VEHICLE BEHAVIOR CONTROL DEVICE

• US 20130080019A1
• Filed: 08/31/2012
• Published: 03/28/2013
• Est. Priority Date: 09/24/2011
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: ISAJI, Kazuyoshi, TSURU, Naohiko
• Granted Patent: US 8,818,680 B2
• Time in Patent Office: Days
• US Class Current: 701/96
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering

Abstract

A vehicle behavior control device for controlling acceleration/deceleration includes: a velocity acquisition device; a current position acquisition device; a preceding vehicle determination device; a following distance detection device; a preceding vehicle information acquisition device; a relative velocity calculation device of a preceding vehicle; a first evaluation index calculation device of a first evaluation index indicating an approaching/separating state to the preceding vehicle in view of the preceding vehicle velocity; a first deceleration target determination device for determining whether the first evaluation index exceeds a first deceleration threshold; and a following deceleration calculation device for calculating a first required deceleration when the first evaluation index exceeds the first deceleration threshold. The first required deceleration provides to match an actual relative velocity with a first target relative velocity, which is determined based on the first evaluation index and the following distance.

Claims

1. A vehicle behavior control device for acquiring information via radio communication equipment, which transmits and receives the information by inter-vehicle communication, and for controlling acceleration and deceleration of a vehicle, the vehicle behavior control device comprising:

a velocity acquisition device for acquiring a vehicle velocity of the vehicle successively;

a current position acquisition device for acquiring a current position of the vehicle successively;

a preceding vehicle determination device for determining a preceding vehicle of the vehicle, wherein the inter-vehicle communication between the vehicle and the preceding vehicle is established;

a following distance detection device for detecting a following distance between the vehicle and the preceding vehicle;

a preceding vehicle information acquisition device for successively acquiring preceding vehicle information, which is transmitted successively from the preceding vehicle by the inter-vehicle communication, via the radio communication equipment, wherein the preceding vehicle information includes preceding vehicle condition information providing a preceding vehicle velocity of the preceding vehicle;

a relative velocity calculation device for successively calculating a relative velocity between the vehicle and the preceding vehicle according to the vehicle velocity and the preceding vehicle velocity;

a first evaluation index calculation device for calculating a first evaluation index, which indicates an approaching and separating state of the vehicle with respect to the preceding vehicle in view of the preceding vehicle velocity, wherein the first evaluation index becomes larger as the relative velocity of approaching the preceding vehicle becomes higher, and the first evaluation index becomes larger as the following distance with the preceding vehicle becomes shorter, and wherein the first evaluation index has an increasing gradient with respect to a narrowing change of the following distance, the increasing gradient which becomes steeper as the following distance becomes shorter;

a first deceleration target determination device for determining whether the first evaluation index exceeds a predetermined first deceleration threshold; and

a following deceleration calculation device for calculating a first required deceleration when the first deceleration target determination device determines that the first evaluation index exceeds the first deceleration threshold, wherein the first required deceleration provides to match an actual relative velocity between the vehicle and the preceding vehicle with a first target relative velocity, and wherein the first target relative velocity is determined based on the first evaluation index and the following distance to the preceding vehicle.

2. The vehicle behavior control device according to claim 1

wherein the preceding vehicle information further includes curve way information, which provides to determine a curvature radius of a curve way ahead of the vehicle and an entrance position of the curve way,

the vehicle behavior control device further comprising:

a curvature radius determination device for determining the curvature radius of the curve way ahead of the vehicle, according to the preceding vehicle information;

an entrance determination device for determining the entrance position of the curve way ahead of the vehicle, according to the preceding vehicle information;

an entrance distance calculation device for calculating an entrance distance from the current position of the vehicle to the entrance position of the curve way;

a target turning velocity setting device for successively setting up a target turning velocity while the vehicle travels in the curve way, according to the curvature radius of the curve way and a target lateral acceleration, wherein the target lateral acceleration is preliminary set when the vehicle travels in the curve way;

a curve entrance-referenced relative velocity calculation device for calculating a curve entrance-referenced relative velocity according to the vehicle velocity and the target turning velocity at time of passing through an entrance of the curve way, wherein the curve entrance-referenced relative velocity is a velocity difference between the target turning velocity and the vehicle velocity;

a second evaluation index calculation device for calculating a second evaluation index, which indicates an approaching and separating state of the vehicle with respect to the entrance position of the curve way in view of the target turning velocity at time of passing through the entrance of the curve way, wherein the second evaluation index becomes larger as the curve entrance-referenced relative velocity becomes higher, and an increasing gradient of the second evaluation index becomes steeper as the entrance distance from the current position to the entrance position becomes shorter;

a deceleration starting determination device for determining whether the second evaluation index exceeds a predetermined second deceleration threshold;

a curve way deceleration calculation device for calculating a second required deceleration when the deceleration starting determination device determines that the second evaluation index exceeds the second deceleration threshold, wherein the second required deceleration provides to match an actual curve entrance-referenced relative velocity with a second target relative velocity, and wherein the second target relative velocity is determined by the second evaluation index and the entrance distance to the entrance position of the curve way; and

a comparison device for comparing the first required deceleration with the second required deceleration when the first and second required decelerations are calculated by the following deceleration calculation device and the curve way deceleration calculation device, respectively,

wherein the comparison device outputs one of the first and second required decelerations, an absolute value of which is larger than the other of the first and second required decelerations.

3. The vehicle behavior control device according to claim 2, further comprising:

a first acceleration target determination device for determining whether the first evaluation index is less than a predetermined first acceleration threshold; and

a following acceleration calculation device for calculating a first required acceleration when the first acceleration target determination device determines that the first evaluation index is less than the first acceleration threshold,

wherein the first required acceleration provides to match the actual relative velocity between the vehicle and the preceding vehicle with a third target relative velocity, and

wherein the third target relative velocity is determined by the first evaluation index and the following distance to the preceding vehicle.

4. The vehicle behavior control device according to claim 3, further comprising:

an entering-curve determination device for determining whether the vehicle has entered the curve way according to the entrance position of the curve way and the current position of the vehicle;

a road contour determination device for determining a road contour of a road ahead of the vehicle, according to the preceding vehicle information;

a road boundary distance calculation device for calculating a road boundary distance between the vehicle and a road boundary in the curve way ahead of the vehicle, according to the current position of the vehicle and the road contour;

a proper boundary distance determination device for determining a proper boundary distance between the vehicle and the road boundary, according to the curvature radius of the curve way and a proper turning radius, wherein the proper turning radius is determined by the curvature radius of the curve way;

a curve boundary-referenced relative velocity calculation device for calculating a curve boundary-referenced relative velocity according to the vehicle velocity of the vehicle and the target turning velocity at time of traveling in the curve way, wherein the target turning velocity is set up by the target turning velocity setting device, and wherein the curve boundary-referenced relative velocity is a velocity difference between the target turning velocity and the vehicle velocity;

a third evaluation index calculation device for calculating a third evaluation index, which indicates an approaching and separating state of the vehicle with respect to the road boundary in the curve way in view of the target turning velocity at time of traveling in the curve way, wherein the third evaluation index becomes larger as the curve boundary-referenced relative velocity becomes higher, and wherein the third evaluation index has an increasing gradient, which becomes steeper as a distance obtained by subtracting the proper boundary distance from the road boundary distance in the curve way becomes shorter;

a second deceleration target determination device for determining whether the third evaluation index exceeds a predetermined third deceleration threshold,

a second acceleration target determination device for determining whether the third evaluation index is less than a predetermined second acceleration threshold; and

a curve way acceleration calculation device for calculating a second required acceleration when the entering-curve determination device determines that the vehicle has entered the curve way and the second acceleration target determination device determines that the third evaluation index is less than the second acceleration threshold, wherein the second required acceleration provides to match an actual curve boundary-referenced relative velocity with a fourth target relative velocity, and wherein the fourth target relative velocity is determined by the third evaluation index and the distance obtained by subtracting the proper boundary distance from the road boundary distance in the curve way,

wherein, when the entering-curve determination device determines that the vehicle has not entered the curve way, and the deceleration starting determination device determines that the second evaluation index exceeds the second deceleration threshold, the curve way deceleration calculation device calculates the second required deceleration,

wherein, when the entering-curve determination device determines that the vehicle has entered the curve way, and the second deceleration target determination device determines that the third evaluation index exceeds the third deceleration threshold, the curve way deceleration calculation device calculates the second required deceleration,

wherein, when following acceleration calculation device calculates the first required acceleration, and the curve way acceleration calculation device calculates the second required acceleration, the comparison device compares the first required acceleration with the second required acceleration, and

wherein the comparison device outputs one of the first and second required accelerations, an absolute value of which is larger than the other of the first and second required accelerations.

5. The vehicle behavior control device according to claim 4,

wherein, when the following acceleration calculation device calculates the first required acceleration, and the curve way deceleration calculation device calculates the second required deceleration, the comparison device outputs only the second required deceleration.

6. The vehicle behavior control device according to claim 4,

wherein, when the following deceleration calculation device calculates the first required deceleration, and the curve way acceleration calculation device calculates the second required acceleration, the comparison device outputs only the first required deceleration.

7. The vehicle behavior control device according to claim 4, further comprising:

an exit determination device for determining an exit position of the curve way ahead of the vehicle, according to the preceding vehicle information; and

a leaving-curve determination device for determining whether the vehicle has left the curve way, according to the exit position of the curve way and the current position of the vehicle,

wherein, when the leaving-curve determination device determines that the vehicle has left the curve way, the curve way deceleration calculation device stops calculating the second required deceleration, and the curve way acceleration calculation device stops calculating the second required acceleration.

8. The vehicle behavior control device according to claim 1,

wherein the preceding vehicle information further provides to determine a traveling locus of the preceding vehicle,

wherein the preceding vehicle condition information further provides a steering angle of the preceding vehicle,

the vehicle behavior control device further comprising:

a traveling locus determination device for determining the traveling locus of the preceding vehicle according to the preceding vehicle information;

a road contour estimation device for estimating a road contour of a road ahead of the vehicle according to the traveling locus of the preceding vehicle; and

a curve way determination device for determining whether the curve way exists ahead of the vehicle, according to the road contour of the road ahead of the vehicle estimated by the road contour estimation device,

wherein, when the curve way determination device determines that the curve way exists, the curvature radius determination device determines the curvature radius by calculating the curvature radius of the curve way based on the road contour estimated by the road contour estimation device, and

wherein, when the curve way determination device determines that the curve way exists, the entrance determination device determines the entrance position of the curve way by estimating the entrance position of the curve way, based on the steering angle of the preceding vehicle acquired by the preceding vehicle information acquisition device.

9. The vehicle behavior control device according to claim 4,

wherein the preceding vehicle information further provides to determine a traveling locus of the preceding vehicle,

wherein the preceding vehicle condition information further provides a steering angle of the preceding vehicle,

the vehicle behavior control device further comprising:

a traveling locus determination device for determining the traveling locus of the preceding vehicle according to the preceding vehicle information; and

a curve way determination device for determining whether the curve way exists ahead of the vehicle, according to the road contour of the road ahead of the vehicle determined by the road contour determination device,

wherein the road contour determination device determines the road contour of the road ahead of the vehicle by estimating the road contour based on the traveling locus of the preceding vehicle,

wherein, when the curve way determination device determines that the curve way exists, the curvature radius determination device determines the curvature radius, by calculating the curvature radius of the curve way based on the road contour estimated by the road contour determination device, and

wherein, when the curve way determination device determines that the curve way exists, the entrance determination device determines the entrance position of the curve way, by estimating the entrance position of the curve way based on the steering angle of the preceding vehicle acquired by the preceding vehicle information acquisition device.

10. The vehicle behavior control device according to claim 8,

wherein the traveling locus of the preceding vehicle is determined by the preceding vehicle velocity and the steering angle of the preceding vehicle, and

wherein the traveling locus determination device determines the traveling locus of the preceding vehicle, by calculating the traveling locus of the preceding vehicle based on the preceding vehicle velocity and the steering angle of the preceding vehicle.