Vehicle control apparatus, vehicle control method, and vehicle control program

• US 10,220,847 B2
• Filed: 10/19/2016
• Issued: 03/05/2019
• Est. Priority Date: 10/28/2015
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Oniwa, Yoshihiro, Yoshida, Mineyuki
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/297,250
• Publication Number:
  US 20170120909A1
• Time in Patent Office: 867 Days
• CPC Class Codes: B60W 2050/0011 Proportional Integral Differential [PID] controller
• CPC Class Codes: B60W 2556/40 High definition maps
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G08G 1/00 Traffic control systems for road vehicles arrangement of road signs or traffic signals E01F9/00 ; automatic vehicle control B62D
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A vehicle control apparatus includes a trajectory generation unit configured to generate a locus of a position of an own vehicle for each predetermined time in a future as a trajectory of the own vehicle, a target speed calculation unit configured to calculate a target speed of the own vehicle for each position on the trajectory generated by the trajectory generation unit, a traveling control unit configured to control traveling of the own vehicle on the basis of the target speed calculated by the target speed calculation unit, a derivation unit configured to derive a difference between a position on the trajectory generated by the trajectory generation unit and a current position of the own vehicle every time the predetermined time elapses, and a correction unit configured to correct the target speed calculated by the target speed calculation unit on the basis of the difference derived by the derivation unit.

Claims

1. A vehicle control apparatus comprising:

a trajectory generation unit, a target speed calculation unit, a traveling control unit, a derivation unit, and a correction unit, each unit comprising a software function unit which functions by a central processing unit or a hardware function unit including an application specific integrated circuit,

the trajectory generation unit being configured to generate a locus of a position of an own vehicle for each predetermined time in a future as a trajectory of the own vehicle;

the target speed calculation unit being configured to calculate a target speed of the own vehicle for each position on the trajectory generated by the trajectory generation unit;

the traveling control unit being configured to control traveling of the own vehicle on the basis of the target speed calculated by the target speed calculation unit;

the derivation unit being configured to

derive a first difference between a position on the trajectory generated by the trajectory generation unit and a current position of the own vehicle every time the predetermined time elapses, and

derive a second difference between the position on the trajectory generated by the trajectory generation unit and a predicted arrival position of the own vehicle which is predicted where the own vehicle arrives after the predetermined time lapses if the own vehicle travels on the basis of the target speed calculated by the target speed calculation unit; and

the correction unit being configured to correct the target speed calculated by the target speed calculation unit on the basis of one or both of the first difference and the second difference derived by the derivation unit.

2. The vehicle control apparatus according to claim 1, wherein the target speed calculation unit advances a time phase to calculate the target speed on the basis of a primary target speed for each position derived from the position on the trajectory generated by the trajectory generation unit.

3. The vehicle control apparatus according to claim 1, wherein when the own vehicle changes lanes, the correction unit corrects the target speed calculated by the target speed calculation unit on the basis of one or both of the first difference and the second difference derived by the derivation unit.

4. A vehicle control method of an on-vehicle computer having a central processing unit which executes a program, the method comprising:

operating the on-vehicle computer to

generate a locus of a position of an own vehicle for each predetermined time in a future as a trajectory of the own vehicle;

calculate a target speed of the own vehicle for each position on the generated trajectory;

control traveling of the own vehicle on the basis of the calculated target speed;

derive a first difference between a position on the generated trajectory and a current position of the own vehicle every time the predetermined time elapses;

derive a second difference between the position on the trajectory and a predicted arrival position of the own vehicle which is predicted where the own vehicle arrives after the predetermined time lapses if the own vehicle travels on the basis of the target speed; and

correct the calculated target speed on the basis of one or both of the first difference and the second difference.

5. A vehicle control program provided in a computer readable medium including instructions for an on-vehicle computer to:

generate a locus of a position of an own vehicle for each predetermined time in a future as a trajectory of the own vehicle;

calculate a target speed of the own vehicle for each position on the generated trajectory;

control traveling of the own vehicle on the basis of the calculated target speed;

derive a difference between a position on the generated trajectory and a current position of the own vehicle every time the predetermined time elapses;

derive a second difference between the position on the trajectory and a predicted arrival position of the own vehicle which is predicted where the own vehicle arrives after the predetermined time lapses if the own vehicle travels on the basis of the target speed; and

correct the calculated target speed on the basis of one or both of the first difference and the second difference.