VEHICLE RUNNING CONTROL SYSTEM

• US 20100292904A1
• Filed: 05/13/2010
• Published: 11/18/2010
• Est. Priority Date: 05/13/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Suzuki, Takashi, TAGUCHI, Koji, Matsunaga, Masaki
• Granted Patent: US 8,346,476 B2
• Time in Patent Office: Days
• US Class Current: 701/93
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 50/0097 Predicting future conditions

Abstract

A vehicle running control system includes: a speed pattern creating unit that creates a speed pattern according to a target traveling path, a running control unit that controls running of the vehicle based on the speed pattern, a first speed condition correcting unit that correct speed conditions in a direction from a start position of the running control toward an end position of the running control on the target traveling path, and a second speed condition correcting unit that correct speed conditions in a direction from the end position of the running control toward the start position of the running control on the target traveling path.

Claims

1. A vehicle running control system comprising:

a speed pattern creating unit that creates a speed pattern according to a target traveling path;

a running control unit that controls running of the vehicle based on the speed pattern;

a first speed condition correcting unit that corrects speed conditions in a direction from a start position of the running control toward an end position of the running control on the target traveling path; and

a second speed condition correcting unit that corrects the speed conditions in a direction from the end position of the running control toward the start position of the running control on the target traveling path.

2. The vehicle running control system according to claim 1, wherein the first speed condition correcting unit corrects acceleration-side speed conditions, and the second speed condition correcting unit corrects deceleration-side speed conditions.

3. The vehicle running control system according to claim 1, wherein the first speed condition correcting unit and the second speed condition correcting unit correct the speed conditions to lower speeds.

4. The vehicle running control system according to claim 3, further comprising a traveling path dividing unit that divides the target traveling path into a plurality of regions at fixed intervals,

wherein the first speed condition correcting unit and the second speed condition correcting unit correct the speed condition for each of the regions into which the target traveling path is divided, and

wherein the first speed condition correcting unit and the second speed correcting unit compare the speed conditions of adjacent ones of the regions, and correct the speed condition of one of the regions having the higher speed, to a lower speed.

5. The vehicle running control system according to claim 3, further comprising a traveling path dividing unit that divides the target traveling path into a plurality of regions at fixed intervals,

wherein the first speed condition correcting unit and the second speed condition correcting unit correct the speed condition for each of the regions into which the target traveling path is divided;

and

the first speed condition correcting unit and the second speed condition correcting unit compare the speeds of adjacent ones of the regions to determine an acceleration or a deceleration across the adjacent regions, and corrects the acceleration or the deceleration does not exceed an upper limit thereof.

6. The vehicle running control system according to claim 5, wherein the first speed condition correcting unit and the second speed condition correcting unit correct the acceleration or deceleration across the adjacent regions by correcting the speed of one of the regions to a lower speed.

7. The vehicle running control system according to claim 4, wherein:

the first speed condition correcting unit and the second speed condition correcting unit calculate an addition vector of an acceleration or deceleration across adjacent ones of the regions and a lateral acceleration; and

the first speed condition correcting unit and the second speed condition correcting unit correct a speed, based on the addition vector and a friction circle of each of the regions.

8. The vehicle running control system according to claim 5, wherein:

the first speed condition correcting unit and the second speed condition correcting unit calculate an addition vector of an acceleration or deceleration across adjacent ones of the regions and a lateral acceleration; and

the first speed condition correcting unit and the second speed condition correcting unit corrects a speed, based on the addition vector and a friction circle of each of the regions.

9. The vehicle running control system according to claim 7, wherein the first speed condition correcting unit and the second speed condition correcting unit correct the speed of one of the adjacent regions to a lower speed, so that the addition vector does not go beyond the friction circle of each of the regions.

10. The vehicle running control system according to claim 8, wherein the first speed condition correcting unit and the second speed condition correcting unit correct the speed of one of the adjacent regions to a lower speed, so that the addition vector does not go beyond the friction circle of each of the regions.

11. The vehicle running control system according to claim 4, wherein:

the first speed condition correcting unit and the second speed condition correcting unit calculate a rate of change of acceleration across adjacent ones of the regions; and

the first speed condition correcting unit and the second speed condition correcting unit compare the rate of change of acceleration with a predetermined limit value, and correct a speed.

12. The vehicle running control system according to claim 5, wherein:

the first speed condition correcting unit and the second speed condition correcting unit calculate a rate of change of acceleration across adjacent ones of the regions; and

the first speed condition correcting unit and the second speed condition correcting unit compare the rate of change of acceleration with a predetermined limit value, and correct a speed.

13. The vehicle running control system according to claim 11, wherein, when changes in the speed over adjacent ones of the regions assume a concave shape, the first speed condition correcting unit and the second speed condition correcting unit correct the speed condition of one of the adjacent regions having the highest speed and located at the leading side as viewed in a direction of progression of the speed correction, to a lower speed.

14. The vehicle running control system according to claim 12, wherein, when changes in the speed over adjacent ones of the regions assume a concave shape, the first speed condition correcting unit and the second speed condition correcting unit correct the speed condition of one of the adjacent regions having the highest speed and located at the leading side as viewed in a direction of progression of the speed correction, to a lower speed.

15. The vehicle running control system according to claim 11, wherein, when changes in the speed over adjacent ones of the regions assume a convex shape, the first speed condition correcting unit and the second speed condition correcting unit correct the speed condition of a middle one of the regions having the highest speed, to a lower speed.

16. The vehicle running control system according to claim 12, wherein, when changes in the speed over adjacent ones of the regions assume a convex shape, the first speed condition correcting unit and the second speed condition correcting unit correct the speed condition of a middle one of the regions having the highest speed, to a lower speed.

17. The vehicle running control system according to claim 11, wherein the limit value is set according to a shape of the target traveling path.

18. The vehicle running control system according to claim 12, wherein the limit value is set according to a shape of the target traveling path.

19. The vehicle running control system according to claim 1, wherein the first speed condition correcting unit and the second speed condition correcting unit correct the speed conditions while regarding the vehicle as a mass point model.

20. The vehicle running control system according to claim 19, wherein the first speed condition correcting unit and the second speed condition correcting unit correct lateral force conditions while regarding the vehicle as a rigid body model, after completing the speed correction of the speed condition for each of the regions into which the target traveling path is divided.

21. The vehicle running control system according to claim 1, further comprising a traveling path dividing unit that divides the speed pattern into a plurality of regions corresponding to running conditions,

wherein the running control unit performs assist control for assisting in accomplishing a traveling plan, with respect to each of the regions into which the speed pattern is divided.

22. The vehicle running control system according to claim 21, further comprising an evaluation display unit that outputs information concerning the running conditions corresponding to the regions and/or information concerning a deviation between a controlled variable associated with the speed in the speed pattern and a controlled variable associated with the speed entered by the driver to the vehicle, such that the information is visually and/or audibly recognizable.