Vehicle control device and vehicle control method

• US 8,401,732 B2
• Filed: 10/30/2008
• Issued: 03/19/2013
• Est. Priority Date: 11/02/2007
• 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): Black, Thomas
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US12/740,436
• Publication Number:
  US 20100241303A1
• Time in Patent Office: 1,601 Days
• Field of Search: 701/41, 701/42, 701/71, 701/73, 701/94, 701/110, 701/121, 701/122, 701/497, 701/45, 340435-437, 340/438, 180/447
• US Class Current: 701/31.4
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2050/0008 Feedback, closed loop systems or details of feedback error signal
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 6/006 using a measured or estimated road friction coefficient

Abstract

Disclosed are a vehicle control device and a vehicle control method capable of performing appropriate traveling control while exhibiting the capability of a control system. Feedback control is performed according to a traveling target set in advance. At the time of the feedback control, when a vehicle traveling trace is deviated, when a tire friction circle is exceeded, or when a vehicle acceleration or a jerk exceeds a set value, if a control deviation exceeds a set value, a traveling target is regenerated. This enables appropriate traveling control while sufficiently exhibiting the capability of the control system until the control deviation exceeds the set value. When the control deviation exceeds the set value, a traveling target is regenerated, such that traveling control appropriate for the traveling environment can be performed.

Claims

1. A vehicle control device comprising:

a traveling control unit that performs feedback control for vehicle traveling according to a traveling target, the traveling target including a target traveling trace and a target speed pattern of the vehicle;

a determination unit that determines whether a vehicle traveling state according to the traveling target is a state in which a target following control in accordance with the feedback control is not carried out due to a disturbance predicted according to the vehicle information or not; and

a target regeneration unit that, when the determination unit determines that the vehicle traveling state according to the traveling target is the state in which the target following control in accordance with the feedback control is not carried out due to the disturbance predicted according to the vehicle information, regenerates a new traveling target.

2. A vehicle control method comprising:

a traveling control step of performing feedback control for vehicle traveling according to a traveling target, the traveling target including a target traveling trace and a target speed pattern of the vehicle;

a determination step of determining whether a vehicle traveling state according to the traveling target is a state in which a target following control in accordance with the feedback control is not carried out due to a disturbance predicted according to the vehicle information or not; and

a target regeneration step of, when it is determined in the determination step that the vehicle traveling state according to the traveling target is the state in which the target following control in accordance with the feedback control is not carried out due to the disturbance predicted according to the vehicle information, regenerating a new traveling target.