VEHICLE DRIVE ASSIST SYSTEM AND VEHICLE DRIVE ASSIST METHOD

• US 20170249848A1
• Filed: 05/07/2015
• Published: 08/31/2017
• Est. Priority Date: 05/13/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Niino, Hiroaki, Ooishi, Masayoshi, Ishikawa, Hiroshi
• Granted Patent: US 10,134,287 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2050/0026 Lookup tables or parameter maps
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 30/17 with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
• CPC Class Codes: B60W 30/18027 Drive off, accelerating from standstill
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

An automatic following control execution unit recognizes a preceding vehicle of the own vehicle and performs automatic following control of causing the own vehicle to automatically follow the preceding vehicle. A start-command acquisition unit acquires a start command to initiate the automatic following control. An automatic following control starting unit starts the automatic following control, when the brake is switched from on to off after satisfaction of a first to fifth conditions. The first condition is that the own vehicle is not under the automatic following control. The second condition is that a brake of the own vehicle is in an on state. The third condition is that the own vehicle is at rest. The fourth condition is that the preceding vehicle has been recognized. The fifth condition is that the start command acquisition means has acquired the start command. A target stopping inter-vehicle distance setting unit detects a first inter-vehicle distance between the own vehicle and the preceding vehicle when the first to fifth conditions are satisfied, and sets, as the first inter-vehicle distance, a target inter-vehicle distance for stopping the own vehicle. A start timing setting unit detects a second inter-vehicle distance between the own vehicle and the preceding vehicle at the start of the automatic following control, and sets a start timing for starting the own vehicle on the basis of the second inter-vehicle distance.

Claims

1. A vehicle drive assist system comprising:

an automatic following control execution means for recognizing a preceding vehicle of an own vehicle and performing automatic following control causing the own vehicle to automatically follow the preceding vehicle;

a start command acquisition means for acquiring a start command for initiating the automatic following control;

a condition determination means for determining whether or not a first condition, a second condition, a third condition, a fourth condition, and a fifth condition are satisfied,

the first condition being that the own vehicle is not under the automatic following control,

the second condition being that a brake of the own vehicle is in an on state, the third condition being that the own vehicle is at rest,

the fourth condition being that the preceding vehicle has been recognized, and

the fifth condition being that the start command acquisition means has acquired the start command;

a brake-off detection means for detecting that the brake of the own vehicle has been switched from on to off;

an automatic following control starting means for initiating the automatic following control, when the brake of the own vehicle is switched from on to off after satisfaction of the first to fifth conditions;

a target stopping inter-vehicle distance setting means for detecting a first inter-vehicle distance between the own vehicle and the preceding vehicle when the first to fifth conditions are satisfied, and setting, as the first inter-vehicle distance, a target inter-vehicle distance for stopping the own vehicle when the preceding vehicle stops during the automatic following control; and

a start timing setting means for detecting a second inter-vehicle distance between the own vehicle and the preceding vehicle at start of the automatic following control, and setting a start timing for starting the own vehicle according to start of the preceding vehicle during the automatic following control, on the basis of the second inter-vehicle distance.

2. The vehicle drive assist system according to claim 1, wherein:

the start timing setting means detects the second inter-vehicle distance and a relative velocity of the preceding vehicle to the own vehicle at the start of the automatic following control, and sets the start timing T on the basis of the second inter-vehicle distance and the relative velocity.

3. The vehicle drive assist system according to claim 2, further comprising:

a map for use in calculating the start timing from an inter-vehicle distance between the own vehicle and the preceding vehicle and a relative velocity of the preceding vehicle to the own vehicle; and

a map correction means correcting the map on the basis of the second inter-vehicle distance and the relative velocity detected by the start timing setting means, wherein

the start timing setting means sets the start timing by using the corrected map.

4. The vehicle drive assist system according to claim 3, further comprising:

an automatic following control terminating means for terminating the automatic following control when any of a sixth condition, a seventh condition, an eighth condition, and a ninth condition is satisfied during the automatic following control,

the sixth condition being that an elapsed time from when a shift position of the own vehicle has no longer come to match a shift position at the start of the automatic following control is equal to or longer than a predetermined threshold,

the seventh condition being that elapsed time from when the preceding vehicle has no longer been recognized is equal to or longer a predetermined threshold,

the eighth condition being that a driver of the own vehicle has applied braking, and

the ninth condition being that a termination command for terminating the automatic following control has been acquired.

6. The vehicle drive assist system according to claim 1, further comprising:

an automatic following control terminating means for terminating the automatic following control when any of a sixth condition, a seventh condition, an eighth condition, and a ninth condition is satisfied during the automatic following control,

the sixth condition being that an elapsed time from when a shift position of the own vehicle has no longer come to match a shift position at the start of the automatic following control is equal to or longer than a predetermined threshold,

the seventh condition being that elapsed time from when the preceding vehicle has no longer been recognized is equal to or longer a predetermined threshold,

the eighth condition being that a driver of the own vehicle has applied braking, and

the ninth condition being that a termination command for terminating the automatic following control has been acquired.

7. The vehicle drive assist system according to claim 2, further comprising:

an automatic following control terminating means for terminating the automatic following control when any of a sixth condition, a seventh condition, an eighth condition, and a ninth condition is satisfied during the automatic following control,

the sixth condition being that an elapsed time from when a shift position of the own vehicle has no longer come to match a shift position at the start of the automatic following control is equal to or longer than a predetermined threshold,

the seventh condition being that elapsed time from when the preceding vehicle has no longer been recognized is equal to or longer a predetermined threshold,

the eighth condition being that a driver of the own vehicle has applied braking, and

the ninth condition being that a termination command for terminating the automatic following control has been acquired.

5. A vehicle drive assist method comprising:

recognizing, by a vehicle drive assist system installed in the own vehicle, a preceding vehicle of an own vehicle and performing automatic following control causing the own vehicle to automatically follow the preceding vehicle;

acquiring, by the vehicle drive assist system, a start command for initiating the automatic following control;

determining, by the vehicle drive assist system, whether or not a first condition, a second condition, a third condition, a fourth condition, and a fifth condition are satisfied, the first condition being that the own vehicle is not under the automatic following control, the second condition being that a brake of the own vehicle is in an on state, the third condition being that the own vehicle is at rest, the fourth condition being that the preceding vehicle has been recognized, and the fifth condition being that the start command acquisition means has acquired the start command;

detecting, by the vehicle drive assist system, that the brake of the own vehicle has been switched from on to off;

starting, by the vehicle drive assist system, the automatic following control, when the brake of the own vehicle is switched from on to off after satisfaction of the first to fifth conditions;

detecting, by the vehicle drive assist system, a first inter-vehicle distance between the own vehicle and the preceding vehicle when the first to fifth conditions are satisfied, and setting, as the first inter-vehicle distance, a target inter-vehicle distance for stopping the own vehicle when the preceding vehicle stops during the automatic following control; and

detecting, by the vehicle drive assist system, a second inter-vehicle distance between the own vehicle and the preceding vehicle at start of the automatic following control, and setting a start timing for starting the own vehicle according to start of the preceding vehicle during the automatic following control, on the basis of the second inter-vehicle distance.