Vehicle Drive Control Apparatus and Speed Control Method

• US 20170039855A1
• Filed: 07/21/2016
• Published: 02/09/2017
• Est. Priority Date: 08/07/2015
• Status: Active Grant

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: MAEDA, Kenta, YOKOYAMA, Atsushi
• Granted Patent: US 10,026,318 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60K 2031/0025 Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
• CPC Class Codes: B60K 2031/0091 Speed limiters or speed cutters
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle drive control apparatus includes: an object detection unit which detects positions, speeds, and sizes of objects around an own vehicle; and a speed control unit which detects a moving object existing in a place adjacent to a scheduled travelling path of the own vehicle and a speed change induction obstacle inducing a future speed vector change of the moving object from the objects detected by the object detection unit and changes a speed of the own vehicle, on the basis of a relative position relation of the own vehicle and the detected moving object and the speed change induction obstacle.

Claims

1. A vehicle drive control apparatus comprising:

an object detection unit which detects positions, speeds, and sizes of objects around an own vehicle; and

a speed control unit which detects a moving object existing in a place adjacent to a scheduled travelling path of the own vehicle and a speed change induction obstacle inducing a future speed vector change of the moving object from the objects detected by the object detection unit and changes a speed of the own vehicle, on the basis of a relative position relation of the own vehicle and the detected moving object and speed change induction obstacle.

2. The vehicle drive control apparatus according to claim 1, wherein

the speed control unit controls the speed such that the speed of the own vehicle decreases as a minimum distance of the scheduled travelling path and the speed change induction obstacle decreases, when the moving object and the speed change induction obstacle are detected.

3. The vehicle drive control apparatus according to claim 1, wherein

the speed control unit detects an object, which travels in a direction where an angle with a travelling direction of the own vehicle is a predetermined value or less and has a distance with the own vehicle to be a predetermined value or less, among the objects as the moving object, and

the speed control unit detects an object, in which a minimum distance for a straight line extended in the travelling direction of the moving object is a predetermined value or less and which moves or stops in a direction where a relative distance with the moving object decreases, among the objects as the speed change induction obstacle.

4. The vehicle drive control apparatus according to claim 1, wherein

the speed control unit includes a moving object path prediction unit which predicts a future route change allowing the moving object to avoid the speed change induction obstacle and calculates a prediction future position of the moving object until a predetermined time passes, and

the speed control unit changes the speed such that the own vehicle decelerates from a current speed, when it is predicted that an arrival time difference of the moving object and the own vehicle at a collision prediction point to be a point closest to the own vehicle among points where a distance of the scheduled travelling path and the prediction future position becomes a predetermined value or less is a predetermined value or less, on the basis of the moving object path prediction unit.

5. The vehicle drive control apparatus according to claim 4, wherein

in the case where the moving object travels to be parallel to a travelling direction of the own vehicle against the prediction future position or moves to be separated from the own vehicle, the speed control unit accelerates the own vehicle as compared with the opposite case.

6. The vehicle drive control apparatus according to claim 4, wherein

in the case where the moving object moves in a direction where a distance with the own vehicle decreases, against the prediction future position, the speed control unit decelerates the own vehicle as compared with the opposite case.

7. The vehicle drive control apparatus according to claim 4, wherein

the moving object path prediction unit calculates two points including a route change point to be a place where the moving object performs a route change and a horizontal direction offset point to be a place where the moving object changes a route to a direction parallel to a travelling direction of the own vehicle after the route change, and

the moving object path prediction unit sets a track coupling the two points of the route change point and the horizontal direction offset point as the prediction future position of the moving object.

8. The vehicle drive control apparatus according to claim 7, wherein

the moving object path prediction unit stores a plurality of patterns for the route change point and the horizontal direction offset point or acquires the plurality of patterns by communication, stores a past movement locus of the moving object, and calculates the route change point and the horizontal direction offset point by comparing the movement locus and the patterns.

9. The vehicle drive control apparatus according to claim 4, wherein

when it is predicted that the arrival time difference is the predetermined value or less, the speed control unit causes the collision prediction point to approach the own vehicle as the distance of the moving object and the own vehicle increases.

10. The vehicle drive control apparatus according to claim 4, wherein

the speed control unit determines a target arrival time of the own vehicle at the collision prediction point, such that the own vehicle passes through the collision prediction point after a time of the predetermined value passes from when the moving object passes through the collision prediction point, when it is predicted that the arrival time difference is the predetermined value or less, and

the speed control unit changes the speed of the own vehicle, such that the own vehicle arrives the collision prediction point at the target arrival time and the speed of the own vehicle becomes equal to the speed of the moving object.

11. The vehicle drive control apparatus according to claim 10, wherein

the speed control unit changes the speed of the own vehicle such that a temporal change of the speed becomes a change of an upward convex shape from the current time and then changes the speed of the own vehicle such that the temporal change of the speed becomes a change of a downward convex shape until the target arrival time.

12. The vehicle drive control apparatus according to claim 10, wherein

the speed control unit changes the speed of the own vehicle, such that a temporal change of acceleration of the own vehicle is continuous and jerk changes as a quadratic function for a time, from the current time to the target arrival time.

13. The vehicle drive control apparatus according to claim 1, wherein

the speed control unit includes a safe speed plan unit which plans a speed to decrease the speed of the own vehicle when the distance of the own vehicle and the moving object is small, on the basis of a relative position relation of the moving object and the own vehicle at the current time, and

the speed control unit changes the speed of the own vehicle, such that the speed is less than a speed plan value based on the safe speed plan unit at all times.

14. The vehicle drive control apparatus according to claim 13, wherein

the safe speed plan unit calculates or stores an upper limit of the speed of the own vehicle, such that the own vehicle decelerates at predetermined deceleration and stops before contacting the moving object, when the moving object changes a route to any direction at any time, and plans a speed based on the upper limit of the speed.

15. A speed control method, wherein

when an moving object existing in a place adjacent to a scheduled travelling path of an own vehicle and a speed change induction obstacle inducting a future speed vector change of the moving object are detected, a speed of the own vehicle is changed on the basis of a relative position relation of the own vehicle, the moving object, and the speed change induction obstacle.