Vehicle control apparatus, and vehicle control method

• US 8,150,593 B2
• Filed: 12/07/2007
• Issued: 04/03/2012
• Est. Priority Date: 12/08/2006
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Taki, Naoki
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US12/310,819
• Publication Number:
  US 20090234526A1
• Time in Patent Office: 1,579 Days
• Field of Search: 701/93, 701/96, 701/70, 701300-302, 340/425.5, 340435-436
• US Class Current: 701/96
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• 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 2050/0071 Controller overrides driver automatically
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/14 Adaptive cruise control

Abstract

A vehicle control apparatus (1) provided with an automatic cruise apparatus (30) that automatically moves a vehicle, and a pre-crash brake apparatus (40) that automatically applies a brake to the vehicle when an obstacle is detected, includes cruising output value setting means (15) for making a cruising output value, which should be achieved using the automatic cruise apparatus (1), smaller than a regular cruising output value used in normal times, when the obstacle is detected.

Claims

1. A vehicle control apparatus, comprising:

an automatic cruise apparatus that automatically moves a vehicle;

a pre-crash brake apparatus that automatically applies a brake to the vehicle when an obstacle is detected; and

a cruising output value setting unit that outputs a cruising output value, when the obstacle is detected, that is smaller than a regular cruising output value that is output when the obstacle is not detected.

5. The vehicle control apparatus according to claim 1, wherein the automatic cruise apparatus is an intelligent parking assist apparatus that automatically parks the vehicle.

6. The vehicle control apparatus according to claim 5, wherein only the pre-crash brake apparatus is operated when the intelligent parking assist apparatus is not operated.

7. The vehicle control apparatus according to claim 1, wherein the cruising output value setting unit sets the cruising output value to zero, when a distance between the vehicle and the obstacle is equal to or shorter than a threshold value.

8. The vehicle control apparatus according to claim 1, wherein the cruising output value setting unit sets the cruising output value to zero, when an estimated time to collision between the vehicle and the obstacle is equal to or shorter than a threshold value.

9. The vehicle control apparatus according to claim 1, wherein the cruising output value setting unit changes a manner, in which the cruising output value is made smaller than the regular cruising output value, based on a type of the detected obstacle.

10. The vehicle control apparatus according to claim 9, wherein the cruising output value setting unit makes the cruising output value smaller than the regular cruising output value by a larger amount when an obstacle that may move is detected than when an immovable obstacle is detected, and increases the amount by which the cruising output value is made smaller than the regular cruising output value as a possibility of collision between the vehicle and the obstacle that may move is higher.

11. The vehicle control apparatus according to claim 1, wherein:

the automatic cruise apparatus further comprises a drive power increase unit for temporarily increasing drive power when the vehicle does not move for a predetermined time although a predetermined cruising output value is provided; and

the cruising output value setting unit prohibits an increase in the drive power made by the drive power increase unit, when the obstacle is detected.

2. A vehicle control method, comprising:

controlling an automatic vehicle cruise;

determining whether there is an obstacle within a predetermined area near a vehicle; and

outputting a cruising output value, when the obstacle is detected, that is smaller than a regular cruising output value that is output when the obstacle is not detected.

3. The vehicle control method according to claim 2, wherein:

the cruising output value is set to zero when a distance between the vehicle and the obstacle or an estimated time to collision between the vehicle and the obstacle is equal to or shorter than a threshold value; and

a manner, in which the cruising output value is made smaller than the regular cruising output value, is changed based on a type of the obstacle, when the distance between the vehicle and the obstacle or the estimated time to collision between the vehicle and the obstacle is longer than the threshold value.

4. The vehicle control method according to claim 2, wherein the automatic vehicle cruise is an intelligent vehicle parking assist.