Vehicle travel control device

• US 9,061,630 B2
• Filed: 08/12/2011
• Issued: 06/23/2015
• Est. Priority Date: 09/21/2010
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Takiguchi, Hirotaka, Suzaki, Go, Sugimoto, Yoichi
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US13/823,795
• Publication Number:
  US 20130173113A1
• Time in Patent Office: 1,411 Days
• Field of Search: 701/36, 701/70, 701/80, 701/93, 701/96, 340/436, 340/903
• US Class Current: 1/1
• CPC Class Codes: B60K 2026/023 with electrical means to generate counter force or torque
• CPC Class Codes: B60K 26/02 of initiating means or elements
• CPC Class Codes: B60K 26/021 with means for providing feel, e.g. by changing pedal force characteristics
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/106 Rate of change
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 50/087 where the control system corrects or modifies a request from the driver
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal

Abstract

A vehicle travel control device can accurately determine a driver'"'"'s intention to adjust the vehicle speed. After applying attention attracting reaction force corresponding to outside circumstances and the like to an accelerator pedal through a reaction force application mechanism, a reaction force control unit outputs intention determining reaction force that is used to determine the driver'"'"'s intention to adjust the vehicle speed and is smaller than the attention attracting reaction force, and determines the intention to adjust the vehicle speed on the basis of the accelerator pedal operation amount of the driver while the intention determining reaction force is being applied to the accelerator pedal through the reaction force application mechanism.

Claims

1. A vehicle travel control apparatus comprising:

a reaction force controller for controlling a reaction force to be applied to an accelerator pedal;

a depressed angle sensor for detecting an accelerator pedal depressed angle of the accelerator pedal;

an intention determiner for determining a vehicle speed adjusting intention of a driver based on the accelerator pedal depressed angle detected by the depressed angle sensor;

a recommended speed estimator for estimating a recommended speed for a host vehicle based on an external situation around the host vehicle, or based on a traveling state of the host vehicle; and

a vehicle speed sensor for detecting a present vehicle speed of the host vehicle;

wherein the reaction force controller judges whether or not it is necessary to seek the driver'"'"'s attention based on the recommended speed estimated by the recommended speed estimator, the present vehicle speed detected by the vehicle speed sensor, and a present accelerator pedal depressed angle detected by the depressed angle sensor, and if the reaction force controller determines that it is necessary to seek the driver'"'"'s attention, the reaction force controller applies an attention seeking reaction force to the accelerator pedal for a predetermined time to decelerate a vehicle based on a judgment made by the vehicle itself, and after the attention seeking reaction force is sharply reduced, the intention determiner sets an intention determining period required to determine the vehicle speed adjusting intention of the driver, and the reaction force controller applies an intention determining reaction force smaller than the attention seeking reaction force for the intention determining period, and

the intention determiner determines the vehicle speed adjusting intention of the driver depending on the accelerator pedal depressed angle, which is detected by the depressed angle sensor during the intention determining period.

2. The vehicle travel control apparatus according to claim 1, further comprising:

a target depressed angle setter for setting a target accelerator pedal depressed angle, which is the accelerator pedal depressed angle required to keep a target cruising speed, which is a vehicle speed when the driver holds the accelerator pedal depressed angle within a predetermined range; and

an attention seeking depressed angle setter for setting an attention seeking accelerator pedal depressed angle, which is the accelerator pedal depressed angle that is set to a value smaller than the target accelerator pedal depressed angle, as a threshold value for judging whether or not the driver'"'"'s attention is to be sought;

wherein if an actual accelerator pedal depressed angle detected by the depressed angle sensor is greater than the target accelerator pedal depressed angle set by the target depressed angle setter, the reaction force controller applies a cruising reaction force, which is smaller than the intention determining reaction force, to the accelerator pedal for maintaining the target cruising speed, and if the present vehicle speed detected by the vehicle speed sensor is greater than the recommended speed estimated by the recommended speed estimator by at least a predetermined value, and the present accelerator pedal depressed angle is greater than the attention seeking accelerator pedal depressed angle, the reaction force controller applies the attention seeking reaction force, which is greater than the intention determining reaction force, and thereafter applies the intention determining reaction force.

3. The vehicle travel control apparatus according to claim 2, wherein if a maximum value of the actual accelerator pedal depressed angle in the intention determining period is smaller than the attention seeking accelerator pedal depressed angle set by the attention seeking depressed angle setter, the intention determiner determines that the driver intends to decelerate the host vehicle.

4. The vehicle travel control apparatus according to claim 3, further comprising:

an automatic brake controller;

wherein if the intention determiner determines that the driver intends to decelerate the host vehicle, the automatic brake controller automatically brakes the host vehicle in order to assist the driver in decelerating the host vehicle.

5. A vehicle travel control apparatus comprising:

an information acquirer for acquiring vehicle information, which is information concerning an external situation or a traveling state of a host vehicle while the host vehicle is traveling;

a recommended speed setter for setting a recommended speed for the host vehicle depending on the vehicle information acquired by the information acquirer;

a recommended speed maintaining zone setter for setting a recommended speed maintaining zone as a zone for maintaining the recommended speed depending on the vehicle information acquired by the information acquirer;

a reaction force controller for controlling a reaction force to be applied to an accelerator pedal;

a depressed angle sensor for detecting an accelerator pedal depressed angle of the accelerator pedal; and

an intention determiner for determining a vehicle speed adjusting intention of a driver based on the accelerator pedal depressed angle detected by the depressed angle sensor;

wherein when the host vehicle enters the recommended speed maintaining zone, the reaction force controller controls the reaction force based on the recommended speed set by the recommended speed setter;

the recommended speed setter corrects the recommended speed depending on a determined result from the intention determiner;

the intention determiner outputs an intention value based on the accelerator pedal depressed angle;

the recommended speed setter sets, as the recommended speed, a vehicle speed at a time when the intention value becomes equal to or greater than a first threshold value; and

the recommended speed setter sets, as the recommended speed, a vehicle speed immediately before entering the recommended speed maintaining zone, in a case where the intention value becomes equal to or greater than a second threshold value, which is greater than the first threshold value.

6. The vehicle travel control apparatus according to claim 5, wherein the intention determiner determines the vehicle speed adjusting intention of the driver based on at least a change per unit time in the accelerator pedal depressed angle in the recommended speed maintaining zone.

7. The vehicle travel control apparatus according to claim 6, wherein the intention determiner outputs a driver intention value for judging the speed adjusting intention depending on:

the change per unit time in the accelerator pedal depressed angle in the recommended speed maintaining zone; and

the difference between the accelerator pedal depressed angle in the recommended speed maintaining zone and the accelerator pedal depressed angle at a time that the host vehicle enters the recommended speed maintaining zone; and

the recommended speed setter corrects the recommended speed in order to increase the recommended speed as the driver intention value increases.

8. The vehicle travel control apparatus according to claim 5, further comprising:

an information acquirer for acquiring vehicle information, which is information concerning the external situation, or the traveling state of the host vehicle while the host vehicle is traveling; and

a recommended speed setter for setting a recommended speed for the host vehicle depending on the vehicle information acquired by the information acquirer;

wherein the information acquirer detects a leading vehicle or an obstacle in front of the host vehicle while the host vehicle is traveling straight;

if the information acquirer detects the leading vehicle or the obstacle in front of the host vehicle, the recommended speed setter sets the recommended speed depending on the distance between the leading vehicle or the obstacle and the host vehicle;

the reaction force controller controls the reaction force in order to achieve the recommended speed before the distance becomes equal to or smaller than a predetermined value; and

the intention determiner determines the speed adjusting intention from the time at which the leading vehicle or the obstacle is detected.

9. A vehicle travel control apparatus comprising:

an information acquirer for acquiring vehicle information, which is information concerning an external situation or a traveling state of a host vehicle while the host vehicle is traveling;

a recommended speed setter for setting a recommended speed for the host vehicle depending on the vehicle information acquired by the information acquirer;

a recommended speed maintaining zone setter for setting a recommended speed maintaining zone as a zone for maintaining the recommended speed depending on the vehicle information acquired by the information acquirer;

a reaction force controller for controlling a reaction force to be applied to an accelerator pedal;

a depressed angle sensor for detecting an accelerator pedal depressed angle of the accelerator pedal; and

an intention determiner for determining a vehicle speed adjusting intention of a driver based on the accelerator pedal depressed angle detected by the depressed angle sensor;

wherein when the host vehicle enters the recommended speed maintaining zone, the reaction force controller controls the reaction force based on the recommended speed set by the recommended speed setter;

the recommended speed setter corrects the recommended speed depending on a determined result from the intention determiner;

the intention determiner outputs an intention value based on the accelerator pedal depressed angle;

the recommended speed setter corrects the recommended speed based on a change in the intention value in a case where the intention value value becomes equal to or greater than a first threshold value; and

the recommended speed setter sets, as the recommended speed, a vehicle speed immediately before entering the recommended speed maintaining zone, in a case where the intention value becomes equal to or greater than a second threshold value, which is greater than the first threshold value.