Vehicle travel control apparatus

• US 9,452,755 B2
• Filed: 11/07/2012
• Issued: 09/27/2016
• Est. Priority Date: 07/06/2012
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kastner, Robert, Kleinehagenbrock, Marcus, Nishigaki, Morimichi
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US14/407,606
• Publication Number:
  US 20150142292A1
• Time in Patent Office: 1,420 Days
• Field of Search: 701/96, 701/1, 701/301, 701/300, 701/70, 701/93
• US Class Current: 1/1
• CPC Class Codes: B60K 2310/30 Mode switching, e.g. changing from one cruise control mode to another
• CPC Class Codes: B60T 2210/32 Vehicle surroundings
• 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: B60T 8/32 responsive to a speed condition, e.g. acceleration or deceleration using electrical circuitry or regulation means B60T8/17 ; B60T8/28 takes precedence; electric devices on electrically propelled vehicles indicating the wheel slip B60L3/10; measuring linear or angular speed per se G01P3/00
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2050/0095 Automatic control mode change
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/162 Speed limiting therefor
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: G05D 13/02 Details

Abstract

A vehicle travel control apparatus includes a utility function determination unit, which determines a utility function fu representing a relationship between the manipulated variable for vehicle speed control of an own vehicle and an effectiveness degree, a travel inhibition degree function determination unit, which determines a travel inhibition degree function fr representing a relationship between the manipulated variable for vehicle speed control and an estimated travel inhibition degree of the own vehicle, and an appropriateness function determination unit, which determines an appropriateness function fap combining both functions fu and fr. A driving/braking force of the own vehicle is manipulated according to the value of the manipulated variable for vehicle speed control corresponding to a highest appropriateness in the appropriateness function fap.

Claims

1. A vehicle travel control apparatus having a vehicle speed control unit which controls a vehicle speed of an own vehicle based on a target vehicle speed of the own vehicle set beforehand, comprising:

a vehicle speed detection unit which detects an actual vehicle speed of the own vehicle;

an external situation recognition unit which recognizes an external situation in the surroundings of the own vehicle;

a utility function determination unit which determines a particular utility function from a plurality of utility functions based on the target vehicle speed and the detected vehicle speed, wherein each of the utility functions represents a predetermined functional relationship between a manipulated variable for vehicle speed control, which is a manipulated variable for controlling the vehicle speed of the own vehicle, and a utility index value, which is an index value representing an effectiveness degree of controlling the vehicle speed of the own vehicle according to each value of the manipulated variable for vehicle speed control;

a travel inhibition degree function determination unit which determines a particular travel inhibition degree function from a plurality of travel inhibition degree functions based on the recognized external situation, wherein each of the travel inhibition degree functions represents a predetermined functional relationship between the manipulated variable for vehicle speed control and a travel inhibition degree index value, which is an index value representing an inhibition degree of the travel of the own vehicle estimated in a case where the vehicle speed of the own vehicle is controlled according to each value of the manipulated variable for vehicle speed control; and

an appropriateness function determination unit which determines a particular appropriateness function by combining the particular utility function and the particular travel inhibition degree function, wherein the particular appropriateness function represents a relationship between the manipulated variable for vehicle speed control and an appropriateness of each value of the manipulated variable for vehicle speed control,

wherein the vehicle speed control unit is configured to calculate the appropriateness of each value of the manipulated variable for vehicle speed control using the particular appropriateness function, and to control the vehicle speed of the own vehicle by manipulating a driving/braking force of the own vehicle according to the value of the manipulated variable for vehicle speed control corresponding to a highest calculated appropriateness.

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

further comprising a vehicle-to-vehicle distance detection unit which detects a vehicle-to-vehicle distance between the own vehicle and a preceding vehicle in front thereof,

wherein the vehicle speed control unit has a function of controlling the vehicle speed of the own vehicle based on the target vehicle speed and a target vehicle-to-vehicle distance, which is a target value of the vehicle-to-vehicle distance set beforehand, and

the utility function determination unit is configured to determine the particular utility function by executing a first processing for determining a first sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target vehicle speed and the detected vehicle speed of the own vehicle, and a second processing for determining a second sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target vehicle-to-vehicle distance and the detected vehicle-to-vehicle distance, and by combining at least the first sub utility function and the second sub utility function.

3. The vehicle travel control apparatus according to claim 1,

wherein the vehicle speed control unit has a function of controlling the vehicle speed of the own vehicle on the basis of two or more target parameters from among the target vehicle speed, a target travel mode variably determined beforehand to specify an acceleration operation pattern of the own vehicle, and a target acceleration/deceleration speed characteristic variably determined beforehand to specify a speed degree of acceleration or deceleration of the own vehicle in the case where the recognized external situation is a predetermined external situation, the two or more target parameters including at least the target vehicle speed,

the utility function determination unit is configured to determine the particular utility function by executing two or more processings from among a first processing for determining a first sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target vehicle speed and the detected vehicle speed of the own vehicle, a third processing for determining a third sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target travel mode, and a fourth processing for determining a fourth sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target acceleration/deceleration speed characteristic in the case where the recognized external situation is the predetermined external situation, the two or more processings including at least the first processing, and by combining two or more sub utility functions determined by the two or more processings from among the first sub utility function, the third sub utility function, and the fourth sub utility function.

4. The vehicle travel control apparatus according to claim 2,

wherein the vehicle speed control unit has a function of controlling the vehicle speed of the own vehicle on the basis of three or more target parameters from among the target vehicle speed, the target vehicle-to-vehicle distance, the target travel mode variably determined beforehand to specify an acceleration operation pattern of the own vehicle, and a target acceleration/deceleration speed characteristic variably determined beforehand to specify a speed degree of acceleration or deceleration of the own vehicle in the case where the recognized external situation is a predetermined external situation, the three or more target parameters including at least the target vehicle speed and the target vehicle-to-vehicle distance, and

the utility function determination unit is configured to determine the particular utility function by executing three or more processings from among a first processing for determining a first sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target vehicle speed and the detected vehicle speed of the own vehicle, a second processing for determining a second sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target vehicle-to-vehicle distance and the detected vehicle-to-vehicle distance, a third processing for determining a third sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target travel mode, and a fourth processing for determining a fourth sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target acceleration/deceleration speed characteristic in the case where the recognized external situation is the predetermined external situation, the three or more processings including at least the first processing and the second processing, and by combining three or more sub utility functions determined by the three or more processings from among the first sub utility function, the second sub utility function, the third sub utility function, and the fourth sub utility function.

7. The vehicle travel control apparatus according to claim 3,

wherein the predetermined external situation includes at least a situation in which at least a preceding vehicle exists in front of the own vehicle.

8. The vehicle travel control apparatus according to claim 1,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes the state of existence of other vehicles in the surroundings of the own vehicle including at least a region in front of the own vehicle and a lateral region thereof, and

the travel inhibition degree function determination unit is configured to, in the case where the existence of an other vehicle in the surroundings of the own vehicle has been recognized by the external situation recognition unit, determine a probability of the other vehicle expected to be traveling in front of the own vehicle in the future and to determine the particular travel inhibition degree function such that the travel inhibition degree index value corresponding to each value of the manipulated variable for vehicle speed control becomes larger as the determined probability becomes higher.

9. The vehicle travel control apparatus according to claim 8,

wherein the travel inhibition degree function determination unit is configured to, in the case where the existence of a plurality of other vehicles in the surroundings of the own vehicle has been recognized by the external situation recognition unit, determine the probability and to determine a sub travel inhibition degree function, which represents a relationship between the manipulated variable for vehicle speed control and the travel inhibition degree index value attributable to the other vehicles, according to the probability for each of the other vehicles and to determine the particular travel inhibition degree function by combining the sub travel inhibition degree functions determined corresponding to each of a plurality of the other vehicles.

10. The vehicle travel control apparatus according to claim 9,

wherein the travel inhibition degree function determination unit is configured to determine, for each of the other vehicles, a reference sub travel inhibition degree function, which is the sub travel inhibition degree function in the case where it is assumed that the other vehicle will be traveling in front of the own vehicle in the future, and the probability, and to determine a function obtained by multiplying the reference sub travel inhibition degree function by the probability as the sub travel inhibition degree function.

11. The vehicle travel control apparatus according to claim 8,

wherein the travel inhibition degree function determination unit determines the probability on the basis of at least either one relative relationship of a relative relationship between the own vehicle and the other vehicle and a relative relationship between other vehicles.

12. The vehicle travel control apparatus according to claim 1,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information related to at least any one of a congestion level, a visibility state, and a road surface state in the surroundings of the own vehicle, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of particular the appropriateness function on the particular utility function and the dependence of the particular appropriateness function on the particular travel inhibition degree function are different according to the information related to the congestion level or the visibility state or the road surface state in the surroundings of the own vehicle.

13. The vehicle travel control apparatus according to claim 1,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information indicating whether or not the surroundings of the own vehicle includes an intersection, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of the particular appropriateness function on the particular utility function becomes relatively low and the dependence of the particular appropriateness function on the particular travel inhibition degree function becomes relatively high in the case where the surroundings of the own vehicle include the intersection.

14. The vehicle travel control apparatus according to claim 1,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information indicating whether or not the surroundings of the own vehicle are a nighttime environment or a rush hour time environment, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of the particular appropriateness function on the particular utility function becomes relatively low, and the dependence of the particular appropriateness function on the particular travel inhibition degree function becomes relatively high in the case where the surroundings of the own vehicle are the nighttime environment or the rush hour time environment.

15. The vehicle travel control apparatus according to claim 1,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information indicating whether or not the surroundings of the own vehicle are a rainfall environment or a snowfall environment, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of the particular appropriateness function on the particular utility function becomes relatively low, and the dependence of the particular appropriateness function on the particular travel inhibition degree function becomes relatively high in the case where the surroundings of the own vehicle are the rainfall environment or the snowfall environment.

21. The vehicle travel control apparatus according to claim 4,

wherein the predetermined external situation includes at least a situation in which at least a preceding vehicle exists in front of the own vehicle.

5. A vehicle travel control apparatus having a vehicle speed control unit which controls a vehicle speed of an own vehicle on the basis of a target vehicle-to-vehicle distance between the own vehicle and a preceding vehicle in front thereof set beforehand, comprising:

a vehicle-to-vehicle distance detection unit which detects a vehicle-to-vehicle distance between the own vehicle and the preceding vehicle in front thereof;

an external situation recognition unit which recognizes an external situation in the surroundings of the own vehicle;

an utility function determination unit which determines a particular utility function from a plurality of utility functions based on the target vehicle speed and the detected vehicle speed, wherein each of the utility functions represents a predetermined functional relationship between a manipulated variable for vehicle speed control, which is a manipulated variable for controlling the vehicle speed of the own vehicle, and a utility index value, which is an index value representing an effectiveness degree of controlling the vehicle speed of the own vehicle according to each value of the manipulated variable for vehicle speed control;

a travel inhibition degree function determination unit which determines a particular travel inhibition degree function from a plurality of travel inhibition degree functions based on the recognized external situation, wherein each of the travel inhibition degree functions represents a predetermined functional relationship between the manipulated variable for vehicle speed control and a travel inhibition degree index value which is an index value representing an inhibition degree of the travel of the own vehicle expected in the case where the vehicle speed of the own vehicle is controlled according to each value of the manipulated variable for vehicle speed control; and

an appropriateness function determination unit which determines a particular appropriateness function by combining the particular utility function and the particular travel inhibition degree function, wherein the particular appropriateness function represents a relationship between the manipulated variable for vehicle speed control and an appropriateness of each value of the manipulated variable for vehicle speed control;

wherein the vehicle speed control unit is configured to calculate the appropriateness of each value of the manipulated variable for vehicle speed control using the particular appropriateness function, and to control the vehicle speed of the own vehicle by manipulating a driving/braking force of the own vehicle according to the value of the manipulated variable for vehicle speed control corresponding to a highest calculated appropriateness.

6. The vehicle travel control apparatus according to claim 5,

wherein the vehicle speed control unit has a function for controlling the vehicle speed of the own vehicle on the basis of two or more target parameters from among the target vehicle-to-vehicle distance, a target travel mode variably determined beforehand to specify an acceleration operation pattern of the own vehicle, and a target acceleration/deceleration speed characteristic variably determined beforehand to specify the speed level of the acceleration or the deceleration of the own vehicle in the case where the recognized external situation is a predetermined external situation, the two or more target parameters including at least the target vehicle-to-vehicle distance, and

the utility function determination unit is configured to determine the particular utility function by executing two or more processings from among a second processing for determining a second sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target vehicle-to-vehicle distance and the detected vehicle-to-vehicle distance, a third processing for determining a third sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target travel mode, and a fourth processing for determining a fourth sub utility function, which represents a relationship between the manipulated variable for vehicle speed control and the utility index value, according to the target acceleration/deceleration speed characteristic in the case where the recognized external situation is the predetermined external situation, the two or more processings including at least the second processing, and by combining two or more sub utility functions determined by the two or more processings from among the second sub utility function, the third sub utility function and the fourth sub utility function.

16. The vehicle travel control apparatus according to claim 5,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes the state of existence of other vehicles in the surroundings of the own vehicle including at least a region in front of the own vehicle and a lateral region thereof, and

the travel inhibition degree function determination unit is configured to, in the case where the existence of an other vehicle in the surroundings of the own vehicle has been recognized by the external situation recognition unit, determine a probability of the other vehicle expected to be traveling in front of the own vehicle in the future and to determine the particular travel inhibition degree function such that the travel inhibition degree index value corresponding to each value of the manipulated variable for vehicle speed control becomes larger as the determined probability becomes higher.

17. The vehicle travel control apparatus according to claim 5,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information related to at least any one of a congestion level, a visibility state, and a road surface state in the surroundings of the own vehicle, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of the particular appropriateness function on the particular utility function and the dependence of the particular appropriateness function on the particular travel inhibition degree function are different according to the information related to the congestion level or the visibility state or the road surface state in the surroundings of the own vehicle.

18. The vehicle travel control apparatus according to claim 5,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information indicating whether or not the surroundings of the own vehicle includes an intersection, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of the particular appropriateness function on the particular utility function becomes relatively low and the dependence of the particular appropriateness function on the particular travel inhibition degree function becomes relatively high in the case where the surroundings of the own vehicle include the intersection.

19. The vehicle travel control apparatus according to claim 5,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information indicating whether or not the surroundings of the own vehicle are a nighttime environment or a rush hour time environment, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of the particular appropriateness function on the particular utility function becomes relatively low, and the dependence of the particular appropriateness function on the particular travel inhibition degree function becomes relatively high in the case where the surroundings of the own vehicle are the nighttime environment or the rush hour time environment.

20. The vehicle travel control apparatus according to claim 5,

wherein the external situation in the surroundings of the own vehicle recognized by the external situation recognition unit includes information indicating whether or not the surroundings of the own vehicle are a rainfall environment or a snowfall environment, and

the appropriateness function determination unit is configured to weight and combine the particular utility function and the particular travel inhibition degree function such that the dependence of the particular appropriateness function on the particular utility function becomes relatively low, and the dependence of the particular appropriateness function on the particular travel inhibition degree function becomes relatively high in the case where the surroundings of the own vehicle are the rainfall environment or the snowfall environment.

22. The vehicle travel control apparatus according to claim 6,

wherein the predetermined external situation includes at least a situation in which at least a preceding vehicle exists in front of the own vehicle.