VEHICLE CONTROL APPARATUS

• US 20160009282A1
• Filed: 07/10/2015
• Published: 01/14/2016
• Est. Priority Date: 07/11/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tokimasa, Mitsuhiro, Masui, Youhei, Nakadori, Minoru
• Granted Patent: US 9,266,534 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2510/0604 Throttle position
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target of the preceding vehicle. A target-pair distance is a distance between the target and a non-target reflection point that is closer to the subject vehicle than the target. A corrected distance calculator is configured to, in the presence of the target-pair distance being recognized, calculate a first corrected distance by subtracting the target-pair distance from a detected distance between the target and the subject vehicle, and in the absence of the target-pair distance being recognized, calculate a second corrected distance by subtracting an offset that is the previously set target-pair distance from the detected distance. A controller is configured to implement the inter-vehicle distance control based on the first or second corrected distance depending on the presence or absence of the target-pair distance being recognized.

Claims

1. A vehicle control apparatus for implementing inter-vehicle distance control of a vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target that is a reflecting portion of the preceding vehicle, the vehicle carrying the apparatus being referred to as a subject vehicle, the reflected waves being radar waves transmitted to a front of the subject vehicle and then reflected from the target, the apparatus comprising:

a target information acquirer configured to acquire target information about the target from the reflected waves, the target information including a detected distance from the subject vehicle to the target of the preceding vehicle;

a target-pair distance recognizer configured to, in the presence of a target pair that is a pair of the target and a non-target reflection point that is closer to the subject vehicle than the target and belongs to the same preceding vehicle as the target, calculate and recognize a separation distance between the target and the non-target reflection point of the target pair as a target-pair distance;

an offset setter configured to, when the target-pair distance is recognized by the target-pair distance recognizer for a predetermined period of time or more, set the target-pair distance as an offset;

a corrected distance calculator configured to, when the target-pair distance is recognized by the target-pair distance recognizer for the predetermined period of time or more, calculate a first corrected distance as an inter-vehicle distance between a rear end of the preceding vehicle and the subject vehicle by subtracting the target-pair distance from the detected distance, and when the target-pair distance is recognized by the target-pair distance recognizer for less than the predetermined period of time, calculate a second corrected distance as an inter-vehicle distance between the rear end of the preceding vehicle and the subject vehicle by subtracting the offset set by the offset setter from the detected distance; and

a controller configured to, when the target-pair distance is recognized by the target-pair distance recognizer for the predetermined period of time or more, implement the inter-vehicle distance control based on the first corrected distance calculated by the corrected distance calculator, and when the target-pair distance is recognized by the target-pair distance recognizer for less than the predetermined period of time, implement the inter-vehicle distance control based on the second corrected distance calculated by the corrected distance calculator.

2. The apparatus of claim 1, further comprising:

a detected-distance determiner configured to determine whether or not the detected distance is equal to or greater than a predetermined value, and an offset eraser configured to, when it is determined by the detected-distance determiner that the detected distance is equal to or greater than the predetermined value, erase the offset that was set previously.

3. The apparatus of claim 1, wherein the offset setter is configured to, when an increased target-pair distance is maintained for a predetermined period of time or more, update the offset to be increased.

4. The apparatus of claim 1, further comprising a distance-change determiner configured to determine whether or not the detected distance is abruptly decreased,

wherein the corrected distance calculator is configured to, when it is determined by the distance-change determiner that the detected distance is abruptly decreased, suspend the calculation of the second corrected distance.

5. The apparatus of claim 4, wherein the corrected distance calculator is configured to, when another target pair is newly recognized by the target-pair distance recognizer after it is determined by the distance-change determiner that the detected distance is abruptly decreased and then the calculation of the second corrected distance is suspended, resume the calculation of the second corrected distance using the target-pair distance for the newly recognized target pair set as an offset.