Motion control device for vehicle
First Claim
1. A motion control device for a vehicle, comprising:
- a vehicle speed obtaining means for obtaining a speed of the vehicle;
a curve shape obtaining means for obtaining a shape of a curve existing ahead of the vehicle on a road on which the vehicle is traveling;
a position obtaining means for obtaining a relative position of the vehicle to the curve;
a determining means for determining an appropriate vehicle speed for the vehicle to travel through the curve based on the shape of the curve obtained by the curve shape obtaining means;
a speed reduction controlling means for performing a speed reduction control on the vehicle based on the appropriate vehicle speed determined by the determining means;
wherein the determining means determines, on the basis of the shape of the curve, a reference point in the middle of the curve and the appropriate vehicle speed for the vehicle to pass over the reference point, and the device further comprising;
a calculating means for calculating, on the basis of the reference point and the appropriate vehicle speed, a target vehicle speed characteristic which is a target of a reduction characteristic of the vehicle speed relative to a position on the road in a case where the vehicle is decelerated on the road between the reference point and a point closer to the vehicle relative to the reference point, wherein the speed reduction controlling means starts the speed reduction control for decelerating the vehicle in a case where a relationship between the vehicle speed and a position of the vehicle relative to the reference point obtained from the relative position meets a control start condition determined on the basis of the target vehicle speed characteristic and finishes the speed reduction control in a case where the vehicle speed falls within a predetermined range in which the appropriate vehicle speed is included.
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Accused Products
Abstract
A motion control device for a vehicle includes a vehicle speed obtaining means for obtaining a speed of the vehicle, a curve shape obtaining means for obtaining a shape of a curve existing ahead of the vehicle on a road on which the vehicle is traveling, a position obtaining means for obtaining a relative position of the vehicle to the curve, a determining means for determining an appropriate vehicle speed for the vehicle to travel through the curve based on the shape of the curve obtained by the curve shape obtaining means, and a speed reduction controlling means for performing a speed reduction control on the vehicle based on the appropriate vehicle speed determined by the determining means.
20 Citations
13 Claims
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1. A motion control device for a vehicle, comprising:
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a vehicle speed obtaining means for obtaining a speed of the vehicle; a curve shape obtaining means for obtaining a shape of a curve existing ahead of the vehicle on a road on which the vehicle is traveling; a position obtaining means for obtaining a relative position of the vehicle to the curve; a determining means for determining an appropriate vehicle speed for the vehicle to travel through the curve based on the shape of the curve obtained by the curve shape obtaining means; a speed reduction controlling means for performing a speed reduction control on the vehicle based on the appropriate vehicle speed determined by the determining means; wherein the determining means determines, on the basis of the shape of the curve, a reference point in the middle of the curve and the appropriate vehicle speed for the vehicle to pass over the reference point, and the device further comprising; a calculating means for calculating, on the basis of the reference point and the appropriate vehicle speed, a target vehicle speed characteristic which is a target of a reduction characteristic of the vehicle speed relative to a position on the road in a case where the vehicle is decelerated on the road between the reference point and a point closer to the vehicle relative to the reference point, wherein the speed reduction controlling means starts the speed reduction control for decelerating the vehicle in a case where a relationship between the vehicle speed and a position of the vehicle relative to the reference point obtained from the relative position meets a control start condition determined on the basis of the target vehicle speed characteristic and finishes the speed reduction control in a case where the vehicle speed falls within a predetermined range in which the appropriate vehicle speed is included. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A motion control device for a vehicle, comprising:
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a vehicle speed obtaining means for obtaining a speed of the vehicle; a curve shape obtaining means for obtaining a shape of a curve existing ahead of the vehicle on a road on which the vehicle is traveling; a position obtaining means for obtaining a relative position of the vehicle to the curve; a determining means for determining an appropriate vehicle speed for the vehicle to travel through the curve based on the shape of the curve obtained by the curve shape obtaining means; a speed reduction controlling means for performing a speed reduction control on the vehicle based on the appropriate vehicle speed determined by the determining means; wherein the determining means includes a first determining means determining the appropriate vehicle speed as a first appropriate vehicle speed and a second determining means determining a second appropriate vehicle speed which is greater than the first appropriate vehicle speed and is an appropriate vehicle speed for the vehicle passing through the curve based on the shape of the curve, the device further comprising; a first calculating means for calculating, on the basis of the first appropriate vehicle speed, a first target vehicle speed characteristic which is a target of a reduction characteristic of the vehicle speed relative to a position on the road in a case where the vehicle is decelerated when advancing to the curve; a second calculating means for calculating, on the basis of the second appropriate vehicle speed, a second target vehicle speed characteristic which is a target of the reduction characteristic of the vehicle speed relative to a position on the road in a case where the vehicle is decelerated when advancing to the curve; and a deceleration operation obtaining means for obtaining a deceleration operation by a driver, wherein the speed reduction controlling means includes a first controlling means for starting and executing a first control for decelerating the vehicle to the first appropriate vehicle speed in a state where a first control permission condition is satisfied and the deceleration operation is performed, the first control permission condition in which a relationship between the vehicle speed and the relative position is determined on the basis of the first target vehicle speed characteristic, and a second controlling means for starting and executing a second control for decelerating the vehicle to the second appropriate vehicle speed regardless of whether or not the deceleration operation is performed in a state where a second control execution condition is satisfied, the second control execution condition in which a relationship between the vehicle speed and the relative position is determined on the basis of the second target vehicle speed characteristic, the second controlling means starting and executing the second control regardless of whether or not the first control is being executed, the first controlling means being prevented from starting the first control during the execution of the second control. - View Dependent Claims (11, 12, 13)
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Specification