VEHICLE TRAVEL CONTROL APPARATUS
First Claim
1. A vehicle travel control apparatus having a vehicle speed control unit which controls a vehicle speed of an own vehicle based on a target vehicle speed of the own vehicle set beforehand, comprising:
- a vehicle speed detection unit which detects an actual vehicle speed of the own vehicle;
an external situation recognition unit which recognizes an external situation in the surroundings of the own vehicle;
a utility function determination unit which determines a utility function, which represents a relationship between a manipulated variable for vehicle speed control, which is a manipulated variable for controlling the vehicle speed of the own vehicle, and a utility index value, which is an index value representing an effectiveness degree of controlling the vehicle speed of the own vehicle according to each value of the manipulated variable for vehicle speed control, at least according to the target vehicle speed and the detected vehicle speed of the own vehicle;
a travel inhibition degree function determination unit which determines a travel inhibition degree function, which represents a relationship between the manipulated variable for vehicle speed control and a travel inhibition degree index value, which is an index value representing an inhibition degree of the travel of the own vehicle estimated in a case where the vehicle speed of the own vehicle is controlled according to each value of the manipulated variable for vehicle speed control, according to the recognized external situation; and
an appropriateness function determination unit which determines an appropriateness function, which represents a relationship between the manipulated variable for vehicle speed control and an appropriateness of each value of the manipulated variable for vehicle speed control, by combining the determined utility function and the determined travel inhibition degree function,wherein the vehicle speed control unit is configured to control the vehicle speed of the own vehicle by manipulating a driving/braking force of the own vehicle according to the value of the manipulated variable for vehicle speed control corresponding to a highest appropriateness in the determined appropriateness function.
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Accused Products
Abstract
A vehicle travel control apparatus includes a utility function determination unit, which determines a utility function fu representing a relationship between the manipulated variable for vehicle speed control of an own vehicle and an effectiveness degree, a travel inhibition degree function determination unit, which determines a travel inhibition degree function fr representing a relationship between the manipulated variable for vehicle speed control and an estimated travel inhibition degree of the own vehicle, and an appropriateness function determination unit, which determines an appropriateness function fap combining both functions fu and fr. A driving/braking force of the own vehicle is manipulated according to the value of the manipulated variable for vehicle speed control corresponding to a highest appropriateness in the appropriateness function fap.
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Citations
22 Claims
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1. A vehicle travel control apparatus having a vehicle speed control unit which controls a vehicle speed of an own vehicle based on a target vehicle speed of the own vehicle set beforehand, comprising:
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a vehicle speed detection unit which detects an actual vehicle speed of the own vehicle; an external situation recognition unit which recognizes an external situation in the surroundings of the own vehicle; a utility function determination unit which determines a utility function, which represents a relationship between a manipulated variable for vehicle speed control, which is a manipulated variable for controlling the vehicle speed of the own vehicle, and a utility index value, which is an index value representing an effectiveness degree of controlling the vehicle speed of the own vehicle according to each value of the manipulated variable for vehicle speed control, at least according to the target vehicle speed and the detected vehicle speed of the own vehicle; a travel inhibition degree function determination unit which determines a travel inhibition degree function, which represents a relationship between the manipulated variable for vehicle speed control and a travel inhibition degree index value, which is an index value representing an inhibition degree of the travel of the own vehicle estimated in a case where the vehicle speed of the own vehicle is controlled according to each value of the manipulated variable for vehicle speed control, according to the recognized external situation; and an appropriateness function determination unit which determines an appropriateness function, which represents a relationship between the manipulated variable for vehicle speed control and an appropriateness of each value of the manipulated variable for vehicle speed control, by combining the determined utility function and the determined travel inhibition degree function, wherein the vehicle speed control unit is configured to control the vehicle speed of the own vehicle by manipulating a driving/braking force of the own vehicle according to the value of the manipulated variable for vehicle speed control corresponding to a highest appropriateness in the determined appropriateness function. - View Dependent Claims (2, 3, 4, 7, 8, 9, 10, 11, 12, 13, 14, 15, 21)
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5. A vehicle travel control apparatus having a vehicle speed control unit which controls a vehicle speed of an own vehicle on the basis of a target vehicle-to-vehicle distance between the own vehicle and a preceding vehicle in front thereof set beforehand, comprising:
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a vehicle-to-vehicle distance detection unit which detects a vehicle-to-vehicle distance between the own vehicle and the preceding vehicle in front thereof; an external situation recognition unit which recognizes an external situation in the surroundings of the own vehicle; an utility function determination unit which determines a utility function, which represents a relationship between a manipulated variable for vehicle speed control, which is a manipulated variable for controlling the vehicle speed of the own vehicle, and a utility index value, which is an index value representing an effectiveness degree of controlling the vehicle speed of the own vehicle according to each value of the manipulated variable for vehicle speed control, according to at least the target vehicle-to-vehicle distance and the detected vehicle-to-vehicle distance; a travel inhibition degree function determination unit which determines a travel inhibition degree function, which represents a relationship between the manipulated variable for vehicle speed control and a travel inhibition degree index value which is an index value representing an inhibition degree of the travel of the own vehicle expected in the case where the vehicle speed of the own vehicle is controlled according to each value of the manipulated variable for vehicle speed control, according to the recognized external situation; and an appropriateness function determination unit which determines an appropriateness function, which represents a relationship between the manipulated variable for vehicle speed control and an appropriateness of each value of the manipulated variable for vehicle speed control, by combining the determined utility function and the determined travel inhibition degree function; wherein the vehicle speed control unit is configured to control the vehicle speed of the own vehicle by manipulating a driving/braking force of the own vehicle according to the value of the manipulated variable for vehicle speed control corresponding to a highest appropriateness in the determined appropriateness function. - View Dependent Claims (6, 16, 17, 18, 19, 20, 22)
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Specification