VEHICLE MOTION CONTROL DEVICE
First Claim
1. :
- A vehicle motion control device comprising;
an external environment detection unit for detecting an external environment;
a travel state detection unit for detecting a travel state of a driver'"'"'s vehicle;
an environment map creation unit for detecting an obstruction based on the external environment detected by the external environment detection unit and for creating an environment map indicating the obstruction;
an avoidance action estimation unit for estimating a plurality of possible avoidance actions for avoiding the obstruction based on the environment map and the travel state of the driver'"'"'s vehicle detected by the travel state detection unit; and
a selection unit for estimating collision damage according to each avoidance action estimated by the avoidance action estimation unit and for selecting an appropriate avoidance action based on the estimated collision damages.
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Abstract
The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver'"'"'s vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver'"'"'s vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.
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Citations
19 Claims
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1. :
- A vehicle motion control device comprising;
an external environment detection unit for detecting an external environment;
a travel state detection unit for detecting a travel state of a driver'"'"'s vehicle;
an environment map creation unit for detecting an obstruction based on the external environment detected by the external environment detection unit and for creating an environment map indicating the obstruction;
an avoidance action estimation unit for estimating a plurality of possible avoidance actions for avoiding the obstruction based on the environment map and the travel state of the driver'"'"'s vehicle detected by the travel state detection unit; and
a selection unit for estimating collision damage according to each avoidance action estimated by the avoidance action estimation unit and for selecting an appropriate avoidance action based on the estimated collision damages. - View Dependent Claims (2, 3, 4, 5, 8, 10, 11, 13, 14)
- A vehicle motion control device comprising;
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6. :
- A vehicle motion control device comprising;
an external environment detection unit for detecting an external environment;
a risk map creation unit for detecting a position and a type of an obstruction based on the external environment detected by the external environment detection unit and for creating a risk map to predict a current degree of risk based on the position and the type of the obstruction;
an action prediction database in which data, including data indicating a probability of presence of an obstruction, for predicting behavior of an obstruction is stored;
a future risk map creation unit for creating a future risk map to predict a degree of risk after a predetermined time based on the current risk map created by the risk map creation unit, and the action prediction database;
a passage time risk prediction unit for creating a passage time risk map to predict a risk at a passage time, based on a passage time at which the driver'"'"'s vehicle passes through a shortest trajectory when a shortest avoidance control for moving to a lateral position on the road is executed, having the lateral position on the road as a parameter, and the future risk map; and
a control unit for determining, as the avoidance action, an action for moving to a lateral position on a road that minimizes the risk on the shortest trajectory, based on the passage time risk map and for controlling the driver'"'"'s vehicle such that the determined avoidance action is carried out. - View Dependent Claims (7, 9, 15, 16, 17, 18)
- A vehicle motion control device comprising;
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12. :
- A vehicle motion control device comprising;
an external environment detection unit for detecting an external environment;
a risk map creation unit for detecting a position and a type of an obstruction based on the external environment detected by the external environment detection unit and for creating a risk map to predict a current risk based on the position and the type of the obstruction, an action prediction database in which data, including data indicating a probability of presence of an obstruction, for estimating an action of an obstruction is stored, a future risk map creation unit for creating a future risk map to predict a risk after a predetermined time based on the current risk map created by the risk map creation unit and the action prediction database, a passage time risk map creation unit for creating a passage time risk map to predict a risk at a passage time, based on a passage time at which the driver'"'"'s vehicle passes through a shortest trajectory when a shortest avoidance control for moving to a lateral position on the road is executed, having the lateral position on the road as a parameter, and the future risk map; and
a control unit for controlling a shift down such that a number of revolutions of an engine of the driver'"'"'s vehicle is increased when a future risk is equal to or higher than a predetermined value based on the passage time risk map at the time when a pedestrian as an obstruction passes. - View Dependent Claims (19)
- A vehicle motion control device comprising;
Specification