Target speed control system for a vehicle
First Claim
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1. A vehicle control system for controlling a vehicle, comprising:
- a distance obtaining means for obtaining a distance between the vehicle and a road associated object on a road, wherein the road associated object is an object located along an extension line of a traveling direction of the vehicle, and at a boundary of a curve of the road or in a vicinity of the boundary, wherein the curve exists ahead of the vehicle;
an evaluation index calculating means for calculating an approaching/separating state evaluation index that indicates a positional relationship between the vehicle and the road associated object, wherein;
the approaching/separating state evaluation index increases when a relative speed between the vehicle and the road associated object increases at a time of approaching of the vehicle to the road associated object; and
the approaching/separating state evaluation index for the relative speed increases at a faster rate as the distance decreases;
a curvature radius obtaining means for obtaining a curvature radius of the curve;
a target vehicle speed setting means for setting a target vehicle speed of the vehicle, with which the vehicle travels along the curve, based on the curvature radius of the curve;
a vehicle speed obtaining means for obtaining a current speed of the vehicle;
a target vehicle deceleration calculating means for calculating a target vehicle deceleration, with which the vehicle is controlled to travel so that the vehicle travels along the curve with the target vehicle speed, based on the approaching/separating state evaluation index, the distance, the current speed of the vehicle, and the target vehicle speed; and
a vehicle control means for controlling the vehicle to decelerate such that a deceleration of the vehicle coincides with the target vehicle deceleration, when the current speed of the vehicle is larger than the target vehicle speed.
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Abstract
When a vehicle travels along a curve of a road, a target vehicle acceleration/deceleration that is used for accelerating/decelerating the vehicle to a target vehicle speed, which is set for the curve, is calculated. Based on a comparison between a present vehicle speed of the vehicle and the target vehicle speed, the vehicle is controlled such that an acceleration/deceleration of the vehicle coincides with the target vehicle acceleration/deceleration.
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Citations
44 Claims
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1. A vehicle control system for controlling a vehicle, comprising:
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a distance obtaining means for obtaining a distance between the vehicle and a road associated object on a road, wherein the road associated object is an object located along an extension line of a traveling direction of the vehicle, and at a boundary of a curve of the road or in a vicinity of the boundary, wherein the curve exists ahead of the vehicle; an evaluation index calculating means for calculating an approaching/separating state evaluation index that indicates a positional relationship between the vehicle and the road associated object, wherein; the approaching/separating state evaluation index increases when a relative speed between the vehicle and the road associated object increases at a time of approaching of the vehicle to the road associated object; and the approaching/separating state evaluation index for the relative speed increases at a faster rate as the distance decreases; a curvature radius obtaining means for obtaining a curvature radius of the curve; a target vehicle speed setting means for setting a target vehicle speed of the vehicle, with which the vehicle travels along the curve, based on the curvature radius of the curve; a vehicle speed obtaining means for obtaining a current speed of the vehicle; a target vehicle deceleration calculating means for calculating a target vehicle deceleration, with which the vehicle is controlled to travel so that the vehicle travels along the curve with the target vehicle speed, based on the approaching/separating state evaluation index, the distance, the current speed of the vehicle, and the target vehicle speed; and a vehicle control means for controlling the vehicle to decelerate such that a deceleration of the vehicle coincides with the target vehicle deceleration, when the current speed of the vehicle is larger than the target vehicle speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle control system for controlling a vehicle, comprising:
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a distance obtaining means for obtaining a distance between the vehicle and a road associated object on a road, wherein the road associated object is an object located along an extension line of a traveling direction of the vehicle, and at a boundary of a curve of the road or in a vicinity of the boundary, wherein the curve exists ahead of the vehicle; an evaluation index calculating means for calculating an approaching/separating state evaluation index that indicates a positional relationship between the vehicle and the road associated object, wherein; the approaching/separating state evaluation index increases when a relative speed between the vehicle and the road associated object increases at a time of approaching of the vehicle to the road associated object; and the approaching/separating state evaluation index for the relative speed increases at a faster rate as the distance decreases; a curvature radius obtaining means for obtaining a curvature radius of the curve; a target vehicle speed setting means for setting a target vehicle speed of the vehicle, with which the vehicle travels along the curve, based on the curvature radius of the curve; a vehicle speed obtaining means for obtaining a current speed of the vehicle; a target vehicle acceleration/deceleration calculating means for calculating a target vehicle acceleration or deceleration, with which the vehicle is controlled to travel so that the vehicle travels along the curve with the target vehicle speed, based on the approaching/separating state evaluation index, the distance, the current speed of the vehicle, and the target vehicle speed; and a vehicle control means for controlling the vehicle such that an acceleration or deceleration of the vehicle coincides with the target vehicle acceleration or deceleration, respectively, based on a comparison between the current speed of the vehicle and the target vehicle speed. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A vehicle control system for controlling a vehicle, comprising:
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a distance obtaining means for obtaining a distance between the vehicle and an obstruction on a road, wherein the obstruction exists on the road, which is ahead of the vehicle in a traveling direction of the vehicle; a relative speed obtaining means for obtaining a relative speed between the vehicle and the obstruction; an evaluation index calculating means for calculating an approaching/separating state evaluation index that indicates a positional relationship between the vehicle and the obstruction, wherein; the approaching/separating state evaluation index increases when the relative speed increases at a time of approaching of the vehicle to the obstruction; and the approaching/separating state evaluation index for the relative speed increases at a faster rate as the distance decreases; a turning radius calculating means for calculating a turning radius of the vehicle, which is necessary for the vehicle to avoid a collision with the obstruction, based on the distance; a target lateral acceleration setting means for setting a target value of a lateral acceleration, which is generated in the vehicle in a lateral direction of the vehicle through a steering operation by a driver of the vehicle to avoid the collision; a target relative speed calculating means for calculating a target relative speed between the vehicle and the obstruction based on the turning radius and the target value of the lateral acceleration; a target relative deceleration calculating means for calculating a target relative deceleration between the vehicle and the obstruction based on the distance, the relative speed, and the approaching/separating state evaluation index; and a vehicle control means for controlling the vehicle to decelerate such that a relative deceleration between the vehicle and the obstruction coincides with the target relative deceleration when the relative speed is larger than the target relative speed, wherein the vehicle is controlled to travel with the target relative deceleration by the vehicle control means so that the vehicle is decelerated to the target relative speed. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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24. A vehicle control system for controlling a vehicle, comprising:
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a distance obtaining means for obtaining a distance between the vehicle and one of an obstruction and a road associated object, wherein; the vehicle travels along a road; the obstruction exists on a curve of the road, wherein the curve exists ahead of the vehicle in a traveling direction of the vehicle; and the road associated object is an object located at a boundary of the curve or in a vicinity of the boundary; an evaluation index calculating means for calculating an approaching/separating state evaluation index that indicates a positional relationship between the vehicle and the one of the obstruction and the road associated object, wherein; the approaching/separating state evaluation index increases when a relative speed between the vehicle and the one of the obstruction and the road associated object increases at a time of approaching of the vehicle to the one of the obstruction and the road associated object; and the approaching/separating state evaluation index for the relative speed increases at a faster rate as the distance decreases; a curvature radius obtaining means for obtaining a curvature radius of the curve; a target vehicle speed setting means for setting a target vehicle speed of the vehicle, with which the vehicle travels along the curve, based on the curvature radius of the curve; a vehicle speed obtaining means for obtaining a current speed of the vehicle; a relative speed obtaining means for obtaining the relative speed between the vehicle and the obstruction; a turning radius calculating means for calculating a turning radius of the vehicle, which is necessary for the vehicle to avoid a collision with the obstruction, based on the distance between the vehicle and the obstruction; a target lateral acceleration setting means for setting a target value of a lateral acceleration, which is generated in the vehicle in a lateral direction of the vehicle through a steering operation by a driver of the vehicle to avoid the collision; a target relative speed calculating means for calculating a target relative speed between the vehicle and the obstruction based on the turning radius and the target value of the lateral acceleration; a target vehicle acceleration/deceleration calculating means for calculating a target vehicle acceleration or deceleration, with which the vehicle is controlled to travel so that the vehicle travels along the curve with the target vehicle speed, based on the approaching/separating state evaluation index between the vehicle and the road associated object, the distance between the vehicle and the road associated object, the current speed of the vehicle, and the target vehicle speed; a target relative deceleration calculating means for calculating a target relative deceleration between the vehicle and the obstruction based on the distance between the vehicle and the obstruction, the relative speed, and the approaching/separating state evaluation index between the vehicle and the obstruction; and a vehicle control means for controlling the vehicle to decelerate such that a relative deceleration between the vehicle and the obstruction coincides with the target relative deceleration when the obstruction exists on the curve and the relative speed is larger than the target relative speed, wherein the vehicle is controlled to travel with the target relative deceleration by the vehicle control means so that the vehicle is decelerated to the target relative speed, and controlling the vehicle such that an acceleration or deceleration of the vehicle coincides with the target vehicle acceleration or deceleration, respectively, based on a comparison between the current speed of the vehicle and the target vehicle speed when the obstruction does not exist on the curve. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. A vehicle control system for controlling a vehicle, comprising:
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a distance obtaining means for obtaining a distance between the vehicle and a road associated object on a road, wherein the road associated object is an object located along an extension line of a traveling direction of the vehicle, and at a boundary of a curve of the road or in a vicinity of the boundary, wherein the curve exists ahead of the vehicle; a relative speed detecting means for detecting a relative speed between the vehicle and the road associated object; an evaluation index calculating means for calculating an approaching/separating state evaluation index that indicates a positional relationship between the vehicle and the road associated object, wherein; the approaching/separating state evaluation index increases when the relative speed increases, at a time of approaching of the vehicle to the road associated object; and the approaching/separating state evaluation index for the relative speed increases at a faster rate as the distance decreases; a deceleration target calculating means for calculating a deceleration target based on a normal deceleration of the vehicle, the distance, and the relative speed, wherein the deceleration target indicates an index of a timing, with which braking force applied through a brake system of the vehicle when the vehicle proceeds into the curve or travels along the curve is controlled; a deceleration target determining means for determining whether the approaching/separating state evaluation index is larger than the deceleration target; a target value setting means for setting a target value of the approaching/separating state evaluation index, such that the target value of the approaching/separating state evaluation index increases linearly from an initial value at a constant slope when the distance decreases, wherein; the initial value is the approaching/separating state evaluation index at a time when the deceleration target determining means determines that the approaching/separating state evaluation index is larger than the deceleration target; and the constant slope is a slope of the approaching/separating state evaluation index at the time when the deceleration target determining means determines that the approaching/separating state evaluation index is larger than the deceleration target; a target vehicle deceleration calculating means for calculating a target vehicle deceleration based on a target relative speed between the vehicle and the road associated object, and a present relative speed between the vehicle and the road associated object, wherein the target relative speed is obtained based on the target value of the approaching/separating state evaluation index; and a braking force control means for controlling the braking force applied through the brake system such that a deceleration of the vehicle coincides with the target vehicle deceleration when the vehicle proceeds into the curve or travels along the curve. - View Dependent Claims (39, 40)
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41. A vehicle control system for controlling a vehicle, comprising:
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a distance obtaining means for obtaining a distance between the vehicle and a road associated object on a road, wherein the road associated object is an object located along an extension line of a traveling direction of the vehicle, and at a boundary of a curve of the road or in a vicinity of the boundary, wherein the curve exists ahead of the vehicle; a relative speed detecting means for detecting a relative speed between the vehicle and the road associated object; an evaluation index calculating means for calculating an approaching/separating state evaluation index that indicates a positional relationship between the vehicle and the road associated object, wherein; the approaching/separating state evaluation index increases when the relative speed increases at a time of approaching of the vehicle to the road associated object; and the approaching/separating state evaluation index for the relative speed increases at a faster rate as the distance decreases; a target value setting means for setting a target value of the approaching/separating state evaluation index, such that the target value of the approaching/separating state evaluation index increases linearly from an initial value at a constant slope when the distance decreases, wherein; the initial value is the approaching/separating state evaluation index at a time when a driver of the vehicle starts a drive operation to decelerate the vehicle when the vehicle proceeds into the curve or travels along the curve; and the constant slope is a slope of the approaching/separating state evaluation index at the time when the driver starts the drive operation to decelerate the vehicle; a target vehicle deceleration calculating means for calculating a target vehicle deceleration based on a target relative speed between the vehicle and the road associated object and a present relative speed between the vehicle and the road associated object, wherein the target relative speed is obtained based on the target value of the approaching/separating state evaluation index; and a braking force control means for controlling braking force, which is applied through a brake system of the vehicle, such that a deceleration of the vehicle coincides with the target vehicle deceleration, when the vehicle proceeds into the curve or travels along the curve. - View Dependent Claims (42, 43, 44)
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Specification