Auto-drive control unit for vehicles

• US 5,906,645 A
• Filed: 11/05/1996
• Issued: 05/25/1999
• Est. Priority Date: 12/04/1995
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kagawa, Kazunori, Tanaka, Hiroaki
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/743,932
• Time in Patent Office: 931 Days
• Field of Search: 701/70, 701/71, 701/75, 701/80, 701/84, 701/41, 701/93, 701/24, 701/23, 701/88, 701/89, 180/197, 180/247, 180/167, 180/168, 340/903, 340/905, 340/436
• US Class Current: 701/23
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• 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: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers

Abstract

A unit for smoothly switching from auto-drive to manual drive for a vehicle provided with an auto-drive mode. To perform auto-drive, an auto-drive ECU controls steering wheel, brake, and accelerator actuators in accordance with signals from a route recognition/obstruction check sensor, a GPS and the like. When an interface (switch) for switching to the manual drive is operated, the auto-drive ECU evaluates running stability/instability in accordance with signals from various running safety devices and sensors for detecting a variation in vehicle state, and if the vehicle is in an instable state, prohibits a shift to the manual drive, even when the vehicle is running on a straight road.

Claims

1. An auto-drive control unit for a vehicle comprising:

(a) running control means for performing auto-drive to control speed and steering angle of the vehicle based on detection signals from a plurality of sensors,

(b) changeover means for switching between the auto-drive and manual drive,

(c) evaluation means for evaluating running stability of the vehicle while running when the steering angle is within a given range and substantially in a neutral state, and

(d) mode control means for prohibiting changeover from the auto-drive to the manual drive by said changeover means when the vehicle running is evaluated to be in an unstable state by said evaluation means.

2. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate the running stability with reference to acceleration of the vehicle.

3. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate the running stability with reference to a yaw rate of said vehicle.

4. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate the running stability with reference to the operation or nonoperation of an antilock brake system mounted on the vehicle.

5. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate the running stability with reference to the operation or nonoperation of a traction control system mounted on the vehicle.

6. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate the running stability with reference to the operation or nonoperation of a vehicle stability control system mounted on the vehicle.

7. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate the running stability with reference to the operation or nonoperation of an auto-brake system mounted on the vehicle.

8. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate that the vehicle is in an unstable state when a running safety device mounted on the vehicle is operating.

9. The auto-drive control unit according to claim 1, wherein said evaluation means evaluate that the vehicle is in an unstable state when a running stability control device mounted on the vehicle is not operating and a variation in vehicle state is equal to or above a given value.