Traveling control apparatus for a vehicle

• US 10,150,475 B2
• Filed: 05/18/2016
• Issued: 12/11/2018
• Est. Priority Date: 05/19/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Habu, Toshiya, Yokoyama, Takahisa
• Primary Examiner(s): Antonucci, Anne M
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US15/158,362
• Publication Number:
  US 20160339914A1
• Time in Patent Office: 937 Days
• Field of Search: 701 23, 701 48, 701 93, 701301, 701519, 340435, 340903, 342 28
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"

Abstract

A traveling control apparatus includes a generation section generating traveling paths from a history of positions of vehicles present ahead of an own vehicle, a first control section defining one vehicle, which runs in a driving lane of the own vehicle, as a target, and making a lateral position of the own vehicle follow a lateral position which is a position of the target in a width direction of the own vehicle, a determination section determining, when follow-up control is performed, whether or not, in the driving lane, one of the vehicles cuts in a space between the own vehicle and the target, and a first selection section selecting, when cutting in is determined to occur, the current target or the cut-in vehicle as the target, based on a result of comparison between the lateral positions on the traveling paths respectively generated for the current target and the cut-in vehicle.

Claims

1. A traveling control apparatus for a vehicle, the apparatus comprising:

a generation section that generates traveling paths of vehicles from a history of positions of the vehicles present ahead of an own vehicle;

a first control section that defines one vehicle, which is included in the vehicles and runs in a driving lane of the own vehicle, as a target to be followed, and that makes a lateral position of the own vehicle follow a lateral position which is a position of the target to be followed in a width direction of the own vehicle;

a determination section that determines, when the first control section is performing follow-up control for the target to be followed, whether or not, in the driving lane of the own vehicle, one of the vehicles, which is different from the target to be followed, cuts in a space between the own vehicle and the target to be followed; and

a first selection section that selects, when the determination section determines that cutting in occurs, the current target to be followed or the cut-in vehicle as the target to be followed, based on a result of comparison between the lateral positions on the traveling paths respectively generated for the current target to be followed and the cut-in vehicle.

2. The traveling control apparatus according to claim 1 further comprising a comparison section that compares a lateral distance between the lateral position of the own vehicle and the lateral position on the traveling path generated for the current target to be followed with the lateral distance between the lateral position of the own vehicle and the lateral position on the traveling path generated for the cut-in vehicle, wherein

the first selection section selects the current target to be followed or the cut-in vehicle, the lateral distance of which is determined to be smaller by the comparison section, as the target to be followed.

3. The traveling control apparatus according to claim 1, wherein

if a distance between the lateral position on the traveling path generated for the current target to be followed and the lateral position on the traveling path generated for the cut-in vehicle is larger than a predetermined value, the first selection section continuously selects the current target to be followed, and if the distance is not larger than the predetermined value, the first selection section selects the cut-in vehicle as the target to be followed.

4. The traveling control apparatus according to claim 1, wherein

in the space between the own vehicle and the target to be followed in the traveling direction of the own vehicle, if the lateral distance between the lateral position of the own vehicle and any lateral position on the traveling path of the vehicle different from the target to be followed is smaller than a first threshold value corresponding to a value that is half an assumed width of the driving lane, the determination section determines that cutting in occurs.

5. The traveling control apparatus according to claim 1, wherein

when the first control section is performing the follow-up control, if a lateral distance between the lateral position of the own vehicle and the lateral position of a predicted path of the target to be followed, which is a prospective traveling path of the target to be followed predicted from the traveling path of the target to be followed is larger than a first threshold value corresponding to a value that is half an assumed width of the driving lane, the determination section determines that the target to be followed departs from the driving lane of the own vehicle, and

when the determination section determines that departure occurs, the first selection section terminates selection of the current target as the target to be followed.

6. The traveling control apparatus according to claim 1, further comprising:

a second control section that keeps, in the driving lane of the own vehicle, a distance between the own vehicle and a preceding vehicle, which runs ahead of the own vehicle, at a predetermined distance; and

a second selection section that selects, in the driving lane of the own vehicle, the vehicle, a distance from the own vehicle of which is shortest, as an object subject to inter-vehicular distance control performed by the second control section.

7. The traveling control apparatus according to claim 6, wherein

in a state where the follow-up control of the lateral position by the first control section and the inter-vehicular distance control by the second control section are performed for the target to be followed, when it is determines that the cutting in occurs, the inter-vehicular distance control for the cut-in vehicle is started while the follow-up control of the lateral position for the target to be followed at the time is continued.

8. The traveling control apparatus according to claim 1, wherein

a value larger than a first threshold value is defined as a second threshold value, and

the generation section generates the traveling path for the vehicle, a lateral distance from the lateral position of the own vehicle of which is smaller than the second threshold value.

9. A traveling control apparatus for a vehicle, the apparatus comprising:

a generation section that generates traveling paths of vehicles from a history of positions of the vehicles present ahead of an own vehicle;

a first control section that defines one vehicle, which is included in the vehicles and runs in a driving lane of the own vehicle, as a target to be followed, and that makes a lateral position of the own vehicle follow a lateral position which is a position of the target to be followed in a width direction of the own vehicle;

a determination section that determines, when the first control section is performing follow-up control, if a lateral distance between the lateral position of the own vehicle and the lateral position of a predicted path of the target to be followed, which is a prospective traveling path of the target to be followed predicted from the traveling path of the target to be followed, is larger than a first threshold value corresponding to a value that is half an assumed width of the driving lane, that the target to be followed departs from the driving lane of the own vehicle; and

a first selection section that selects the target to be followed, and terminates selection of the current target as the target to be followed when the determination section determines that departure occurs.

10. The traveling control apparatus according to claim 9, wherein

a value larger than the first threshold value is defined as a second threshold value, and

the generation section generates the traveling path for the vehicle, a lateral distance from the lateral position of the own vehicle of which is smaller than the second threshold value.

11. The traveling control apparatus according to claim 9, further comprising:

a second control section that keeps, in the driving lane of the own vehicle, a distance between the own vehicle and a preceding vehicle, which runs ahead of the own vehicle, in a predetermined distance; and

a second selection section that selects, in the driving lane of the own vehicle, the vehicle, a distance from the own vehicle of which is shortest, as an object subject to inter-vehicular distance control performed by the second control section, wherein

in a state where follow-up control of the lateral position by the first control section and inter-vehicular distance control by the second control section are performed for the target to be followed, when it is determined that the departure occurs, the follow-up control of the lateral position for the target to be followed at the time is completed while the inter-vehicular distance control for the target to be followed at the time is continued.

12. A method for controlling travel of a vehicle, the method comprising:

generating traveling paths of vehicles from a history of positions of the vehicles present ahead of an own vehicle;

defining one vehicle, which is included in the vehicles and runs in a driving lane of the own vehicle, as a target to be followed, and that makes a lateral position of the own vehicle follow a lateral position which is a position of the target to be followed in a width direction of the own vehicle;

determining, when performing follow-up control for the target to be followed, whether or not, in the driving lane of the own vehicle, one of the vehicles, which is different from the target to be followed, cuts in a space between the own vehicle and the target to be followed; and

selecting, when determining that cutting in occurs, the current target to be followed or the cut-in vehicle as the target to be followed, based on a result of comparison between the lateral positions on the traveling paths respectively generated for the current target to be followed and the cut-in vehicle.