Vehicle, vehicle controller, vehicle control method, and medium storing vehicle control program

• US 10,173,690 B2
• Filed: 01/30/2017
• Issued: 01/08/2019
• Est. Priority Date: 02/10/2016
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Mukai, Takuyuki
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Huynh, Luat T
• Application Number:
  US15/419,156
• Publication Number:
  US 20170225689A1
• Time in Patent Office: 708 Days
• Field of Search: 701 22, 701 23
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 20/11 using model predictive control [MPC] strategies, i.e. control methods based on models predicting performance utilising navigation and traffic information in the control strategy B60W20/12
• CPC Class Codes: B60W 20/40 Controlling the engagement or disengagement of prime movers, e.g. for transition between prime movers power-up or power-down of the driveline B60W30/192
• CPC Class Codes: B60W 2510/06 Combustion engines, Gas turbines
• CPC Class Codes: B60W 2510/08 Electric propulsion units
• CPC Class Codes: B60W 2510/18 Braking system
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2556/40 High definition maps
• CPC Class Codes: B60W 2710/06 Combustion engines, Gas turbines
• CPC Class Codes: B60W 2710/08 Electric propulsion units
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/0205 Diagnosing or detecting failures; Failure detection models
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: Y10S 903/93 Conjoint control of different elements

Abstract

A vehicle includes a detection section and a automated drive controller. The detection section detects actual behavior of the vehicle. The automated drive controller generates a automated drive action plan for the vehicle, issues an instruction relating to behavior of the vehicle based on the generated action plan to a drive source controller that controls a drive source of the vehicle, and compares predicted behavior of the vehicle predicted based on the issued instruction and actual behavior of the vehicle detected by the detection section. In cases where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the detection section differ from each other by more than a preset range, the automated drive controller issues an instruction to decelerate the vehicle to a brake device of the vehicle.

Claims

1. A vehicle, comprising:

a drive source that generates traveling drive force of an own vehicle;

a drive source controller that controls the drive source;

a brake device that decelerates the vehicle;

a first detection section that detects actual behavior of the vehicle; and

an automated drive controller that;

generates a automated drive action plan for the vehicle,

issues an instruction relating to behavior of the vehicle based on the generated action plan to the drive source controller,

compares predicted behavior of the vehicle predicted based on the issued instruction with the actual behavior of the vehicle detected by the first detection section, and

in a case where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the first detection section differ from each other by more than a preset range, issues an instruction to decelerate the vehicle to the brake device.

2. The vehicle according to claim 1, wherein:

the first detection section detects an actual acceleration of the vehicle; and

the automated drive controller;

issues an instruction relating to a requested acceleration of the vehicle as the instruction relating to behavior of the vehicle,

compares the requested acceleration of the vehicle with the actual acceleration of the vehicle detected by the first detection section, and,

in a case where the actual acceleration of the vehicle detected by the first detection section is larger than the requested acceleration by more than a second preset range, issues the instruction to decelerate the vehicle to the brake device.

3. The vehicle according to claim 1, wherein:

the drive source controller includes at least one first processor that controls the drive source; and

the automated drive controller includes a plurality of second processors in a greater number than the number of the first processor of the drive source controller, the plurality of second processors being capable of operating in parallel with each other such that each of the plurality of second processors is configured to have capability to issue the instruction to decelerate the vehicle to the brake device in the case where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the first detection section differ from each other by more than the preset range.

4. The vehicle according to claim 1, further comprising:

a second detection section that detects an object positioned nearby the vehicle;

wherein,

the automated drive controller, in the case where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the first detection section differ from each other by more than the preset range, generates a deceleration plan for the vehicle based on the object detected by the second detection section, and issues an instruction to decelerate the vehicle to the brake device based on the generated deceleration plan for the vehicle.

5. The vehicle according to claim 4, wherein:

the second detection section detects, as the object, a nearby vehicle traveling nearby the vehicle; and

the automated drive controller estimates future position of the nearby vehicle detected by the second detection section, and generates the deceleration plan for the vehicle based on the estimated future position of the nearby vehicle.

6. The vehicle according to claim 5, wherein:

the second detection section detects, as the nearby vehicle, a preceding vehicle traveling directly in front of the vehicle and a succeeding vehicle traveling directly behind the vehicle; and

the automated drive controller estimates respective future positions of the preceding vehicle and the succeeding vehicle detected by the second detection section, and generates the deceleration plan for the vehicle based on the estimated future positions of the preceding vehicle and the succeeding vehicle.

7. The vehicle according to claim 1, further comprising:

a supply device that supplies the drive source with an energy source of at least one of fuel or electric power, and that supplies electric power to the drive source controller;

wherein

the automated drive controller, in the cases where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the first detection section differ from each other by more than the preset range, issues, to the supply device, at least one out of an instruction to cut off the supply of the energy source to the drive source and an instruction to cut off the supply of the electric power to the drive source controller.

8. The vehicle according to claim 7, wherein:

the automated drive controller;

after issuing the instruction to decelerate the vehicle to the brake device, compares the predicted behavior of the vehicle predicted based on the issued instruction to decelerate the vehicle and the actual behavior of the vehicle detected by the first detection section, and

in a case where the predicted behavior of the vehicle based on the issued instruction to decelerate the vehicle and the actual behavior of the vehicle detected by the first detection section differ from each other by more than a second preset range, issues, to the supply device, at least one out of the instruction to cut off the supply of the energy source to the drive source and the instruction to cut off the supply of electric power to the drive source controller.

9. The vehicle according to claim 1, further comprising:

an output device that outputs an output recognizable by a driver of the vehicle;

wherein

in the case where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the first detection section differ from each other by more than the preset range, the automated drive controller issues, to the output device, an instruction to output content prompting switching from a automated drive mode to a manual driving mode.

10. The vehicle according to claim 9, wherein:

the automated drive controller includes a switching section that detects an operation of switching from the automated drive mode to the manual driving mode, and, in a case where a switching operation from the automated drive mode to the manual driving mode has been detected by the switching section, the automated drive controller cancels the instruction to the brake device to decelerate the vehicle.

11. A vehicle, comprising:

a drive source that generates traveling drive force of the vehicle;

a drive source controller that controls the drive source;

a supply device that supplies the drive source with an energy source of at least one of fuel or electric power, and that supplies electric power to the drive source controller;

a detection section that detects actual behavior of the vehicle; and

a automated drive controller that;

generates a automated drive action plan for the vehicle,

issues the drive source controller an instruction relating to behavior of the vehicle based on the generated action plan,

compares predicted behavior of the vehicle predicted based on the issued instruction and the actual behavior of the vehicle detected by the detection section, and

in a case where the predicted behavior of the vehicle and the actual behavior of the vehicle detected by the detection section differ from each other by more than a preset range, issues, to the supply device, at least one out of an instruction to cut off the supply of the energy source to the drive source and an instruction to cut off the supply of electric power to the drive source controller.

12. A vehicle controller, comprising:

a generation section that generates a automated drive action plan for an own vehicle;

a first notification section that issues an instruction relating to behavior of the vehicle based on the action plan generated by the generation section to a drive source controller that controls a drive source of the vehicle;

a comparison section that compares predicted behavior of the vehicle predicted based on the instruction issued by the first notification section with an actual behavior of the vehicle detected by a detection section; and

a second notification section that issues an instruction to decelerate the vehicle to a brake device of the vehicle in a case where the predicted behavior of the vehicle and the actual behavior of the vehicle compared by the comparison section differ from each other by more than a preset range.

13. A vehicle controller, comprising:

a generation section that generates a automated drive action plan for a vehicle;

a first notification section that issues an instruction relating to behavior of the vehicle based on the action plan generated by the generation section to a drive source controller that controls a drive source of the vehicle;

a comparison section that compares predicted behavior of the vehicle predicted based on the instruction issued by the first notification section with an actual behavior of the vehicle detected by a detection section; and

a second notification section that, in a case where the predicted behavior of the vehicle and the actual behavior of the vehicle compared by the comparison section differ from each other by more than a preset range, issues, to a supply device which supplies an energy source of at least one of fuel or electric power to the drive source and which supplies electric power to the drive source controller, at least one out of an instruction to cut off the supply of the energy source to the drive source and an instruction to cut off the supply of electric power to the drive source controller.

14. A vehicle control method comprising steps of:

generating, by using an onboard computer, a automated drive action plan for an own vehicle;

issuing, by using the computer, an instruction relating to behavior of the vehicle based on the generated action plan to a drive source controller that controls a drive source of the vehicle;

comparing, by using the computer, predicted behavior of the vehicle predicted based on the issued instruction with detected actual behavior of the vehicle; and

issuing, by using the computer, an instruction to decelerate the vehicle to a brake device of the vehicle in a case where the compared predicted behavior of the vehicle and the actual behavior of the vehicle differ from each other by more than a preset range.

15. A vehicle control method comprising steps of:

generating, by using an onboard computer, a automated drive action plan for the vehicle;

issuing, by using the computer, an instruction relating to behavior of the vehicle based on the generated action plan to a drive source controller that controls a drive source of the vehicle;

comparing, by using the computer, predicted behavior of the vehicle predicted based on the issued instruction and detected actual behavior of the vehicle; and

,

in a case where the compared predicted behavior of the vehicle and actual behavior of the vehicle differ from each other by more than a preset range, issuing by using the computer, to a supply device, which supplies an energy source of at least one of fuel or electric power to the drive source and which supplies electric power to the drive source controller, at least one out of an instruction to cut off the supply of the energy source to the drive source and an instruction to cut off the supply of electric power to the drive source controller.

16. A non-transitory computer readable medium storing a vehicle control program that causes an onboard computer to:

generate a automated drive action plan for an own vehicle;

issue an instruction relating to behavior of the vehicle based on the generated action plan to a drive source controller that controls a drive source of the vehicle;

compare predicted behavior of the vehicle predicted based on the issued instruction with detected actual behavior of the vehicle; and

issue an instruction to decelerate the vehicle to a brake device of the vehicle in a case where the compared predicted behavior of the vehicle and actual behavior of the vehicle differ from each other by more than a preset range.

17. A non-transitory computer readable medium storing a vehicle control program that causes an onboard computer to:

generate a automated drive action plan for the vehicle;

issue an instruction relating to behavior of the vehicle based on the generated action plan to a drive source controller that controls a drive source of the vehicle;

compare predicted behavior of the vehicle predicted based on the issued instruction and detected actual behavior of the vehicle; and

,

in a case where the compared predicted behavior of the vehicle and actual behavior of the vehicle differ from each other by more than a preset range, issue, to a supply device, which supplies an energy source of at least one of fuel or electric power to the drive source and which supplies electric power to the drive source controller, at least one out of an instruction to cut off the supply of the energy source to the drive source and an instruction to cut off the supply of electric power to the drive source controller.