Vehicle control system for controlling vehicle based on road shape
First Claim
1. A vehicle control system comprising:
- map data outputting means for outputting map data including road data of a road to be followed by a vehicle;
position detecting means for detecting an actual position of the vehicle on a map;
vehicle speed detecting means for detecting a vehicle speed;
tentative position setting means for setting a tentative position on the road ahead of the actual position;
estimated passage speed calculating means for calculating an estimated passage speed at the tentative position based on a distance between the actual position and the tentative position;
turnable radius calculating means for calculating turnable radii at the tentative position based on the estimated passage speed;
zone setting means for setting a plurality of passableness deciding zones with arcs in contact with the tentative position on the turnable radii within a range of a predetermined distance ahead of the tentative position;
passableness deciding means for deciding the passableness of the vehicle by overlapping the road data ahead of the tentative position and the passableness deciding zones; and
control means for controlling the vehicle when it is decided that the vehicle cannot safely pass a road within said predetermined distance.
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Accused Products
Abstract
A vehicle control system reduces the arithmetic operations for deciding the passableness of the vehicle through an upcoming curve and also avoids unnecessarily effecting automatic deceleration and warning, which are not completely indispensable in a system for performing the warning or automatic deceleration, so that the vehicle may pass through a curve at a proper vehicle speed and with minimum distraction to the vehicle occupants. Assuming that the driver performs a voluntary deceleration at a predetermined deceleration from the current vehicle speed, the system calculates an estimated passage speed of a tentative position Nk, as set on a road ahead of an actual position P0. The system then sets a passable zone Z1, a warning zone Z2 and an automatic deceleration zone Z3 on the basis of turnable radii R1 and R2, at which a predetermined transverse acceleration is established at the estimated passage speed, as well as an arc C1 '"'"' defining a range of a predetermined distance from the tentative position Nk. The driver is warned by the system, when any of nodes Nk+1, - - - , and soon ahead of the tentative position Nk is present in the warning zone Z2, and the vehicle is automatically decelerated by the system when any of the nodes is present in the automatic deceleration zone Z3.
64 Citations
13 Claims
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1. A vehicle control system comprising:
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map data outputting means for outputting map data including road data of a road to be followed by a vehicle; position detecting means for detecting an actual position of the vehicle on a map; vehicle speed detecting means for detecting a vehicle speed; tentative position setting means for setting a tentative position on the road ahead of the actual position; estimated passage speed calculating means for calculating an estimated passage speed at the tentative position based on a distance between the actual position and the tentative position; turnable radius calculating means for calculating turnable radii at the tentative position based on the estimated passage speed; zone setting means for setting a plurality of passableness deciding zones with arcs in contact with the tentative position on the turnable radii within a range of a predetermined distance ahead of the tentative position; passableness deciding means for deciding the passableness of the vehicle by overlapping the road data ahead of the tentative position and the passableness deciding zones; and control means for controlling the vehicle when it is decided that the vehicle cannot safely pass a road within said predetermined distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vehicle control system comprising;
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map data outputting means for outputting map data including road data of a road to be followed by a vehicle; position detecting means for detecting an actual position of the vehicle on a map; vehicle speed detecting means for detecting a vehicle speed; tentative position setting means for setting a tentative position on the road ahead of the actual position; estimated passage speed calculating means for calculating an estimated passage speed at the tentative position based on a distance between the actual position and the tentative position; turnable radius calculating means for calculating turnable radii at the tentative position based on the estimated passage speed; zone setting means for setting a plurality of passableness deciding zones with arcs in contact with the tentative position on the turnable radii within a range of a predetermined distance ahead of the tentative position; passableness deciding means for deciding the passableness of the vehicle by overlapping the road data ahead of the tentative position and the passableness deciding zones; S-curve deciding means for deciding whether or not an S-curve exists on said road within said predetermined distance from the tentative position, wherein a distance from the tentative position to an inflection point of the S-curve, if any, is set as said predetermined distance; and control means for controlling the vehicle when it is decided that the vehicle cannot safely pass a road within said predetermined distance.
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Specification