Vehicle control device, vehicle control method, and vehicle control system

• US 8,768,597 B2
• Filed: 07/28/2009
• Issued: 07/01/2014
• Est. Priority Date: 07/28/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Kagawa, Kazunori
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US13/387,288
• Publication Number:
  US 20120123658A1
• Time in Patent Office: 1,799 Days
• Field of Search: 701/1, 701/2, 701/23, 701/24, 701/36, 701/93, 701/96, 701/117, 701/118, 701/119, 701/400, 701/300, 701/301, 701/302, 180/170
• US Class Current: 701/96
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• 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 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A navigation system acquired information relating to a point, such as a sag where a decrease in vehicle speed is induced in front of a system-mounted vehicle. When the system-mounted vehicle has reached a predetermined distance from the sag concerning the information acquired by the navigation system or when a predetermined time has come before reaching the sag, an ECU and an ACC controls the traveling of the system-mounted vehicle such that the inter-vehicle distance from an ordinary vehicle behind the system-mounted vehicle increases. Therefore, even when a vehicle control device is not mounted in an ordinary vehicle behind the system-mounted vehicle, it becomes possible to prevent a decrease in the speed of the ordinary vehicle behind the system-mounted vehicle, thereby more effectively suppressing congestion.

Claims

1. A vehicle control device comprising:

information acquisition circuitry that acquires information relating to a vehicle speed decreasing point where a decrease in vehicle speed is induced in front of a host vehicle; and

traveling control circuitry that, when at least one of the host vehicle has reached a predetermined distance before the vehicle speed decreasing point concerning the information acquired by the information acquisition circuitry and when a predetermined time has come before the host vehicle reaches the vehicle speed decreasing point concerning the information acquired by the information acquisition circuitry, controls the traveling of the host vehicle such that the inter-vehicle distance from another vehicle behind the host vehicle increases;

wherein the traveling control circuitry

identifies another vehicle having a vehicle speed decrease tendency for which the possibility of a decrease in vehicle speed is equal to or greater than a predetermined threshold value, and

at least one of (i) when the another vehicle having the vehicle speed decrease tendency has reached a predetermined distance before the vehicle speed decreasing point and (ii) when a predetermined time has come before the host vehicle reaches the vehicle speed decreasing point, controls the traveling of the host vehicle such that the host vehicle travels in parallel with the vehicle having the vehicle speed decrease tendency.

2. The vehicle control device according to claim 1,

wherein the traveling control circuitry controls the traveling of the host vehicle such that the inter-vehicle distance from the another vehicle behind the host vehicle increases in synchronization with the traveling of another vehicle which travels in a lane adjacent to the lane in which the host vehicle travels such that the inter-vehicle distance from a further vehicle behind another vehicle increases.

3. The vehicle control device according to claim 1,

wherein, when it is detected that the another vehicle having the vehicle speed decrease tendency has decreased in speed within the predetermined distance from the vehicle speed decreasing point, the traveling control unit circuitry controls the traveling of the host vehicle such that the host vehicle travels through a position where another vehicle can be prevented from cutting in front of the another vehicle having the vehicle speed decrease tendency.

4. A vehicle control method comprising:

acquiring using electronic control circuitry information relating to a vehicle speed decreasing point where a decrease in vehicle speed is induced in front of a host vehicle; and

at least one of when the host vehicle has reached a predetermined distance before the decreasing point concerning the information acquired in the step of acquiring the information and when a predetermined time has come before the host vehicle reaches the vehicle speed decreasing point concerning the information acquired in the step of acquiring the information, controlling with the electronic control circuitry the traveling of the host vehicle such that the inter-vehicle distance from another vehicle behind the host vehicle increases

wherein the controlling of the traveling of the host vehicle includes,

identifying another vehicle having a vehicle speed decrease tendency for which the possibility of a decrease in vehicle speed is equal to or greater than a predetermined threshold value, and

at least one of (i) when the another vehicle having the vehicle speed decrease tendency has reached a predetermined distance before the vehicle speed decreasing point and (ii) when a predetermined time has come before the host vehicle reaches the vehicle speed decreasing point, controlling the traveling of the host vehicle such that the host vehicle travels in parallel with the vehicle having the vehicle speed decrease tendency.

5. The vehicle control method according to claim 4,

wherein, in the step of controlling the traveling of the host vehicle, the traveling of the host vehicle is controlled such that the inter-vehicle distance from the another vehicle behind the host vehicle increases in synchronization with the traveling of another vehicle which travels in a lane adjacent to the lane in which the host vehicle travels such that the inter-vehicle distance from a further vehicle behind another vehicle increases.

6. The vehicle control method according to claim 4,

wherein, in the step of controlling the traveling of the host vehicle, when it is detected that the another vehicle having the vehicle speed decrease tendency has decreased in speed within the predetermined distance from the vehicle speed decreasing point, the traveling of the host vehicle is controlled such that the host vehicle travels through a position where another vehicle can be prevented from cutting in front of the another vehicle having a vehicle speed decrease tendency.

7. A vehicle control system comprising:

information acquisition unit that acquires information relating to a vehicle speed decreasing point where a decrease in vehicle speed is induced; and

traveling control unit that, when at least one of one vehicle has reached a predetermined distance before the vehicle speed decreasing point concerning the information acquired by the information acquisition unit and when a predetermined time has come before the one vehicle reaches the vehicle speed decreasing point concerning the information acquired by the information acquisition unit, controls the traveling of the one vehicle such that the inter-vehicle distance from another vehicle behind the one vehicle increases;

wherein the traveling control unit

identifies another vehicle having a vehicle speed decrease tendency for which the possibility of a decrease in vehicle speed is equal to or greater than a predetermined threshold value, and

at least one of (i) when the another vehicle having the vehicle speed decrease tendency has reached a predetermined distance before the vehicle speed decreasing point and (ii) when a predetermined time has come before the one vehicle reaches the vehicle speed decreasing point, controls the traveling of the one vehicle such that the one vehicle travels in parallel with the vehicle having the vehicle speed decrease tendency.

8. The vehicle control system according to claim 7,

wherein the traveling control unit controls the traveling of the one vehicle such that the inter-vehicle distance from the another vehicle behind the one vehicle increases in synchronization with the traveling of another vehicle which travels in a line adjacent to the lane in which the one vehicle travels such that the inter-vehicle distance from a further vehicle behind another vehicle increases.

9. The vehicle control system according to claim 8,

wherein, when it is detected that the another vehicle having the vehicle speed decrease tendency has decreased in speed within the predetermined distance from the vehicle speed decreasing point, the traveling control unit controls the traveling of the one vehicle such that the one vehicle travels through a position where another vehicle can be prevented from cutting in front of the another vehicle having a vehicle speed decrease tendency.