Assisting a vehicle driver via changes in reaction force and engine output characteristic

• US 7,715,969 B2
• Filed: 03/01/2005
• Issued: 05/11/2010
• Est. Priority Date: 03/11/2004
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Yamamura, Tomohiro
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Amin; Bhavesh V
• Application Number:
  US11/067,927
• Publication Number:
  US 20050222742A1
• Time in Patent Office: 1,897 Days
• Field of Search: 701/70, 701/68, 701/60, 701/53, 701/54, 701/58, 701/65, 701/55, 701/56, 701/93, 701/1, 701/27, 701/28, 701/33, 701/36, 701/48, 701/71, 701/72, 701 75- 77, 701/78, 701/79, 701/84, 701/85, 701/86, 701 96- 98, 701/45, 180/232, 180/271, 180/277, 180/279, 180/284
• US Class Current: 701/70
• CPC Class Codes: B60K 26/021 with means for providing feel, e.g. by changing pedal force characteristics
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: F02D 11/105 characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
• CPC Class Codes: F02D 41/021 Introducing corrections for particular conditions exterior to the engine conjoint control of vehicle sub-units for propelling the vehicle B60W30/18
• CPC Class Codes: F02D 41/2422 Selective use of one or more tables

Abstract

A scene recognition device detects the state of the environment around a vehicle. Risk is determined based on the detected state of the environment. Based on the detected state of the environment and/or the determined risk, an actuator coupled to an accelerator selects one out of different reaction force characteristics of varying of reaction force with different positions of the accelerator. Based on the detected state of the environment and/or the determined risk, an engine output modifier modifies an engine output characteristic of varying of engine output with different positions of the accelerator.

Claims

1. A system for assisting a driver operating a vehicle traveling on a road, the system comprising:

an engine controller regulating operation of an engine of the vehicle to provide a desired engine output characteristic;

control logic configured to modify the engine output characteristic in response to at least one of a detected state of an environment around the vehicle and a determined risk; and

an accelerator having different positions, wherein a reaction force applied to the driver via the accelerator varies with different positions of the accelerator, according to a preset characteristic specifying how the reaction force varies with the positions of the accelerator;

wherein the control logic includes;

a first control section that determines the risk based on the detected state of the environment around the vehicle, and

a second control section configured to modify, according to the determined risk, the preset characteristic specifying how the reaction force applied to the driver via the accelerator varies with different positions of the accelerator;

and

wherein;

the control logic controls the operation of the engine to switch between a first operation mode and a second operation mode according to the determined risk;

under the first operation mode, the engine output varies with positions of the accelerator, according to a predefined normal engine output characteristic,;

under the second operation mode, the engine output varies with positions of the accelerator, according to a modified engine output characteristic selected from multiple predefined modified engine output characteristics according to the determined risk;

each of the modified engine output characteristics defines a range of accelerator positions, and the engine output corresponding to a position within the range is lower than the engine output corresponding to the same position according to the normal engine output characteristic;

when the determined risk is lower than a preset threshold, the control logic controls the vehicle to operate under the first operation mode; and

when the determined risk is higher than the preset threshold, the control logic controls the vehicle to operate under the second operation mode.

2. The system as recited in claim 1, further comprising a scene recognition device detecting the state of the environment around the vehicle.

3. The system as recited in claim 1, wherein the second control section causes the accelerator to select one of different accelerator reaction force characteristics upon determination that an obstacle exists in front of the vehicle with the environment around the vehicle.

4. The system as recited in claim 1, wherein the second control section causes the accelerator to select one of different accelerator reaction force characteristics upon determination that the risk is greater than a predetermined value.

5. The system as recited in claim 1, wherein the second control section causes the accelerator to select one of different accelerator pedal reaction force characteristics upon determination that the accelerator pedal has been released.

6. The system as recited in claim 1, wherein, regardless of operation of the second control section, the control logic modifies the engine output characteristic in response to at least one of the detected state of environment and the determined risk.

7. A method of assisting a driver operating a vehicle by manipulating an accelerator having different positions, wherein an engine output of the vehicle changes with different positions of the accelerator, and a reaction force applied to the driver via the accelerator varies with different positions of the accelerator according to a preset characteristic specifying how the reaction force varies with different positions of the accelerator the method comprising:

detecting a state of an environment around the vehicle;

determining risk based on the detected state of environment around the vehicle;

modifying the engine output corresponding to the respective position of the accelerator according to at least one of the detected state of environment and the determined risk;

modifying, according to the determined risk, the preset characteristic specifying how the reaction force applied to the driver via the accelerator varies with different positions of the accelerator; and

switching the operation of the engine to switch between a first operation mode and a second operation mode according to the determined risk;

wherein;

under the first operation mode, the engine output varies with positions of the accelerator, according to a predefined normal engine output characteristic,;

under the second operation mode, the engine output varies with positions of the accelerator, according to a modified engine output characteristic selected from multiple predefined modified engine output characteristics according to the determined risk;

each of the modified engine output characteristics defines a range of accelerator positions, and the engine output corresponding to a position within the range is lower than the engine output corresponding to the same position according to the normal engine output characteristic;

when the determined risk is lower than a preset threshold, the engine operates under the first operation mode; and

when the determined risk is higher than the preset threshold, the engine operates under the second operation mode.

8. A vehicle comprising:

an engine controller configured to regulate an operation of an engine of the vehicle to provide a desired engine output characteristic;

control logic configured to modify the engine output characteristic according to at least one of a detected state of an environment around the vehicle and a determined risk; and

an accelerator having different positions, wherein

a reaction force applied to the driver via the accelerator varies with different positions of the accelerator, according to a preset characteristic specifying how the reaction force varies with the positions of the accelerator; and

an engine output characteristic of the vehicle changes with different positions of the accelerator;

wherein the control logic includes a first control section that determines the risk based on the detected state of the environment around the vehicle, and

a second control section configured to modify, according to the determined risk, the preset characteristic specifying how the reaction force applied to the driver via the accelerator varies with different positions of the accelerator;

and

wherein;

the control logic controls the operation of the engine to switch between a first operation mode and a second operation mode according to the determined risk;

under the first operation mode, the engine output varies with positions of the accelerator, according to a predefined normal engine output characteristic,;

under the second operation mode, the engine output varies with positions of the accelerator, according to a modified engine output characteristic selected from multiple predefined modified engine output characteristics according to the determined risk; and

each of the modified engine output characteristics defines a range of accelerator positions, and the engine output corresponding to a position within the range is lower than the engine output corresponding to the same position according to the normal engine output characteristic;

when the determined risk is lower than a preset threshold, the control logic controls the vehicle to operate under the first operation mode; and

when the determined risk is higher than the preset threshold, the control logic controls the vehicle to operate under the second operation mode.

9. A system for assisting a driver operating a vehicle having an engine, the system comprising:

an accelerator pedal operable by the driver;

a stroke sensor configured to determine a position of the accelerator pedal;

an accelerator pedal unit including a first spring for applying a reaction force to the driver via the accelerator pedal, a second spring in parallel to the first spring, and an electromagnetically operated clutch for cooperating the second spring with the first spring to provide an increased reaction force to the driver via the accelerator pedal when the electromagnetically operated clutch is engaged;

an engine controller configured to regulate an engine output characteristic in response to the determined position of the accelerator pedal;

a scene recognition device configured to detect a state of environment around the vehicle; and

control logic configured to determine a risk in response to the detected state of environment around the vehicle, compare the determined risk with a predetermined risk value, and determine whether the accelerator pedal is released;

the control logic being operative to shift the electromagnetically operated clutch to a disengaged state, when the accelerator pedal is released, under a condition when the determined risk is not greater than the predetermined risk value; and

to an engaged state, when the accelerator pedal is released, under a condition when the determined risk is greater than the predetermined risk value; and

the control logic being operative to cause the engine controller to modify the engine output characteristic relative to different positions of the accelerator pedal, in response to the determined risk.

10. The system as claimed in claim 9, wherein the control logic shifts the electromagnetically operated clutch to the engaged state to give the increased reaction force to the driver via the accelerator pedal when the determined risk is greater than the predetermined value to transmit the condition that the determined risk is greater than the predetermined value to the driver via the increased reaction force from the accelerator pedal.

11. The systems as claimed in claim 10, wherein the control logic cause the engine controller to modify the engine output characteristic to transmit the determined risk via the modified engine output characteristic.

12. A method of assisting a driver operating a vehicle having an engine and an accelerator pedal, the method comprising:

determining the position of the accelerator pedal;

providing an accelerator pedal unit including a first spring for giving reaction force to the driver via the accelerator pedal, a second spring in parallel to the first spring, and an electromagnetically operated clutch;

providing an engine controller regulating operation of the engine to provide an output characteristic in response to the determine position of the accelerator pedal;

detecting a state of environment around the vehicle;

determining a risk in response to the detected state of environment around the vehicle, compares the determined risk with a predetermined risk value, and determines whether the accelerator pedal is released;

engaging the electromagnetically operated clutch to cooperate the second spring with the first spring when the determined risk is greater than a predetermined risk value to transmit a condition that the determined risk is greater the predetermined value to the driver via the increased reaction forced from the accelerator pedal; and

causing the engine controller to modify the engine output characteristic relative to different positions of the accelerator pedal to transmit the determined risk via the modified engine output characteristic.