Deceleration controller for vehicle
First Claim
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1. A deceleration control apparatus for a vehicle, the apparatus comprising:
- a speed sensor for detecting an actual vehicular speed;
a detection device operable to detect a start of a curve in a path of the vehicle; and
a controller operable to;
compute a lateral acceleration limitation value as the vehicle enters the curve based on the distance of the vehicle from the start of the curve, wherein the lateral acceleration limitation value decreases from a maximum prescribed lateral acceleration value in advance of the curve to a reference lateral acceleration value at the start of the curve, wherein the reference lateral acceleration is based on the radius of the curve and is smaller than the prescribed lateral acceleration value;
set a target vehicular speed calculated based on the lateral acceleration limitation value and a yaw rate of the vehicle, wherein the target vehicular speed decreases as the lateral acceleration limitation value decreases, and the target vehicular speed decreases as the yaw rate of the vehicle increases; and
apply deceleration to the vehicle if the actual vehicular speed exceeds the target vehicular speed.
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Abstract
A deceleration control apparatus and method for controlling deceleration of a vehicle where a controller is operable to set a target vehicular speed calculated based on a turning condition of the vehicle and a lateral acceleration limitation value. The controller is also operable to apply deceleration to the vehicle based on the actual vehicular speed and the target vehicular speed and to correct the deceleration used when the vehicle is traveling along a detected curve. Correcting the deceleration can be done by, for example, correcting the lateral acceleration limitation value.
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Citations
15 Claims
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1. A deceleration control apparatus for a vehicle, the apparatus comprising:
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a speed sensor for detecting an actual vehicular speed; a detection device operable to detect a start of a curve in a path of the vehicle; and a controller operable to; compute a lateral acceleration limitation value as the vehicle enters the curve based on the distance of the vehicle from the start of the curve, wherein the lateral acceleration limitation value decreases from a maximum prescribed lateral acceleration value in advance of the curve to a reference lateral acceleration value at the start of the curve, wherein the reference lateral acceleration is based on the radius of the curve and is smaller than the prescribed lateral acceleration value; set a target vehicular speed calculated based on the lateral acceleration limitation value and a yaw rate of the vehicle, wherein the target vehicular speed decreases as the lateral acceleration limitation value decreases, and the target vehicular speed decreases as the yaw rate of the vehicle increases; and apply deceleration to the vehicle if the actual vehicular speed exceeds the target vehicular speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 14, 15)
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9. A deceleration control apparatus for a vehicle, the apparatus comprising:
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means for detecting an actual vehicular speed; means for detecting a start of a curve in a path of the vehicle; means for computing a lateral acceleration limitation value that decreases from a maximum prescribed lateral acceleration value to a reference lateral acceleration value based on a distance of the vehicle from the start of the curve, wherein the reference lateral acceleration value is based upon the radius of the curve; means for setting a target vehicular speed calculated based on a yaw rate of the vehicle and the lateral acceleration limitation value, wherein the target vehicular speed decreases as the lateral acceleration limitation value decreases, and the target vehicular speed decreases as the yaw rate of the vehicle increases; and means for applying deceleration to the vehicle based on the actual vehicular speed and the target vehicular speed.
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10. A method for controlling deceleration of a vehicle, comprising:
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detecting a start of a curve in a path of the vehicle; computing a lateral acceleration limitation value as the vehicle enters the curve based on the distance of the vehicle from the start of the curve, wherein the lateral acceleration limitation value decreases from a maximum prescribed lateral acceleration value in advance of the curve to a reference lateral acceleration value at the start of the curve, and the reference lateral acceleration value is based upon the radius of the curve; setting a target vehicular speed based on a yaw rate of the vehicle and the lateral acceleration limitation value; and applying deceleration control to the vehicle if an actual speed of the vehicle is greater than the target vehicular speed. - View Dependent Claims (11, 12, 13)
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Specification