VEHICLE CONTROL APPARATUS
First Claim
1. A vehicle control apparatus for controlling start and acceleration involving course-change of own vehicle, comprising:
- an externality recognizing means that recognizes a moving body and a road shape around the own vehicle, and that calculates a position, a moving direction and moving speed of the moving body,estimating means that specifies an intersection position between an expected course of the own vehicle and an expected course of the moving body by estimating a course of the own vehicle based on the road shape, and by estimating a course of the moving body based on the position and the moving direction of the moving body, andvehicle driving means that starts and accelerates the own vehicle based on an acceleration pattern as an acceleration waveform when the own vehicle starts.
1 Assignment
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Accused Products
Abstract
When own vehicle starts and accelerates involving course-change, the own vehicle is started with appropriate timing, and changes a course safely and swiftly. The vehicle control apparatus (1) includes externality recognizing means (2) that recognizes a moving body (C1, P1) and a road shape around the own vehicle (100), and that calculates a position, a moving direction and moving speed of the moving body, estimating means (6) for specifying an intersection position (Xc1 and Xp1) between an expected course (r) of the own vehicle and an expected course (Rc1, Rp1) of the moving body, acceleration pattern producing means (7) for producing a plurality of acceleration patterns (f(t), F(t), f(t+Ts), F(t+Ts)), acceleration pattern selecting/setting means (8) for selecting and setting one of the plurality of acceleration patterns in which the own vehicle and the moving body do not pass the intersection position at the same time, and vehicle driving means (9) for starting and accelerating the own vehicle based on the selected and set acceleration pattern.
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Citations
13 Claims
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1. A vehicle control apparatus for controlling start and acceleration involving course-change of own vehicle, comprising:
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an externality recognizing means that recognizes a moving body and a road shape around the own vehicle, and that calculates a position, a moving direction and moving speed of the moving body, estimating means that specifies an intersection position between an expected course of the own vehicle and an expected course of the moving body by estimating a course of the own vehicle based on the road shape, and by estimating a course of the moving body based on the position and the moving direction of the moving body, and vehicle driving means that starts and accelerates the own vehicle based on an acceleration pattern as an acceleration waveform when the own vehicle starts. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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Specification