DRIVING CONTROL APPARATUS FOR VEHICLE

• US 20160090100A1
• Filed: 09/16/2015
• Published: 03/31/2016
• Est. Priority Date: 09/29/2014
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Fuji Jukogyo KK (Subaru Corp.)
• Inventors: OYAMA, Hajime, MIZOGUCHI, Masato, TAKASO, Yasushi, MATSUNO, Koji, EZOE, Shiro, AKIYAMA, Satoru, NAGASE, Takayuki, HORIGUCHI, Harunobu, SHIRAISHI, Eiichi
• Granted Patent: US 9,452,760 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2050/022 Actuator failures
• CPC Class Codes: B60W 2050/0297 Control Giving priority to different actuators or systems
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/0225 Failure correction strategy
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

During a self-driving control, when an acquisition failure occurs in traveling environment information acquisition required for performing self-driving, and a failure of a steering system of a vehicle equipped with the vehicle driving control apparatus is detected, a brake controller sets an evacuation course along which the vehicle is to travel safely within traveling environment, based on traveling environment information detected last time before the acquisition failure of the traveling environment information, and executes a deceleration of the vehicle and a yaw brake control that applies a yaw moment to the vehicle based on the evacuation course.

Claims

1. A drive control apparatus for a vehicle, the apparatus being configured to execute a self-driving control based on traveling environment information that is information on traveling environment where a vehicle travels and traveling information of the vehicle, and comprising:

a traveling environment information acquirer that acquires the traveling environment information;

a traveling information detector that detects the traveling information;

an environment information acquisition failure detector that detects an acquisition failure of the traveling environment information acquirer;

a steering system failure detector that detects a failure of a steering system of the vehicle; and

a brake controller that sets an evacuation course along which the vehicle is to travel safely within the traveling environment, based on the traveling environment information detected last time before the acquisition failure of the traveling environment information acquirer, in the case where an acquisition failure of the traveling environment information acquirer is detected and the failure of the steering system is detected, during the self-driving control, and executes a deceleration of the vehicle and a yaw brake control that applies a yaw moment to the vehicle based on the evacuation course.

2. The driving control apparatus for a vehicle of claim 1, wherein the yaw moment applied to the vehicle by the yaw brake control is corrected according to a steering wheel fixed state by an operator of the vehicle.

3. The vehicle driving control apparatus of claim 2, wherein the yaw moment applied to the vehicle by the yaw brake control is corrected according to a traveled distance of the vehicle based on the evacuation course.

4. The vehicle driving control apparatus of claim 1, wherein the yaw brake control is canceled when a predetermined steering input is performed by the operator.

5. The vehicle driving control apparatus of claim 2, wherein the yaw brake control is canceled when a predetermined steering input is performed by the operator.

6. The vehicle driving control apparatus of claim 3, wherein the yaw brake control is canceled when a predetermined steering input is performed by the operator.

7. The vehicle driving control apparatus of claim 4, wherein,

the steering input by the operator is determined based on a steering torque, and

the yaw brake control is canceled when the steering torque inputted is greater than a torque threshold that is set smaller as the traveled distance based on the evacuation course becomes longer.

8. The vehicle driving control apparatus of claim 5, wherein,

the steering input by the operator is determined based on a steering torque, and

the yaw brake control is canceled when the steering torque inputted is greater than a torque threshold that is set smaller as the traveled distance based on the evacuation course becomes longer.

9. The vehicle driving control apparatus of claim 6, wherein,

the steering input by the operator is determined based on a steering torque, and

the yaw brake control is canceled when the steering torque inputted is greater than a torque threshold that is set smaller as the traveled distance based on the evacuation course becomes longer.

10. The vehicle driving control apparatus of claim 4, wherein,

the steering input by the operator is determined based on a steering wheel angle change, and

the yaw brake control is canceled when the steering wheel angle change inputted is greater than a steering wheel angle change threshold that is set smaller as the traveled distance based on the evacuation course becomes longer.

11. The vehicle driving control apparatus of claim 5, wherein,

the steering input by the operator is determined based on a steering wheel angle change, and

the yaw brake control is canceled when the steering wheel angle change inputted is greater than a steering wheel angle change threshold that is set smaller as the traveled distance based on the evacuation course becomes longer.

12. The vehicle driving control apparatus of claim 6, wherein,

the steering input by the operator is determined based on a steering wheel angle change, and

the yaw brake control is canceled when the steering wheel angle change inputted is greater than a steering wheel angle change threshold that is set smaller as the traveled distance based on the evacuation course becomes longer.

13. The vehicle driving control apparatus of claim 4, wherein,

the steering input by the operator is determined based on a steering torque, and

the yaw brake control is canceled when the acquisition failure of the traveling environment information acquirer and the failure of the steering system occur near a branch road, and when the steering torque inputted is greater than a torque threshold that is set smaller as a distance to the branch road becomes shorter.

14. The vehicle driving control apparatus of claim 5, wherein,

the steering input by the operator is determined based on a steering torque, and

the yaw brake control is canceled when the acquisition failure of the traveling environment information acquirer and the failure of the steering system occur near a branch road, and when the steering torque inputted is greater than a torque threshold that is set smaller as a distance to the branch road becomes shorter.

15. The vehicle driving control apparatus of claim 6, wherein,

the steering input by the operator is determined based on a steering torque, and

the yaw brake control is canceled when the acquisition failure of the traveling environment information acquirer and the failure of the steering system occur near a branch road, and when the steering torque inputted is greater than a torque threshold that is set smaller as a distance to the branch road becomes shorter.

16. The vehicle driving control apparatus of claim 4, wherein,

the steering input by the operator is determined based on the steering wheel angle change, and

the yaw brake control is canceled when the acquisition failure of the traveling environment information acquirer and the failure of the steering system occur near a branch road, and the steering wheel angle change inputted is greater than a steering wheel angle change threshold that is set smaller as a distance to the branch road becomes shorter.

17. The vehicle driving control apparatus of claim 5, wherein,

the steering input by the operator is determined based on the steering wheel angle change, and

the yaw brake control is canceled when the acquisition failure of the traveling environment information acquirer and the failure of the steering system occur near a branch road, and the steering wheel angle change inputted is greater than a steering wheel angle change threshold that is set smaller as a distance to the branch road becomes shorter.

18. The vehicle driving control apparatus of claim 6, wherein,

the steering input by the operator is determined based on the steering wheel angle change, and

the yaw brake control is canceled when the acquisition failure of the traveling environment information acquirer and the failure of the steering system occur near a branch road, and the steering wheel angle change inputted is greater than a steering wheel angle change threshold that is set smaller as a distance to the branch road becomes shorter.