Vehicle control device

• US 9,296,418 B2
• Filed: 01/23/2013
• Issued: 03/29/2016
• Est. Priority Date: 01/23/2013
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Inoue, Go
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/758,279
• Publication Number:
  US 20150336607A1
• Time in Patent Office: 1,161 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 5/0457 characterised by control features of the drive means as such
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

A vehicle control device includes: a travelable region detecting device configured to detect a travelable region of a vehicle; a travel control device configured to execute trajectory control based on a target vehicle behavior amount calculated for the vehicle to travel in the travelable region detected by the travelable region detecting device; and a control device configured to calculate a target lateral position correction amount and a target yaw angle correction amount such that a vehicle response to a steering member of a driver when the trajectory control is executed becomes a predetermined vehicle response and correct the target vehicle behavior amount by using a corrected target lateral position based on the calculated target lateral position correction amount and a corrected target yaw angle based on the calculated target yaw angle correction amount when the trajectory control is executed by the travel control device.

Claims

1. A vehicle control device comprising:

a travelable region detecting device configured to detect a travelable region of a vehicle;

a travel control device configured to execute trajectory control based on a target vehicle behavior amount calculated for the vehicle to travel in the travelable region detected by the travelable region detecting device; and

a control device configured to calculate a target lateral position correction amount and a target yaw angle correction amount such that a vehicle response to a steering member of a driver when the trajectory control is executed becomes a predetermined vehicle response based on an operation state to the steering member of the driver and a vehicle state of the vehicle and correct the target vehicle behavior amount by using a corrected target lateral position based on the calculated target lateral position correction amount and a corrected target yaw angle based on the calculated target yaw angle correction amount when the trajectory control is executed by the travel control device.

2. The vehicle control device according to claim 1, wherein the control device is configured to make the target yaw angle correction amount relative to the target lateral position correction amount smaller as a vehicle speed of the vehicle included in the vehicle state is higher as compared to a case in which the vehicle speed is lower.

3. The vehicle control device according to claim 1, wherein the control device is configured to make the target yaw angle correction amount relative to the target lateral position correction amount smaller as a curve radius of the travelable region detected by the travelable region detecting device is larger as compared to a case in which the curve radius of the travelable region is smaller.

4. The vehicle control device according to claim 1, wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

6. The vehicle control device according to claim 2, wherein the control device is configured to make the target yaw angle correction amount relative to the target lateral position correction amount smaller as a curve radius of the travelable region detected by the travelable region detecting device is larger as compared to a case in which the curve radius of the travelable region is smaller.

7. The vehicle control device according to claim 2, wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

8. The vehicle control device according to claim 3, wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

9. The vehicle control device according to claim 6, wherein the control device is configured to calculate the target lateral position correction amount and the target yaw angle correction amount by using the operation state and the vehicle state detected when the trajectory control is executed and a predetermined vehicle motion model set in advance so as to realize a vehicle response to the steering member of the driver when the trajectory control is not executed.

5. A vehicle control device comprising:

a travelable region detecting device configured to detect a travelable region of a vehicle;

a travel control device configured to execute trajectory control based on a target vehicle behavior amount calculated for the vehicle to travel in the travelable region detected by the travelable region detecting device; and

a control device configured to calculate a target lateral position correction amount or a target yaw angle correction amount such that a vehicle response to a steering member of a driver when the trajectory control is executed becomes a predetermined vehicle response based on an operation state to the steering member of the driver and a vehicle state of the vehicle and correct the target vehicle behavior amount by using a corrected target lateral position based on the calculated target lateral position correction amount or a corrected target yaw angle based on the calculated target yaw angle correction amount when the trajectory control is executed by the travel control device.