Travel trace generation method and travel trace generation device

• US 8,428,812 B2
• Filed: 10/30/2008
• Issued: 04/23/2013
• 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): Tran, Khoi
• Assistant Examiner(s): Sample, Jonathan L
• Application Number:
  US12/525,197
• Publication Number:
  US 20100138099A1
• Time in Patent Office: 1,636 Days
• Field of Search: None
• US Class Current: 701/31.4
• 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 10/20 including control of steering systems
• 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 2050/0026 Lookup tables or parameter maps
• 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 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• 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 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/18127 Regenerative braking
• CPC Class Codes: B60W 40/10 : related to vehicle motion
• CPC Class Codes: B60W 40/12 : related to parameters of the vehicle itself , e.g. tyre models
• 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

A running locus generating apparatus 1 for generating a future running locus of a vehicle driven by a hybrid scheme comprises constraint condition computing means 30 for convergently computing a constraint condition including at least a road boundary condition and evaluation function computing means 30 for deriving a running locus by a convergent computation with an evaluation function including at least an evaluation of an electric power balance in a hybrid system when the electric power balance is positive in a state where the constraint condition by the constraint condition computing means 30 is satisfied.

Claims

1. A running locus generating method of generating a future running locus of a vehicle driven by a hybrid scheme, the method executed by an Electronic Control Unit, the method comprising:

computing a running locus that satisfies a constraint condition including at least a road boundary condition by a convergent computation; and

deriving a final running locus by a convergent computation with an evaluation function using the running locus satisfying the constraint condition in an initial convergent computation while the constraint condition in the computing the running locus step is satisfied,

wherein the evaluation function includes at least an evaluation of an electric power balance in a hybrid system when the electric power balance is in a positive state.

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

generating an initial running locus preferring regenerative deceleration when decelerating the vehicle as an initial condition,

wherein the computing of the running locus step computes the running locus by using the initial running locus in an initial convergent computation.

3. The running locus generating method according to claim 2, wherein the generating the initial running locus step generates the initial running locus moving a clipping point and a minimum speed point toward a curve entrance and a curve exit, respectively, according to deceleration and acceleration upper limits determined by a system capability of the hybrid scheme.

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

dividing a continuous curve into a plurality of blocks;

performing optimization processing under a fastest running condition;

computing respective passing times of the blocks divided by the dividing a continuous curve step according to a result of the optimization in the performing optimization processing step;

computing respective leeway times of the blocks divided by the dividing a continuous curve step according to respective brake heat dissipating amounts in the blocks; and

computing respective target passing times of the blocks according to the respective passing times of the blocks computed in the computing respective passing times step and the respective leeway times of the blocks computed in the computing respective leeway times step.

5. A running locus generating apparatus including an Electronic Control Unit, for generating a future running locus of a vehicle driven by a hybrid scheme, the running locus generating apparatus comprising:

a constraint condition computing unit for computing a running locus that satisfies a constraint condition including at least a road boundary condition by a convergent computation; and

an evaluation function computing unit for deriving a final running locus by a convergent computation with an evaluation function using the running locus satisfying the constraint condition in an initial convergent computation while the constraint condition in the computing the running locus step is satisfied,

wherein the evaluation function includes at least an evaluation of an electric power balance in a hybrid system when the electric power balance is in a positive state.

6. The running locus generating apparatus according to claim 5, further comprising an initial condition generating unit for generating an initial running locus preferring regenerative deceleration when decelerating the vehicle as an initial condition, wherein the constraint condition computing unit computes the running locus by using the initial running locus in an initial convergent computation.

7. The running locus generating apparatus according to claim 6, wherein the initial condition generating unit generates the initial running locus moving a clipping point and a minimum speed point toward a curve entrance and a curve exit, respectively, according to deceleration and acceleration upper limits determined by a system capability of the hybrid scheme.

8. The running locus generating apparatus according to claim 5, further comprising:

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

a fastest running optimizing unit for performing optimization processing under a fastest running condition;

a passing time computing unit for computing respective passing times of the blocks divided by the block dividing unit according to a result of the optimization by the fastest running optimizing unit;

a leeway time computing unit for computing respective leeway times of the blocks divided by the block dividing unit according to respective brake heat dissipating amounts in the blocks; and

a target passing time computing unit for computing respective target passing times of the blocks according to the respective passing times of the blocks computed by the passing time computing unit and the respective leeway times of the blocks computed by the leeway time computing unit.