Vehicle Running Control Apparatus

• US 20160229401A1
• Filed: 06/13/2014
• Published: 08/11/2016
• Est. Priority Date: 09/30/2013
• Status: Active Application

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: NAGATSUKA, Keiichiro, YAMAKADO, Makoto, SASAKI, Mitsuhide, UEYAMA, Mikio
• Granted Patent: US 10,286,910 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering

Abstract

Provided is a vehicle running control apparatus capable of controlling a vehicle comfortably while inhibiting an uncomfortable feeling of a driver in consideration of dimensions of longitudinal acceleration requirements for the vehicle. This vehicle running control apparatus includes: a first control command value calculation unit configured to calculate a first control command value that controls vehicle longitudinal acceleration; a second control command value calculation unit configured to calculate a second control command value that controls longitudinal acceleration according to a lateral jerk that acts on the vehicle; a correction determination processing unit configured to determine whether to make correction based on the first control command value and the second control command value; and a correction processing unit configured, when the correction determination processing unit determines that correction is needed, to correct the first control command value based on the second control command value.

Claims

1. A vehicle running control apparatus comprising:

a first control command value calculation unit configured to calculate a first control command value that controls vehicle longitudinal acceleration;

a second control command value calculation unit configured to calculate a second control command value that controls longitudinal acceleration according to a lateral jerk that acts on the vehicle;

a correction determination processing unit configured to determine whether to make correction based on the first control command value and the second control command value; and

a correction processing unit configured, when the correction determination processing unit determines that correction is needed, to correct the first control command value based on the second control command value.

2. The vehicle running control apparatus according to claim 1, wherein, when the correction determination processing unit determines that correction is unneeded, the correction processing unit outputs the first control command value or the second control command value.

3. The vehicle running control apparatus according to claim 1, wherein the first control command value calculation unit calculates requirement acceleration according to driver accelerator operation, and outputs the requirement acceleration as the first control command value.

4. The vehicle running control apparatus according to claim 1, wherein the first control command value calculation unit calculates requirement acceleration for running at a vehicle speed previously set by a driver, and outputs the requirement acceleration as the first control command value.

5. The vehicle running control apparatus according to claim 4, wherein, when a leading vehicle is detected, the first control command value calculation unit calculates requirement acceleration for maintaining an inter-vehicle distance between a self-vehicle and the leading vehicle at an inter-vehicle distance previously set by the driver to perform follow-up running.

6. The vehicle running control apparatus according to claim 1, wherein, when the first control command value is equal to or greater than a previously determined first threshold, and when the second control command value is equal to or less than a previously determined second threshold, the correction determination processing unit determines that correction is possible.

7. The vehicle running control apparatus according to claim 1, wherein, when the correction determination processing unit determines that correction is needed, the correction processing unit outputs a value obtained by subtracting the second control command value from the first control command value.

8. The vehicle running control apparatus according to claim 1, wherein the first control command value calculation unit comprises:

first calculation processing for calculating a control command value according to driver accelerator operation;

second calculation processing for calculating a control command value for running at a vehicle speed previously set by the driver; and

third calculation processing for calculating an arbitrated control command value based on a result of the first calculation processing and a result of the second calculation processing.

9. The vehicle running control apparatus according to claim 8, wherein, when the control command value calculated in the first calculation processing is an acceleration command value, and when the control command value calculated in the second calculation processing is an acceleration command value, the first control command value calculation unit outputs the control command value with a larger value as the arbitrated control command value.

10. The vehicle running control apparatus according to claim 8, wherein, when the control command value calculated in the first calculation processing is an acceleration command value, and when the control command value calculated in the second calculation processing is a deceleration command value, the first control command value calculation unit outputs the control command value calculated in the first calculation processing as the arbitrated control command value.

11. The vehicle running control apparatus according to claim 5, wherein the leading vehicle is detected by at least one external world recognition sensor of a monocular camera, a stereoscopic camera, a millimeter-wave radar, and a laser radar.

12. The vehicle running control apparatus according to claim 1, wherein, when the correction processing unit executes correction, a display unit informs a driver.