Vehicle Motion Control System

• US 20120277965A1
• Filed: 06/28/2012
• Published: 11/01/2012
• Est. Priority Date: 07/01/2011
• Status: Active Grant

• Current Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Yamakado, Makoto, Oosawa, Toshiya, TAKAHASHI, Junya
• Granted Patent: US 8,433,493 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2210/24 Curve radius
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2230/04 Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
• CPC Class Codes: B60W 2552/30 Road curve radius
• 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: B60W 30/18145 Cornering

Abstract

There is provided a vehicle motion control system which carries out acceleration and deceleration of a vehicle which satisfies driving feeling of a driver even in the state where a lateral motion of the vehicle is not involved. The vehicle motion control system includes a curve shape acquisition section 2 for acquiring a curve shape ahead of an own vehicle, an own vehicle position acquisition section 3 for acquiring a position of the own vehicle, and a vehicle motion control calculation section 4 for calculating a command value of a longitudinal acceleration generated for the vehicle based on the curve shape and the position of the own vehicle. The vehicle motion control calculation section 4 calculates a plurality of negative longitudinal acceleration command values during travel of the own vehicle from before a curve to a point where a curve curvature becomes constant or maximum after the vehicle enters into the curve. The longitudinal acceleration command values are changed based on at least one of: an estimate of the maximum lateral acceleration which is presumably generated during traveling a curve ahead of the own vehicle; a grade of the road ahead of the own vehicle, pedal operation by the driver, and a turning direction.

Claims

1. A vehicle motion control system, comprising:

a curve shape acquisition section for acquiring a curve shape ahead of an own vehicle;

an own vehicle position acquisition section for acquiring a position of the own vehicle; and

a vehicle motion control calculation section for calculating a command value of a longitudinal acceleration generated for the vehicle based on the curve shape and the position of the own vehicle;

wherein

with respect to the longitudinal acceleration command value having a travelling direction of the own vehicle as a positive value, the vehicle motion control calculation section calculates a negative longitudinal acceleration command value during travel of the own vehicle from before a curve to a point where a curve curvature becomes constant or maximum after the vehicle enters into the curve, and the longitudinal acceleration command value is changed based on at least one out of;

an estimate of a maximum lateral acceleration which is calculated in advance by the vehicle motion control calculation section and which is presumably generated at a time of traveling a curve ahead of the own vehicle;

a grade of a road ahead of the own vehicle;

pedal operation by a driver; and

a turning direction.

2. The vehicle motion control system according to claim 1, wherein the vehicle motion control calculation section calculates a plurality of different negative longitudinal acceleration command values.

3. The vehicle motion control system according to claim 1, wherein

the vehicle motion control calculation section calculates a negative longitudinal acceleration command value so that a longitudinal jerk that is a temporal change of the longitudinal acceleration is changed during a period of time, other than immediately after start of deceleration, from before entering into the curve to a point when a curve curvature becomes constant or maximum.

4. The vehicle motion control system according to claim 2, wherein

a plurality of the different longitudinal acceleration command values include a first longitudinal acceleration command value which generates a first deceleration of the own vehicle before the curve and then keeps the deceleration generally constant and a second longitudinal acceleration command value which changes a deceleration of the own vehicle which is generated before starting to enter into the curve so that the deceleration increases, and

an absolute maximum of the first longitudinal acceleration command value is equal to or less than an absolute maximum of the second longitudinal acceleration command value.

5. The vehicle motion control system according to claim 3, wherein

in a period of time from before entering into the curve to a point when the curve curvature becomes constant or maximum, an absolute value of the negative longitudinal acceleration command value increases more after change of the longitudinal jerk that is a temporal change of the longitudinal acceleration than before the change of the longitudinal jerk.

6. The vehicle motion control system according to claim 1, wherein

the longitudinal acceleration command value before the curve differs with a temporal change of the curve curvature at the position of the own vehicle, and

when the temporal change of the curve curvature at the position of the own vehicle is negative, an absolute value of the longitudinal acceleration command value before the curve is set to be smaller as compared with a case where the temporal change of the curve curvature at the position of the own vehicle is 0 or more.

7. The vehicle motion control system according to claim 1, wherein

based on a temporal change of the curve curvature at a position away for a preset distance from the position of the own vehicle with the position of the own vehicle as an origin or away for a distance obtained from a product of a vehicle speed and a preset time, the vehicle motion control calculation section produces a decrease of the longitudinal acceleration command value which generates change in a longitudinal jerk that is a temporal change of the longitudinal acceleration.

8. The vehicle motion control system according to claim 1, wherein

the vehicle motion control calculation section produces a decrease of the longitudinal acceleration command value, which generates change in a longitudinal jerk that is a temporal change of the longitudinal acceleration, based on a curve curvature ahead of the own vehicle or a temporal change of the curve curvature and a vehicle speed.

9. The vehicle motion control system according to claim 1, wherein

the vehicle motion control calculation section includes:

an own vehicle speed computation section for computing speed of the own vehicle;

a front watch distance computation section for setting a plurality of preset front watch points on a course in a travelling direction of the own vehicle and computing front watch distances from the position of the own vehicle to the front watch points;

a curve curvature computation section for computing a curve curvature and a temporal change of the curve curvature in the front watch distance;

a proportional gain calculation section for calculating a proportional gain for changing the longitudinal acceleration command value based on at least one of the maximum lateral acceleration estimate, the grade of the road ahead of the own vehicle, the pedal operation by the driver, and the turning direction; and

a longitudinal acceleration command value calculation section for calculating the longitudinal acceleration command value based on the curve curvature and the temporal change of the curve curvature in the front watch distance, the vehicle speed, and the proportional gain.

10. The vehicle motion control system according to claim 1, comprising:

a vehicle motion information acquisition section for acquiring at least one vehicle motion information out of a speed and a longitudinal acceleration of the own vehicle;

a driver-inputted information acquisition section for acquiring a driver-requested longitudinal acceleration which is requested from the driver;

a lateral motion-associated longitudinal acceleration acquisition section for acquiring a lateral motion-associated longitudinal acceleration based on a lateral jerk of the vehicle; and

a road surface information acquisition section for acquiring road surface information on a road surface friction coefficient and on a surface vertical grade of a road surface on which the own vehicle travels, wherein

the vehicle motion control calculation section calculates the longitudinal acceleration command value produced for the vehicle based on the curve shape, the position of the own vehicle, the vehicle motion information, the driver-requested longitudinal acceleration, the lateral motion-associated longitudinal acceleration, and the road surface information.

11. The vehicle motion control system according to claim 10, wherein

the driver-inputted information acquisition section detects ON/OFF operation of a longitudinal acceleration control switch and outputs longitudinal acceleration control switch ON/OFF information, and

the vehicle motion control calculation section includes:

a front watch distance computation section for setting a plurality of preset front watch points on a course in a travelling direction of the own vehicle and computing front watch distances from the position of the own vehicle to the front watch points;

a longitudinal acceleration control mode calculation section for calculating a longitudinal acceleration control mode based on the longitudinal acceleration control switch ON/OFF information, the speed of the own vehicle, the curve shape, the position of the own vehicle, and the lateral motion-associated longitudinal acceleration;

a curve curvature computation section for computing a curve curvature and a temporal change of the curve curvature in the front watch distance based on the calculated longitudinal acceleration control mode;

a proportional gain calculation section for calculating a proportional gain for changing the longitudinal acceleration command value based on at least one of the maximum lateral acceleration estimate, the grade of the road ahead of the own vehicle, the pedal operation by the driver, and the turning direction;

a longitudinal acceleration command value calculation section for calculating the longitudinal acceleration command value based on the curve curvature and the temporal change of the curve curvature in the front watch distance, the vehicle speed, and the proportional gain; and

a control command value output section for outputting a control command value for implementing the calculated longitudinal acceleration command value based on the calculated longitudinal acceleration control mode.

12. The vehicle motion control system according to claim 1, comprising;

a vehicle communication section for communicating information between the vehicle motion control calculation section and an in-vehicle electronic controller outside the vehicle motion control system.

13. The vehicle motion control system according to claim 9, wherein

the front watch point is set based on a distance obtained from a product of a vehicle speed and a preset front watch time, or a distance obtained by integrating a front watch point speed, the front watch point speed being either smaller one of a first front watch point speed obtained by adding the vehicle speed to the product of the longitudinal acceleration and the front watch time of the vehicle or a second front watch point speed created based on the curve curvature at a front watch point position and the front watch distance.

14. The vehicle motion control system according to claim 1, wherein the grade of the road is made of at least either a vertical grade or a horizontal grade.

15. The vehicle motion control system according to claim 11, wherein

the front watch point is set based on a distance obtained from a product of a vehicle speed and a preset front watch time, or a distance obtained by integrating a front watch point speed, the front watch point speed being either smaller one of a first front watch point speed obtained by adding the vehicle speed to the product of the longitudinal acceleration and the front watch time of the vehicle or a second front watch point speed created based on the curve curvature at a front watch point position and the front watch distance.