Vehicle controller, control method for vehicle and control system for vehicle

• US 9,150,221 B2
• Filed: 07/29/2009
• Issued: 10/06/2015
• Est. Priority Date: 07/29/2009
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sato, Yoh, Kadowaki, Yoshinori, Kagawa, Kazunori
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): RINK, RYAN J
• Application Number:
  US13/386,794
• Publication Number:
  US 20120123659A1
• Time in Patent Office: 2,260 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2554/4042 Longitudinal speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

An ECU of a vehicle control device selects a system-mounted vehicle traveling ahead of a system-mounted vehicle as a cooperating vehicle and controls the inter-vehicle distance between the selected system-mounted vehicle and the system-mounted vehicle, or the like to control the traffic volume of a road in the vicinity of the system-mounted vehicles, such that traffic jams can be prevented effectively as compared with a case where the system-mounted vehicle performs travel control independently. Furthermore, the ECU determines whether or not to select the system-mounted vehicle as a cooperating vehicle based on the relative speed of the system-mounted vehicle and the system-mounted vehicle a regardless of whether or not the system-mounted vehicle that is selected as the cooperating vehicle is traveling in the same lane as the system-mounted vehicle, such that it is possible to select the cooperating system-mounted vehicle without being influenced by the accuracy of recognizing the lane in which the system-mounted vehicle travels.

Claims

1. A vehicle control device, comprising:

a controller configured to;

select a separate vehicle traveling either ahead of or behind a host vehicle as a cooperating vehicle that travels in cooperation with the host vehicle;

control at least one of a distance between the cooperating vehicle that is selected by the controller and the host vehicle, a relative speed of the cooperating vehicle and the host vehicle, and a speed of the cooperating vehicle and the host vehicle to control traffic volume of a road on which the cooperating vehicle and the host vehicle travel;

determine whether or not to select the separate vehicle as the cooperating vehicle based on the relative speed of the separate vehicle and the host vehicle regardless of whether or not the separate vehicle is traveling in a same lane as the host vehicle and either an acceleration and deceleration history of the separate vehicle or a lane change history of the separate vehicle, wherein

when either the number of accelerations and decelerations of the separate vehicle within a predetermined time or the number of lane changes of the separate vehicle within a predetermined time is equal to or larger than a predetermined threshold value, the controller is configured to not select the separate vehicle as the cooperating vehicle.

4. The vehicle control device according to claim 1,

wherein when the relative speed of the separate vehicle and the host vehicle is equal to or less than a predetermined threshold value, the controller is configured to select the separate vehicle as the cooperating vehicle.

5. The vehicle control device according to claim 1,

wherein the controller is configured to select a separate vehicle, which is closest to the host vehicle among the separate vehicles traveling either ahead of or behind the host vehicle, as the cooperating vehicle.

2. A vehicle control method, comprising:

a cooperating vehicle selection process of selecting, via an electronic control unit (ECU), a separate vehicle traveling either ahead of or behind a host vehicle as a cooperating vehicle that travels in cooperation with the host vehicle; and

a traffic volume control process of controlling, via the ECU, at least one of a distance between the cooperating vehicle that is selected in the cooperating vehicle selection process and the host vehicle, a relative speed of the cooperating vehicle and the host vehicle, and a speed of the cooperating vehicle and the host vehicle to control traffic volume of a road on which the cooperating vehicle and the host vehicle travel,

wherein in the cooperating vehicle selection process,

it is determined whether or not to select the separate vehicle as the cooperating vehicle based on the relative speed of the separate vehicle and the host vehicle regardless of whether or not the separate vehicle is traveling in a same lane as the host vehicle and either an acceleration and deceleration history of the separate vehicle or a lane change history of the separate vehicle, and

when either the number of accelerations and decelerations of the separate vehicle within a predetermined time or the number of lane changes of the separate vehicle within a predetermined time is equal to or larger than a predetermined threshold value, the separate vehicle is not selected as the cooperating vehicle.

6. The vehicle control method according to claim 2,

wherein in the cooperating vehicle selection process, when the relative speed of the separate vehicle and the host vehicle is equal to or less than a predetermined threshold value, the separate vehicle is selected as the cooperating vehicle.

7. The vehicle control method according to claim 2,

wherein in the cooperating vehicle selection process, a separate vehicle, which is closest to the host vehicle among separate vehicles traveling either ahead of or behind the host vehicle, is selected as the cooperating vehicle.

3. A vehicle control system, comprising:

circuitry configured to;

select a separate vehicle traveling either ahead of or behind one vehicle as a cooperating vehicle that travels in cooperation with the one vehicle;

control at least one of a distance between the cooperating vehicle that is selected by the circuitry and the one vehicle, a relative speed of the cooperating vehicle and the one vehicle, and a speed of the cooperating vehicle and the one vehicle to control traffic volume of a road on which the cooperating vehicle and the one vehicle travel;

determine whether or not to select the separate vehicle as the cooperating vehicle based on the relative speed of the separate vehicle and the one vehicle regardless of whether or not the separate vehicle is traveling in a same lane as the one vehicle and either an acceleration and deceleration history of the separate vehicle or a lane change history of the separate vehicle, wherein

when either the number of accelerations and decelerations of the separate vehicle within a predetermined time or the number of lane changes of the separate vehicle within a predetermined time is equal to or larger than a predetermined threshold value, the circuitry is configured to not select the separate vehicle as the cooperating vehicle.

8. The vehicle control system according to claim 3,

wherein when the relative speed of the separate vehicle and the one vehicle is equal to or less than a predetermined threshold value, the circuitry is configured to select the separate vehicle as the cooperating vehicle.

9. The vehicle control system according to claim 3,

wherein the circuitry is configured to select a separate vehicle, which is closest to the one vehicle among the separate vehicles traveling either ahead of or behind the one vehicle, as the cooperating vehicle.