VEHICLE BEHAVIOR CONTROL APPARATUS
First Claim
1. A vehicle behavior control apparatus disposed in a subject vehicle and including a wireless communication apparatus for exchanging information through vehicle to vehicle communication, the vehicle behavior control apparatus comprising:
- a current position acquisition unit regularly acquiring a current position of the subject vehicle;
a lead vehicle information acquisition unit acquiring lead vehicle information via the wireless communication apparatus, the lead vehicle information being regularly transmitted from a lead vehicle;
a virtual road shape determination unit determining a virtual shape of a road as a virtual road shape based on the lead vehicle information;
a virtual road border distance calculation unit calculating a virtual road border distance as a distance from the subject vehicle to a road border of a virtual curve road straight in front of the subject vehicle based on the current position of the subject vehicle and the virtual road shape;
a curvature radius calculation unit calculating a curvature radius of the virtual curve road in front of the subject vehicle based on the virtual road shape;
a turn radius calculation unit calculating an appropriate turn radius of the subject vehicle for a travel of the virtual curve road based on the curvature radius calculated by the curvature radius calculation unit;
an appropriate distance calculation unit calculating an appropriate distance within the virtual curve road from the subject vehicle to the road border straight in front of the subject vehicle based on the appropriate turn radius; and
a steering unit performing a steering angle control of the subject vehicle by controlling a steering angle of the subject vehicle traveling along the virtual curve road such that the virtual road border distance equals the appropriate distance.
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Accused Products
Abstract
A vehicle behavior control apparatus disposed in a subject vehicle performs a steering angle control of the subject vehicle. The apparatus acquires lead vehicle information transmitted from a lead vehicle to determine a virtual shape of a road (i.e., a virtual road shape) based on a travel locus of the lead vehicle. A virtual road border distance is calculated as a distance from the subject vehicle to a road border of a virtual curve road positioned straight in front of the subject vehicle. The apparatus, calculates an appropriate turn radius for travel along the virtual curve road and, based on the appropriate turn radius, calculates an appropriate distance from the subject vehicle to the virtual road border positioned in front of the subject vehicle. A steering unit then controls a steering angle of the subject vehicle by maintaining the virtual road border distance with the appropriate distance.
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Citations
12 Claims
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1. A vehicle behavior control apparatus disposed in a subject vehicle and including a wireless communication apparatus for exchanging information through vehicle to vehicle communication, the vehicle behavior control apparatus comprising:
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a current position acquisition unit regularly acquiring a current position of the subject vehicle; a lead vehicle information acquisition unit acquiring lead vehicle information via the wireless communication apparatus, the lead vehicle information being regularly transmitted from a lead vehicle; a virtual road shape determination unit determining a virtual shape of a road as a virtual road shape based on the lead vehicle information; a virtual road border distance calculation unit calculating a virtual road border distance as a distance from the subject vehicle to a road border of a virtual curve road straight in front of the subject vehicle based on the current position of the subject vehicle and the virtual road shape; a curvature radius calculation unit calculating a curvature radius of the virtual curve road in front of the subject vehicle based on the virtual road shape; a turn radius calculation unit calculating an appropriate turn radius of the subject vehicle for a travel of the virtual curve road based on the curvature radius calculated by the curvature radius calculation unit; an appropriate distance calculation unit calculating an appropriate distance within the virtual curve road from the subject vehicle to the road border straight in front of the subject vehicle based on the appropriate turn radius; and a steering unit performing a steering angle control of the subject vehicle by controlling a steering angle of the subject vehicle traveling along the virtual curve road such that the virtual road border distance equals the appropriate distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification