelling distance between the predetermined intermediate location and the location at which the curve ends.

2. The vehicle control device of claim 1, wherein

the predetermined intermediate location at which the target acceleration/deceleration setting unit sets the target acceleration and deceleration to be zero is a location at which the radius of curvature of the curve is smallest.

3. The vehicle control device of claim 1, wherein

the predetermined intermediate location at which the target acceleration/deceleration setting unit sets the target acceleration and deceleration to be zero is a location between the location at which the curve starts and a location at which the radius of curvature of the curve is smallest.

4. The vehicle control device of claim 1, wherein

the predetermined intermediate location at which the target acceleration/deceleration setting unit sets the target acceleration and deceleration to be zero is a location between the location at which the curve ends and a location at which the radius of curvature of the curve is smallest.

5. The vehicle control device of claim 1, wherein

the predetermined maximum deceleration set as the one of the target accelerations and decelerations at the location at which the curve starts by the target acceleration/deceleration setting unit is a deceleration having a magnitude equal to that of a maximum lateral acceleration that may be applied to the vehicle during cornering.

6. The vehicle control device of claim 1, wherein the target acceleration/deceleration setting unit sets the target accelerations and decelerations so that a plot of travelling distance along a horizontal axis against acceleration and deceleration along a vertical axis results in a sinusoidal curve from the location at which the curve starts to the location at which the curve ends.

7. A vehicle control device for a vehicle, the vehicle control device comprising:

a brake of the vehicle;

an engine of the vehicle; and

a vehicle acceleration/deceleration controller that controls an acceleration and deceleration of the vehicle in a direction of travel of the vehicle from entry of the vehicle into a curve to exit of the vehicle from the curve, the vehicle acceleration/deceleration controller comprising;

a curve shape information obtaining unit configured to obtain shape information including a radius of curvature of the curve in front of the vehicle;

a target acceleration/deceleration setting unit configured to set target accelerations and decelerations of the vehicle in the direction of travel of the vehicle between a location at which the curve starts and a location at which the curve ends;

an acceleration/deceleration control unit configured to, when the vehicle travels from the location at which the curve starts to the location at which the curve ends, control the acceleration and deceleration of the vehicle in the direction of travel of the vehicle in accordance with the target accelerations and decelerations set by the target acceleration/deceleration setting unit; and

an occupant condition obtaining unit configured to obtain a condition of an occupant in the vehicle, wherein

the acceleration/deceleration control unit controls the brake and the engine,

the target acceleration/deceleration setting unit

sets one of the target accelerations and decelerations at the location at which the curve starts to be a predetermined maximum deceleration,

sets another one of the target accelerations and decelerations at the location at which the curve ends to be a predetermined maximum acceleration,

sets still another one of the target accelerations and decelerations at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero,

sets a target deceleration D (Ld) at a location to which a travelling distance from the location at which the curve starts is Ld between the location at which the curve starts and the predetermined intermediate location to satisfy a following expression (1);

Dmax·

(1−

Ld/L1)≤

D(Ld)≤

Dmax·

cos(π

Ld/2L1)

where Dmax represents the predetermined maximum deceleration, and L1 represents a travelling distance between the location at which the curve starts and the predetermined intermediate location,

sets a target acceleration A (La) at a location to which a travelling distance from the predetermined intermediate location is La between the predetermined intermediate location and the location at which the curve ends to satisfy a following expression (2);

Amax·

La/L2≤

A(La)≤

Amax·

sin(π

La/2L2)

where Amax represents the predetermined maximum acceleration, and L2 represents a travelling distance between the predetermined intermediate location and the location at which the curve ends, and

the target acceleration/deceleration setting unit sets the target deceleration D (Ld) within a range satisfying the expression (1) in accordance with the condition of the occupant in the vehicle obtained by the occupant condition obtaining unit, and sets the target acceleration A (La) within a range satisfying the expression (2) in accordance with the condition of the occupant in the vehicle obtained by the occupant condition obtaining unit.

8. The vehicle control device of claim 7, wherein

the occupant condition obtaining unit is configured to obtain information for determining whether or not the occupant is in good physical condition as the condition of the occupant in the vehicle and determine whether or not the occupant is in good physical condition, based on the obtained information, and

the target acceleration/deceleration setting unit is configured to, if the occupant condition obtaining unit determines that the occupant is in good physical condition, set the target deceleration D (Ld) and the target acceleration A (La) to be closer to Dmax·

cos(π

Ld/2L1) and Amax·

sin(π

La/2L2), respectively, than if the occupant condition obtaining unit determines that the occupant is not in good physical condition.

9. The vehicle control device of claim 7, wherein

the occupant condition obtaining unit is configured to obtain information for determining whether or not the occupant tends to perform quick operations as the condition of the occupant in the vehicle and determine whether or not the occupant tends to perform quick operations, based on the obtained information, and

the target acceleration/deceleration setting unit is configured to, if the occupant condition obtaining unit determines that the occupant tends to perform quick operations, set the target deceleration D (Ld) and the target acceleration A (La) to be closer to Dmax·

cos(π

Ld/2L1) and Amax·

sin(π

La/2L2), respectively, than if the occupant condition obtaining unit determines that the occupant does not tend to perform quick operations.

10. The vehicle control device of claim 9, further comprising

a storage unit configured to store accelerations applied to the vehicle by driving operations of the occupant, wherein

the occupant condition obtaining unit is configured to obtain information on the accelerations applied to the vehicle by the occupant'"'"'s past driving operations stored in the storage unit and determine whether or not the occupant tends to perform quick operations, based on the obtained information on the acceleration.

11. A vehicle control device for a vehicle, the vehicle control device comprising:

a brake of the vehicle;

an engine of the vehicle; and

a vehicle acceleration/deceleration controller that controls an acceleration and deceleration of the vehicle in a direction of travel of the vehicle from entry of the vehicle into a curve to exit of the vehicle from the curve, the vehicle acceleration/deceleration controller comprising;

a curve shape information obtaining unit configured to obtain shape information including a radius of curvature of the curve in front of the vehicle;

a target acceleration/deceleration setting unit configured to set target accelerations and decelerations of the vehicle in the direction of travel of the vehicle between a location at which the curve starts and a location at which the curve ends;

an acceleration/deceleration control unit configured to, when the vehicle travels from the location at which the curve starts to the location at which the curve ends, control the acceleration and deceleration of the vehicle in the direction of travel of the vehicle in accordance with the target accelerations and decelerations set by the target acceleration/deceleration setting unit; and

a vehicle condition obtaining unit configured to obtain a condition of the vehicle, wherein

the acceleration/deceleration control unit controls the brake and the engine,

the target acceleration/deceleration setting unit

sets one of the target accelerations and decelerations at the location at which the curve starts to be a predetermined maximum deceleration,

sets another one of the target accelerations and decelerations at the location at which the curve ends to be a predetermined maximum acceleration,

sets still another one of the target accelerations and decelerations at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero,

sets a target deceleration D (Ld) at a location to which a travelling distance from the location at which the curve starts is Ld between the location at which the curve starts and the predetermined intermediate location to satisfy a following expression (1);

Dmax·

(1−

Ld/L1)≤

D(Ld)≤

Dmax·

cos(π

Ld/2L1)

where Dmax represents the predetermined maximum deceleration, and L1 represents a travelling distance between the location at which the curve starts and the predetermined intermediate location,

sets a target acceleration A (La) at a location to which a travelling distance from the predetermined intermediate location is La between the predetermined intermediate location and the location at which the curve ends to satisfy a following expression (2);

Amax·

La/L2≤

A(La)≤

Amax·

sin(π

La/2L2)

where Amax represents the predetermined maximum acceleration, and L2 represents a travelling distance between the predetermined intermediate location and the location at which the curve ends,

the target acceleration/deceleration setting unit sets the target deceleration D (Ld) within a range satisfying the expression (1) in accordance with the condition of the vehicle obtained by the vehicle condition obtaining unit, and sets the target acceleration A (La) within a range satisfying the expression (2) in accordance with the condition of the vehicle obtained by the vehicle condition obtaining unit,

the vehicle condition obtaining unit is configured to obtain a parameter of the vehicle as the condition of the vehicle, and

the target acceleration/deceleration setting unit is configured to set the target deceleration D (Ld) and the target acceleration A (La) such that the lower or higher the parameter obtained by the vehicle condition obtaining unit is, the closer to Dmax·

cos(π

Ld/2L1) the target deceleration D (Ld) is, and the closer to Amax·

sin(π

La/2L2) the target acceleration A (La) is.

12. The vehicle control device of claim 11, wherein

the vehicle condition obtaining unit is configured to obtain a speed of the vehicle as the condition of the vehicle, and

the target acceleration/deceleration setting unit is configured to set the target deceleration D (Ld) and the target acceleration A (La) such that the lower the speed obtained by the vehicle condition obtaining unit is, the closer to Dmax·

cos(π

Ld/2L1) the target deceleration D (Ld) is, and the closer to Amax·

sin(π

La/2L2) the target acceleration A (La) is.

13. The vehicle control device of claim 11, wherein

the vehicle condition obtaining unit is configured to obtain the number of occupants riding in the vehicle as the condition of the vehicle, and

the target acceleration/deceleration setting unit sets the target deceleration D (Ld) and the target acceleration A (La) such that the smaller the number of the occupants obtained by the vehicle condition obtaining unit is, the closer to Dmax·

cos(π

Ld/2L1) the target deceleration D (Ld) is, and the closer to Amax·

sin(π

La/2L2) the target acceleration A (La) is.

14. The vehicle control device of claim 11, wherein

the vehicle condition obtaining unit is configured to obtain a weight of a load carried by the vehicle as the condition of the vehicle, and

the target acceleration/deceleration setting unit is configured to set the target deceleration D (Ld) and the target acceleration A (La) such that the lower the weight of the load obtained by the vehicle condition obtaining unit is, the closer to Dmax·

cos(π

Ld/2L1) the target deceleration D (Ld) is, and the closer to Amax·

sin(π

La/2L2) the target acceleration A (La) is.

15. A vehicle control device for a vehicle, the vehicle control device comprising:

a brake of the vehicle;

an engine of the vehicle; and

a vehicle acceleration/deceleration controller that controls an acceleration and deceleration of the vehicle in a direction of travel of the vehicle from entry of the vehicle into a curve to exit of the vehicle from the curve, the vehicle acceleration/deceleration controller comprising;

a curve shape information obtaining unit configured to obtain shape information including a radius of curvature of the curve in front of the vehicle;

a target acceleration/deceleration setting unit configured to set target accelerations and decelerations of the vehicle in the direction of travel of the vehicle between a location at which the curve starts and a location at which the curve ends;

an acceleration/deceleration control unit configured to, when the vehicle travels from the location at which the curve starts to the location at which the curve ends, control the acceleration and deceleration of the vehicle in the direction of travel of the vehicle in accordance with the target accelerations and decelerations set by the target acceleration/deceleration setting unit; and

a driving environment obtaining unit configured to obtain a driving environment of the vehicle, wherein

the acceleration/deceleration control unit controls the brake and the engine,

the target acceleration/deceleration setting unit

sets one of the target accelerations and decelerations at the location at which the curve starts to be a predetermined maximum deceleration,

sets another one of the target accelerations and decelerations at the location at which the curve ends to be a predetermined maximum acceleration,

sets still another one of the target accelerations and decelerations at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero,

sets a target deceleration D (Ld) at a location to which a travelling distance from the location at which the curve starts is Ld between the location at which the curve starts and the predetermined intermediate location to satisfy a following expression (1);

Dmax·

(1−

Ld/L1)≤

D(Ld)≤

Dmax·

cos(π

Ld/2L1)

where Dmax represents the predetermined maximum deceleration, and L represents a travelling distance between the location at which the curve starts and the predetermined intermediate location,

sets a target acceleration A (La) at a location to which a travelling distance from the predetermined intermediate location is La between the predetermined intermediate location and the location at which the curve ends to satisfy a following expression (2);

Amax·

La/L2≤

A(La)≤

Amax·

sin(π

La/2L2)

where Amax represents the predetermined maximum acceleration, and L2 represents a travelling distance between the predetermined intermediate location and the location at which the curve ends,

the target acceleration/deceleration setting unit is configured to set the target deceleration D (Ld) within a range satisfying the expression (1) in accordance with the driving environment of the vehicle obtained by the driving environment obtaining unit, and set the target acceleration A (La) within a range satisfying the expression (2) in accordance with the driving environment of the vehicle obtained by the driving environment obtaining unit,

the driving environment obtaining unit is configured to obtain information for determining whether or not a parameter of the environment exists as the driving environment of the vehicle, and determine whether or not the parameter of the environment exists, based on the obtained information, and

the target acceleration/deceleration setting unit is configured to, if the driving environment obtaining unit determines that a particular parameter of the environment exists, set the target deceleration D (Ld) and the target acceleration A (La) to be closer to Dmax·

cos(π

Ld/2L1) and Amax·

sin(π

La/2L2), respectively, than if the driving environment obtaining unit determines that the particular parameter of the environment does not exist.

16. The vehicle control device of claim 15, wherein

the driving environment obtaining unit is configured to obtain information for determining whether or not a period when the vehicle travels on the curve is during a daytime as the driving environment of the vehicle, and determine whether or not the period is during the daytime, based on the obtained information, and

the target acceleration/deceleration setting unit is configured to, if the driving environment obtaining unit determines that the period is during the daytime, set the target deceleration D (Ld) and the target acceleration A (La) to be closer to Dmax·

cos(π

Ld/2L1) and Amax·

sin(π

La/2L2), respectively, than if the driving environment obtaining unit determines that the period is not during the daytime.

17. The vehicle control device of claim 15, wherein

the driving environment obtaining unit is configured to obtain information for determining whether or not the curve has high visibility as the driving environment of the vehicle, and determine whether or not the curve has high visibility, based on the obtained information, and

the target acceleration/deceleration setting unit is configured to, if the driving environment obtaining unit determines that the curve has high visibility, set the target deceleration D (Ld) and the target acceleration A (La) to be closer to Dmax·

cos(π

Ld/2L1) and Amax·

sin(π

La/2L2), respectively, than if the curve does not have high visibility.

18. The vehicle control device of claim 15, wherein

the driving environment obtaining unit is configured to obtain information for determining whether or not a traffic density of the curve is high as the driving environment of the vehicle, and determine whether or not the traffic density of the curve is high, based on the obtained information, and

the target acceleration/deceleration setting unit is configured to, if the driving environment obtaining unit determines that the traffic density of the curve is not high, set the target deceleration D (Ld) and the target acceleration A (La) to be closer to Dmax·

cos(π

Ld/2L1) and Amax·

sin(π

La/2L2), respectively, than if the driving environment obtaining unit determines that the traffic density is high.

19. The vehicle control device of claim 15, wherein

the driving environment obtaining unit is configured to obtain information for determining a condition of a road surface of the curve as the driving environment of the vehicle, and determine whether or not the road surface of the curve has a high friction coefficient, based on the obtained information, and

the target acceleration/deceleration setting unit is configured to, if the driving environment obtaining unit determines that the road surface of the curve has a high friction coefficient, set the target deceleration D (Ld) and the target acceleration A (La) to be closer to Dmax·

cos(π

Ld/2L1) and Amax·

sin(π

La/2L2), respectively, than if the driving environment obtaining unit determines that the road surface of the curve does not have a high friction coefficient.