Running control apparatus and running control program for the apparatus
First Claim
1. A running control apparatus, comprising:
- a control-required driving or braking force calculating unit that calculates a control-required driving force or a control-required braking force, required to control a vehicle to a target running state, from a running resistance caused by the vehicle such that the driving or braking force contains a feed-forward component required to run the vehicle at the target running state against the running resistance;
a driver-required braking force calculating unit that calculates a driver-required braking force of the vehicle required by a braking operation which is performed by a driver of the vehicle; and
a running control unit that performs a running control for the vehicle so as to run the vehicle by the control-required driving or braking force calculated by the control-required driving or braking force calculating unit;
wherein the running control unitstops the running control, when the driver-required braking force caused by the driver'"'"'s braking operation becomes higher than the control-required braking force,judges the braking operation being released when the driver-required braking force caused by the driver'"'"'s braking operation becomes lower than a braking operation release judging threshold, andrestarts the running control so as to run the vehicle by the control-required driving or braking force including a running resistance at the time of restarting, when the driver-required braking force caused by the driver'"'"'s braking operation becomes lower than the control-required braking force or the braking operation release judging threshold.
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Accused Products
Abstract
A running control apparatus calculates a target driving or braking torque in a calculating block to control the vehicle driven or braked by this torque at a target speed against a running resistance changed with running circumstances of the vehicle. In a control block, when a driver-required braking torque based on the braking operation of the driver is smaller than the target braking torque, the running control for the vehicle is performed to brake the vehicle by the target braking torque. When the driver-required braking torque becomes higher than the target braking torque, the running control is stopped, and the driver manually brakes the vehicle by the driver-required braking torque. When the driver-required braking torque is decreased to be lower than the target braking torque or a predetermined braking torque corresponding to the release of the braking operation, the running control is restarted.
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Citations
20 Claims
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1. A running control apparatus, comprising:
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a control-required driving or braking force calculating unit that calculates a control-required driving force or a control-required braking force, required to control a vehicle to a target running state, from a running resistance caused by the vehicle such that the driving or braking force contains a feed-forward component required to run the vehicle at the target running state against the running resistance; a driver-required braking force calculating unit that calculates a driver-required braking force of the vehicle required by a braking operation which is performed by a driver of the vehicle; and a running control unit that performs a running control for the vehicle so as to run the vehicle by the control-required driving or braking force calculated by the control-required driving or braking force calculating unit; wherein the running control unit stops the running control, when the driver-required braking force caused by the driver'"'"'s braking operation becomes higher than the control-required braking force, judges the braking operation being released when the driver-required braking force caused by the driver'"'"'s braking operation becomes lower than a braking operation release judging threshold, and restarts the running control so as to run the vehicle by the control-required driving or braking force including a running resistance at the time of restarting, when the driver-required braking force caused by the driver'"'"'s braking operation becomes lower than the control-required braking force or the braking operation release judging threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A running control program, executed in a computer mounted on a vehicle, for a running control apparatus, comprising:
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a control-required driving or braking force calculating routine that calculates a control-required driving force or a control-required braking force, required to control a vehicle to a target running state, from a running resistance caused by the vehicle such that the driving or braking force contains a feed-forward component required to run the vehicle at the target running state against the running resistance; a driver-required braking force calculating routine that calculates a driver-required braking force of the vehicle required by a braking operation which is performed by a driver of the vehicle; and a running control routine that performs a running control for the vehicle so as to run the vehicle by the control-required driving or braking force calculated in the control-required driving or braking force calculating routine; wherein the running control routine stops the running control when the driver-required braking force caused by the driver'"'"'s braking operation becomes higher than the control-required braking force, judges the braking operation being released when the driver-required braking force caused by the driver'"'"'s braking operation becomes lower than a braking operation release judging threshold, and restarts the running control so as to run the vehicle by the control-required driving or braking force including a running resistance at the time of restarting, when the driver-required braking force caused by the driver'"'"'s braking operation becomes lower than the control-required braking force or the braking operation release judging threshold.
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15. A running control apparatus, comprising:
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a control-derived target axle torque calculating unit configured to calculate a control-derived target axle torque, required to control a vehicle to a target speed, based on a running resistance caused by the vehicle such that the control-derived target axle torque contains a feed-forward component required to run the vehicle at the target speed against the running resistance; a driver-derived braking torque calculating unit configured to calculate a driver-derived braking torque of the vehicle caused by a braking operation performed by a driver of the vehicle; and a running control unit configured to perform a running control for the vehicle so as to run the vehicle by the control-derived target axle torque calculated by the control-derived target axle torque calculating unit, wherein the running control unit is further configured to stop the running control, when the driver-derived braking torque rises above a first threshold braking torque, judge that the braking operation has ended when the driver-derived braking torque falls below a second threshold braking torque, and restart the running control so as to run the vehicle by the control-derived target axle torque, including a running resistance at the time of restarting, when the driver-derived braking torque falls below either the first threshold braking torque or the second threshold braking torque. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification