Travel trace generation method and travel trace generation device

• US 8,255,110 B2
• Filed: 10/29/2008
• Issued: 08/28/2012
• Est. Priority Date: 11/01/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Taguchi, Koji
• Primary Examiner(s): TO, TOAN C
• Application Number:
  US12/740,058
• Publication Number:
  US 20100256856A1
• Time in Patent Office: 1,399 Days
• Field of Search: 701/29.1, 701/29.3, 701/30.2, 701/30.3, 701/30.5, 701/30.7
• US Class Current: 701/29.1
• CPC Class Codes: B60L 15/2045 for optimising the use of energy
• CPC Class Codes: B60L 2240/461 Speed
• CPC Class Codes: B60L 2240/465 Slip
• CPC Class Codes: B60L 2240/62 Vehicle position
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 20/00 Control systems specially adapted for hybrid vehicles hybrid vehicle design, B60K6/00; electric vehicles B60L
• CPC Class Codes: B60W 20/12 using control strategies taking into account route information estimation or calculation of non-directly measurable driving parameters B60W40/00
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/18127 Regenerative braking
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: Y02T 10/40 Engine management systems
• CPC Class Codes: Y02T 10/62 Hybrid vehicles
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 10/84 : Data processing systems or methods, management, administration
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

It is an object of the present invention to provide a travel locus generating method and a travel locus generating device for generating a travel locus in consideration of a fuel consumption characteristic. The present invention is a travel locus generating device that generates a future travel locus of a vehicle and is characterized by including a restriction condition calculating means for performing a convergence calculation of restriction conditions including at least a condition of a road boundary and an evaluation function calculating means for deriving a travel locus by a convergence calculation using an evaluation function, which includes at least evaluation of a variance of speed, in a state where the restriction conditions of the restriction condition calculating means are satisfied.

Claims

1. A travel locus generating method of generating a future travel locus of a vehicle, comprising:

a restriction condition calculating step of performing a convergence calculation of restriction conditions including at least a condition of a road boundary; and

an evaluation function calculating step of deriving a travel locus by a convergence calculation using an evaluation function, which includes at least evaluation of a variance of speed, in a state where the restriction conditions in the restriction condition calculating step are satisfied.

2. The travel locus generating method according to claim 1, further comprising:

an initial condition generating step of generating a travel locus, in which decelerating by regenerative deceleration at the time of deceleration of a vehicle is prioritized, as an initial condition when a driving system of the vehicle is a hybrid system.

3. The travel locus generating method according to claim 2,

wherein in the initial condition generating step, a travel locus is generated in which a clipping point is moved to a curve entrance side and a minimum speed point is moved to a curve exit side corresponding to a deceleration upper limit and an acceleration upper limit determined by system capability of the hybrid system.

4. The travel locus generating method according to claim 1, further comprising:

a block dividing step of dividing a continuous curve into a plurality of blocks;

a maximum-speed traveling optimizing step of performing optimization processing under a maximum-speed traveling condition;

a transit time calculating step of calculating a transit time of each block divided in the block dividing step on the basis of an optimization result in the maximum-speed traveling optimizing step;

a marginal time calculating step of calculating a marginal time of each block on the basis of the amount of brake heat radiation in each block divided in the block dividing step; and

a target transit time calculating step of calculating a target transit time of each block on the basis of the transit time of each block calculated in the transit time calculating step and the marginal time of each block calculated in the marginal time calculating step.

5. A travel locus generating device that generates a future travel locus of a vehicle, comprising:

a restriction condition calculating means for performing a convergence calculation of restriction conditions including at least a condition of a road boundary; and

an evaluation function calculating means for deriving a travel locus by a convergence calculation using an evaluation function, which includes at least evaluation of a variance of speed, in a state where the restriction conditions of the restriction condition calculating means are satisfied.

6. The travel locus generating device according to claim 5, further comprising:

an initial condition generating means for generating a travel locus, in which decelerating by regenerative deceleration at the time of deceleration of a vehicle is prioritized, as an initial condition when a driving system of the vehicle is a hybrid system.

7. The travel locus generating device according to claim 6,

wherein the initial condition generating means generates a travel locus in which a clipping point is moved to a curve entrance side and a minimum speed point is moved to a curve exit side corresponding to a deceleration upper limit and an acceleration upper limit determined by system capability of the hybrid system.

8. The travel locus generating device according to claim 5, further comprising:

a block dividing means for dividing a continuous curve into a plurality of blocks;

a maximum-speed traveling optimizing means for performing optimization processing under a maximum-speed traveling condition;

a transit time calculating means for calculating a transit time of each block divided by the block dividing means on the basis of an optimization result of the maximum-speed traveling optimizing means;

a marginal time calculating means for calculating a marginal time of each block on the basis of the amount of brake heat radiation in each block divided by the block dividing means; and

a target transit time calculating means for calculating a target transit time of each block on the basis of the transit time of each block calculated by the transit time calculating means and the marginal time of each block calculated by the marginal time calculating means.