Efficient acceleration semi-autonomous feature

• US 10,392,001 B2
• Filed: 08/11/2017
• Issued: 08/27/2019
• Est. Priority Date: 08/11/2017
• Status: Active Grant

• Current Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Gaither, Geoffrey D., Payne, Joshua D.
• Primary Examiner(s): Tissot, Adam D
• Application Number:
  US15/675,551
• Publication Number:
  US 20190047545A1
• Time in Patent Office: 746 Days
• Field of Search: 701 70
• CPC Class Codes: B60L 2240/486 Operating parameters
• 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 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2530/16 Driving resistance
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2555/40 Altitude
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A system includes a power source to generate power to propel the vehicle, and a speed sensor to detect a current speed. The system also includes a camera to detect image data corresponding to a current roadway, and a GPS sensor to detect location data corresponding to a current location of the vehicle. The system also includes an ECU. The ECU is designed to determine a target vehicle speed based on at least one of the image data or the location data. The ECU is also designed to calculate an energy-efficient acceleration pattern to accelerate the vehicle from the current speed to the target vehicle speed based on a goal to minimize energy usage of the power source. The ECU is also designed to control the power source to accelerate the vehicle from the current speed to the target vehicle speed using the energy-efficient acceleration pattern.

Claims

1. A system for controlling a vehicle to accelerate efficiently, comprising:

a power source configured to generate power to propel the vehicle;

a speed sensor configured to detect a current speed of the vehicle;

a camera configured to detect image data corresponding to a current roadway;

a global positioning system (GPS) sensor configured to detect location data corresponding to a current location of the vehicle; and

an electronic control unit (ECU) coupled to the power source, the speed sensor, the camera, and the GPS sensor, and configured to;

determine a target vehicle speed that is greater than the current speed of the vehicle based on at least one of the image data or the location data,

calculate an energy-efficient acceleration pattern to accelerate the vehicle from the current speed to the target vehicle speed based on a goal to minimize energy usage of the power source, and

control the power source to accelerate the vehicle from the current speed to the target vehicle speed using the energy-efficient acceleration pattern when an efficiency of the energy-efficient acceleration pattern is at least an energy threshold percentage above a previous efficiency of a previously performed acceleration pattern for a same location.

2. The system of claim 1 further comprising a load sensor configured to detect load data corresponding to a current load of the vehicle, wherein the ECU is further configured to determine the current load of the vehicle based on the load data and to calculate the energy-efficient acceleration pattern based on the current load of the vehicle.

3. The system of claim 2 wherein the current load of the vehicle is based on at least one of a grade of the current roadway, a total mass of the vehicle, an altitude of the current roadway, a velocity of a headwind or a tailwind, or a current ambient temperature outside of the vehicle.

4. The system of claim 1 further comprising:

an output device configured to output data indicating that the vehicle is predicted to accelerate to the target vehicle speed and requesting a confirmation that the vehicle is to accelerate to the target vehicle speed; and

an input device configured to receive the confirmation that the vehicle is to accelerate to the target vehicle speed, the confirmation corresponding to a request for the ECU to control the power source to accelerate the vehicle to the target vehicle speed,

wherein the ECU is configured to control the power source to accelerate the vehicle to the target vehicle speed after the input device receives the confirmation.

5. The system of claim 1 wherein the ECU is configured to take control of the power source from a driver of the vehicle to accelerate the vehicle to the target vehicle speed, and to relinquish the control of the power source to the driver of the vehicle when the current speed of the vehicle equals the target vehicle speed.

6. The system of claim 1 further comprising a memory configured to store previous acceleration data including a plurality of final vehicle speeds and corresponding starting locations at which previous accelerations to the plurality of final vehicle speeds began, wherein the ECU is further configured to:

determine the target vehicle speed by comparing the current location of the vehicle to the starting locations of the previous acceleration data; and

control the power source to accelerate the vehicle from the current speed to the target vehicle speed beginning when the current location of the vehicle reaches one of the starting locations of the previous acceleration data.

7. The system of claim 1 wherein the ECU is further configured to determine a starting location at which the vehicle should start accelerating to the target vehicle speed based on at least one of a known vehicle route, a predicted vehicle route, or a highway on-ramp or a speed limit sign included in the image data.

8. The system of claim 7 wherein the ECU is further configured to:

determine an accelerated location at which the vehicle should be traveling at the target vehicle speed; and

determine the energy-efficient acceleration pattern based on the current speed of the vehicle and a distance between the starting location and the accelerated location.

9. The system of claim 1 wherein the ECU is further configured to:

determine a current speed limit of the current roadway based on at least one of the image data or the location data;

determine an efficient speed of the vehicle based on the current speed limit of the current roadway; and

determine the target vehicle speed to be equal to the efficient speed of the vehicle.

10. The system of claim 1 wherein the ECU is further configured to predict future energy usage of the power source after the power source accelerates to the target vehicle speed and to calculate the energy-efficient acceleration pattern based on the predicted energy usage.

11. A system for controlling a vehicle to accelerate efficiently, comprising:

a power source configured to generate power to propel the vehicle;

a speed sensor configured to detect a current speed of the vehicle;

a camera configured to detect image data corresponding to a current roadway;

a global positioning system (GPS) sensor configured to detect location data corresponding to a current location of the vehicle;

an input device configured to receive input data;

an output device configured to output data; and

an electronic control unit (ECU) coupled to the power source, the speed sensor, the camera, the GPS sensor, the input device, and the output device, and configured to;

predict that the vehicle is to accelerate to a target vehicle speed based on at least one of the image data or the location data,

control the output device to output data indicating the predicted acceleration,

receive confirmation via the input device that the vehicle is to accelerate to the target vehicle speed,

calculate an energy-efficient acceleration pattern to accelerate the vehicle from the current speed to the target vehicle speed based on a goal to minimize energy usage of the power source, and

control the power source to accelerate the vehicle from the current speed to the target vehicle speed using the energy-efficient acceleration pattern after the input device receives the confirmation and when an efficiency of the energy-efficient acceleration pattern is at least an energy threshold percentage above a previous efficiency of a previously performed acceleration pattern for a same location.

12. The system of claim 11 further comprising a load sensor configured to detect load data corresponding to a current load of the vehicle and including at least one of a grade of the current roadway, a total mass of the vehicle, an altitude of the current roadway, a velocity of a headwind or a tailwind, or a current ambient temperature outside of the vehicle, wherein the ECU is further configured to determine the current load of the vehicle based on the load data and to calculate the energy-efficient acceleration pattern based on the current load of the vehicle.

13. The system of claim 11 wherein the ECU is configured to take control of the power source from a driver of the vehicle to accelerate the vehicle to the target vehicle speed, and to relinquish the control of the power source to the driver of the vehicle when the current speed of the vehicle equals the target vehicle speed.

14. The system of claim 11 further comprising a memory configured to store previous acceleration data including a plurality of final vehicle speeds and corresponding starting locations at which previous accelerations to the plurality of final vehicle speeds began, wherein the ECU is further configured to:

predict that the vehicle is to accelerate to the target vehicle speed when the location data indicates that the current location of the vehicle is approaching one of the starting locations; and

determine the target vehicle speed by determining that the target vehicle speed equals a final vehicle speed that corresponds to the one of the starting locations.

15. The system of claim 11 wherein the ECU is further configured to:

determine a starting location at which the vehicle should start accelerating to the target vehicle speed based on at least one of a known vehicle route, a predicted vehicle route, or a highway on-ramp or a speed limit sign included in the image data;

determine an accelerated location at which the vehicle should be traveling at the target vehicle speed; and

determine the energy-efficient acceleration pattern based on the current speed of the vehicle and a distance between the starting location and the accelerated location.

16. A method for controlling a vehicle to accelerate efficiently, comprising:

generating, by a power source, power to propel the vehicle;

detecting, by a speed sensor, a current speed of the vehicle;

detecting, by a camera, image data corresponding to a current roadway;

detecting, by a global positioning system (GPS) sensor, location data corresponding to a current location of the vehicle;

determining, by an electronic control unit (ECU), a target vehicle speed that is greater than the current speed of the vehicle based on at least one of the image data or the location data;

calculating, by the ECU, an energy-efficient acceleration pattern to accelerate the vehicle from the current speed to the target vehicle speed based on a goal to minimize energy usage of the power source; and

controlling, by the ECU, the power source to accelerate the vehicle from the current speed to the target vehicle speed using the energy-efficient acceleration pattern when an efficiency of the energy-efficient acceleration pattern is at least an energy threshold percentage above a previous efficiency of a previously performed acceleration pattern for a same location.

17. The method of claim 16 further comprising:

outputting, by an output device, data indicating that the vehicle is predicted to accelerate to the target vehicle speed and requesting a confirmation that the vehicle is to accelerate to the target vehicle speed;

receiving, by an input device, the confirmation that the vehicle is to accelerate to the target vehicle speed, the confirmation corresponding to a request for the ECU to control the power source to accelerate the vehicle to the target vehicle speed;

determining, by the ECU, a starting location at which the vehicle should start accelerating to the target vehicle speed;

taking over, by the ECU, control of the power source from a driver of the vehicle to accelerate the vehicle to the target vehicle speed when the vehicle reaches the starting location; and

relinquishing, by the ECU, control of the power source to the driver of the vehicle when the current speed of the vehicle reaches the target vehicle speed.

18. The method of claim 16 further comprising:

storing, in a memory, previous acceleration data including a plurality of final vehicle speeds and corresponding starting locations at which previous accelerations to the plurality of final vehicle speeds began;

determining, by the ECU, the target vehicle speed by comparing the current location of the vehicle to the starting locations of the previous acceleration data; and

wherein controlling the power source to accelerate the vehicle from the current speed to the target vehicle speed begins when the current location of the vehicle reaches one of the starting locations of the previous acceleration data.

19. The method of claim 16 further comprising:

determining, by the ECU, a current speed limit of the current roadway based on at least one of the image data or the location data;

determining, by the ECU, an efficient speed of the vehicle based on the current speed limit of the current roadway; and

determining, by the ECU, the target vehicle speed to be equal to the efficient speed of the vehicle.