Vehicle traveling control device

• US 10,525,973 B2
• Filed: 05/09/2018
• Issued: 01/07/2020
• Est. Priority Date: 06/06/2017
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Mizoguchi, Masato
• Primary Examiner(s): Chen, Shelley
• Application Number:
  US15/975,458
• Publication Number:
  US 20180345953A1
• Time in Patent Office: 608 Days
• Field of Search: None
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/188 hydraulic brakes
• CPC Class Codes: B60W 2050/0024 Variable gains
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/107 Longitudinal acceleration
• CPC Class Codes: B60W 60/0015 specially adapted for safety

Abstract

A vehicle traveling control device includes: a deceleration correction determination unit, a lane detection evaluation unit, a control gain setting unit, and a deceleration control unit. The deceleration correction determination unit acquires information on a curve ahead of a host vehicle and determines on a basis of the curve information whether host vehicle speed deceleration correction is necessary during entry to the curve. The lane detection evaluation unit evaluates a road surface situation of a road prior to the curve entry by a state of detection of a lane ahead of the curve in a case where the deceleration correction is determined necessary. The control gain setting unit sets a control gain of the deceleration correction on a basis of an evaluation value of the lane detection state. The deceleration control unit performs host vehicle speed deceleration control during the curve entry on the basis of the control gain.

Claims

1. A vehicle traveling control device comprising:

a deceleration correction determination unit configured to acquire information on a curve ahead of a host vehicle and determine on a basis of the curve information whether host vehicle speed deceleration correction is necessary during entry to the curve;

a lane detection evaluation unit configured to evaluate a road surface situation of a road prior to the curve entry by a state of detection of a lane ahead of the curve in a case where the deceleration correction is determined necessary;

wherein the lane detection evaluation unit is configured to evaluate the road surface situation by using a ratio between a set distance ahead of the curve and a distance of the lane detected in the set distance as the evaluation value

a control gain setting unit configured to set a control gain of the deceleration correction on a basis of an evaluation value of the lane detection state; and

a deceleration control unit configured to perform host vehicle speed deceleration control during the curve entry on the basis of the control gain.

2. The vehicle traveling control device according to claim 1, wherein the control gain setting unit is configured to set a deceleration correction control gain on the basis of the curve information as a normal control gain when the lane detection state evaluation value is equal to or greater than a threshold and change the normal control gain in a direction in which the normal control gain decreases when the lane detection state evaluation value does not reach the threshold.

3. The vehicle traveling control device according to claim 1, wherein the control gain setting unit is configured to set a deceleration correction control gain on the basis of the curve information as a normal control gain when the lane detection state evaluation value is equal to or greater than a threshold and change the normal control gain in a direction in which the normal control gain decreases when the lane detection state evaluation value does not reach the threshold.

4. The vehicle traveling control device according to claim 1, wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.

5. The vehicle traveling control device according to claim 1, wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.

6. The vehicle traveling control device according to claim 2, wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.

7. The vehicle traveling control device according to claim 3, wherein the control gain setting unit is configured to set, as the control gain, a vehicle speed correction gain for correcting a target vehicle speed during the curve entry, a rate limiter correction gain for correcting a rate limiter for the deceleration control, and a control initiation distance correction gain for correcting a distance from a current host vehicle position to a position of initiation of the deceleration control.