Travel support apparatus and travel support system

• US 9,539,989 B2
• Filed: 08/08/2012
• Issued: 01/10/2017
• Est. Priority Date: 08/10/2011
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Yamashiro, Takahisa
• Primary Examiner(s): Jos, Basil T
• Application Number:
  US13/569,457
• Publication Number:
  US 20130041567A1
• Time in Patent Office: 1,616 Days
• Field of Search: 701/29.3, 701/96
• US Class Current: 1/1
• 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 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 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A travel support system uses a wireless communication unit for receiving a following vehicle'"'"'s speed control capacity, and compares the speed control capacity received with a speed control capacity of the subject vehicle. If the speed control capacity of the following vehicle is higher than the capacity of the subject vehicle, a maximum deceleration of the subject vehicle is restricted to a restricted value. In addition, a target inter-vehicle distance to a lead vehicle is set according to the restricted value of the subject vehicle, thereby enabling a reduction of the inter-vehicle distance to the lead vehicle for each of the vehicles in a convoy.

Claims

1. A travel support apparatus disposed in a subject vehicle, the apparatus comprising:

a communication unit for communicably coupling the subject vehicle with surrounding vehicles for exchanging information via vehicle-to-vehicle communication, the information including a speed control capacity of a vehicle;

a first inter-vehicle distance detection unit for detecting an inter-vehicle distance from the subject vehicle to a lead vehicle of the subject vehicle;

a travel control unit for controlling the inter-vehicle distance to the lead vehicle based on the information received by the communication unit from the lead vehicle;

a speed control capacity calculation unit for determining a speed control capacity of the subject vehicle;

a comparison unit for comparing the speed control capacity of the subject vehicle determined by the speed control capacity calculation unit with the speed control capacity of a following vehicle located behind the subject vehicle when the communication unit receives the speed control capacity of the following vehicle; and

a maximum deceleration restriction unit for determining a restricted value to restrict a maximum deceleration of the subject vehicle when the comparison unit determines that the following vehicle has a lower speed control capacity than the subject vehicle;

wherein

the speed control capacity of the subject vehicle is determined based on information directly indicating the presence of a range sensor that is equipped to independently detect the presence of a frontal obstacle in front of the subject vehicle and a distance to the frontal obstacle.

2. The travel support apparatus of claim 1 further comprising:

a target inter-vehicle distance determination unit for determining a target inter-vehicle distance to the lead vehicle, the target inter-vehicle distance having clearance for absorbing an inter-vehicle distance change due to a difference of the speed control capacity of the subject vehicle and the speed control capacity of the lead vehicle after the maximum deceleration restriction unit determines the restricted value of the maximum deceleration of the subject vehicle, wherein

the travel control unit controls the inter-vehicle distance between the subject vehicle and the lead vehicle to at least the target inter-vehicle distance determined by the target inter-vehicle distance determination unit.

3. The travel support apparatus of claim 1 further comprising:

a second inter-vehicle distance detection unit for detecting an inter-vehicle distance between the subject vehicle and the following vehicle, wherein

the maximum deceleration restriction unit determines the restricted value of the maximum deceleration based on the speed control capacity of the following vehicle, the speed control capacity of the subject vehicle, and the inter-vehicle distance between the subject vehicle and the following vehicle detected by the second inter-vehicle distance detection unit.

4. The travel support apparatus of claim 1 further comprising:

a capacity calculation information acquisition unit for acquiring capacity calculation information from a device installed in the subject vehicle, wherein

the speed control capacity calculation unit calculates the speed control capacity of the subject vehicle based on the capacity calculation information acquired by the capacity calculation information acquisition unit.

5. The travel support apparatus of claim 4, wherein the communication unit transmits the capacity calculation information acquired by the capacity calculation information acquisition unit.

6. The travel support apparatus of claim 1 further comprising:

a memory unit for having a speed control capacity of the subject vehicle stored therein, wherein

the speed control capacity calculation unit retrieves the speed control capacity of the subject vehicle from the memory unit.

7. The travel support apparatus of claim 1, wherein the communication unit transmits the speed control capacity of the subject vehicle to surrounding vehicles via vehicle-to-vehicle communication.

8. The travel support apparatus of claim 1 wherein

the speed control capacity of the subject vehicle is an indication of a length of time required to reduce a speed of the subject vehicle to a subject vehicle target value;

and

the speed control capacity of the following vehicle is an indication of a length of time required to reduce a speed of the following vehicle to a following vehicle target value.

9. A travel support apparatus disposed in a subject vehicle, the apparatus comprising:

a communication unit for communicably coupling the subject vehicle with surrounding vehicles for exchanging information via vehicle-to-vehicle communication, information including a convoy information for a convoy travel of multiple vehicles and a speed control capacity of a vehicle transmitting the information;

an inter-vehicle distance detection unit for detecting an inter-vehicle distance to a lead vehicle;

a travel control unit for organizing the convoy travel of multiple vehicles by controlling the inter-vehicle distance to the lead vehicle based on the convoy information received by the communication unit;

a speed control capacity calculation unit for determining a speed control capacity of the subject vehicle;

a comparison unit for comparing the speed control capacity of the subject vehicle calculated by the subject vehicle speed control capacity calculation unit with a speed control capacity of the lead vehicle located ahead of the subject vehicle received by the communication unit; and

a target inter-vehicle distance determination unit for determining a target inter-vehicle distance to the lead vehicle, wherein the target inter-vehicle distance is greater when the comparison unit determines the speed control capacity of the lead vehicle is greater than the speed control capacity of the subject vehicle;

wherein

the speed control capacity of the subject vehicle is determined based on information directly indicating the presence of a range sensor that is equipped to independently detect the presence of a frontal obstacle in front of the subject vehicle and a distance to the frontal obstacle.

10. The travel support apparatus of claim 9 wherein

the speed control capacity of the subject vehicle is an indication of a length of time required to reduce a speed of the subject vehicle to a subject vehicle target value;

and

the speed control capacity of the following vehicle is an indication of a length of time required to reduce a speed of the following vehicle to a following vehicle target value.

11. A travel support apparatus disposed in a subject vehicle, the apparatus comprising:

a communication unit for communicably coupling the subject vehicle with surrounding vehicles for exchanging information via vehicle-to-vehicle communication, the information including convoy information for a convoy travel of multiple vehicles and a capacity calculation information for determining a speed control capacity of a vehicle transmitting the information;

a first inter-vehicle distance detection unit for detecting an inter-vehicle distance to a lead vehicle;

a travel control unit for organizing the convoy travel of the multiple vehicles by controlling the inter-vehicle distance to the lead vehicle based on the convoy information received by the communication unit;

a subject vehicle speed control capacity calculation unit for calculating a speed control capacity of the subject vehicle;

a following vehicle speed control capacity calculation unit for calculating a speed control capacity of a following vehicle based on capacity calculation information received by the communication unit from the following vehicle;

a comparison unit for comparing the speed control capacity of the subject vehicle with the speed control capacity of the following vehicle located behind the subject vehicle; and

a maximum deceleration restriction unit for determining a restricted value to restrict a maximum deceleration of the subject vehicle when the comparison unit determines the speed control capacity of the subject vehicle is greater than the speed control capacity of the following vehicle;

wherein

the speed control capacity of the subject vehicle is determined based on information directly indicating the presence of a range sensor that is equipped to independently detect the presence of a frontal obstacle in front of the subject vehicle and a distance to the frontal obstacle.

12. The travel support apparatus of claim 11 further comprising:

a lead vehicle speed control capacity calculation unit for calculating a speed control capacity of a lead vehicle based on capacity calculation information received by the communication unit from the lead vehicle; and

a target inter-vehicle distance determination unit for determining a target inter-vehicle distance to the lead vehicle, the target inter-vehicle distance having clearance for absorbing an inter-vehicle distance change due to a difference of the speed control capacity of the subject vehicle and the speed control capacity of the lead vehicle after the maximum deceleration restriction unit determines the restricted value of the maximum deceleration of the subject vehicle, wherein

the travel control unit controls the inter-vehicle distance between the subject vehicle and the lead vehicle to at least the target inter-vehicle distance determined by the target inter-vehicle distance determination unit.

13. The travel support apparatus of claim 11 further comprising:

a second inter-vehicle distance detection unit for detecting the inter-vehicle distance between the subject vehicle and the following vehicle, wherein

the maximum deceleration restriction unit determines the restricted value of the maximum deceleration based on the speed control capacity of the following vehicle, the speed control capacity of the subject vehicle, and the inter-vehicle distance between the subject vehicle and the following vehicle detected by the second inter-vehicle distance detection unit.

14. The travel support apparatus of claim 11 wherein

the speed control capacity of the subject vehicle is an indication of a length of time required to reduce a speed of the subject vehicle to a subject vehicle target value;

and

the speed control capacity of the following vehicle is an indication of a length of time required to reduce a speed of the following vehicle to a following vehicle target value.

15. A travel support apparatus disposed in a subject vehicle, the apparatus comprising:

a communication unit for communicably coupling the subject vehicle with surrounding vehicles for exchanging information via vehicle-to-vehicle communication, the information including convoy information for a convoy travel of multiple vehicles and a capacity calculation information for determining a speed control capacity of a vehicle transmitting the information;

an inter-vehicle distance detection unit for detecting an inter-vehicle distance to a lead vehicle;

a travel control unit for organizing the convoy travel of the vehicles by controlling the inter-vehicle distance to the lead vehicle based on the convoy information received by the communication unit;

an-subject vehicle speed control capacity calculation unit for determining a speed control capacity of the subject vehicle;

a lead vehicle speed control capacity calculation unit for determining a speed control capacity of a lead vehicle based on the capacity calculation information received by the communication unit from the lead vehicle;

a comparison unit for comparing the speed control capacity of the subject vehicle with the speed control capacity of the lead vehicle located ahead of the subject vehicle; and

a target inter-vehicle distance determination unit for determining a target inter-vehicle distance to the lead vehicle, the target inter-vehicle distance being increased according to an increase of capacity difference between the subject vehicle and the lead vehicle when the comparison unit determines that the subject vehicle has a lower speed control capacity than the lead vehicle;

wherein

the speed control capacity of the subject vehicle is determined based on information directly indicating the presence of a range sensor that is equipped to independently detect the presence of a frontal obstacle in front of the subject vehicle and a distance to the frontal obstacle.

16. The travel support apparatus of claim 15 wherein

the speed control capacity of the subject vehicle is an indication of a length of time required to reduce a speed of the subject vehicle to a subject vehicle target value;

and

the speed control capacity of the following vehicle is an indication of a length of time required to reduce a speed of the following vehicle to a following vehicle target value.

17. A travel support system comprising:

a plurality of vehicles;

a travel support apparatus disposed in each of the plurality of vehicles, the travel support apparatus including;

a communication unit for communicably coupling each of the plurality of vehicles with each other for exchanging information via vehicle-to-vehicle communication, the information including a speed control capacity of a subject vehicle,

an inter-vehicle distance detection unit for detecting an inter-vehicle distance from the subject vehicle to a lead vehicle of the subject vehicle,

a travel control unit for controlling the inter-vehicle distance to the lead vehicle based on the information received by the communication unit from the lead vehicle,

a speed control capacity calculation unit for determining a speed control capacity of the subject vehicle,

a comparison unit for comparing the speed control capacity of the subject vehicle with the speed control capacity of a following vehicle located behind the subject vehicle when the communication unit receives the speed control capacity of the following vehicle, and

a maximum deceleration restriction unit for determining a restricted value to restrict a maximum deceleration of the subject vehicle when the comparison unit determines that the following vehicle has a lower speed control capacity than the subject vehicle, and

a target inter-vehicle distance determination unit for determining a target inter-vehicle distance to the lead vehicle, the target inter-vehicle distance having clearance for absorbing an inter-vehicle distance change due to a difference of the speed control capacity of the subject vehicle and the speed control capacity of the lead vehicle after the maximum deceleration restriction unit determines the restricted value of the maximum deceleration of the subject vehicle, wherein

the travel control unit controls the inter-vehicle distance between the subject vehicle and the lead vehicle to at least the target inter-vehicle distance determined by the target inter-vehicle distance determination unit;

wherein

the speed control capacity of the subject vehicle is determined based on information directly indicating the presence of a range sensor that is equipped to independently detect the presence of a frontal obstacle in front of the subject vehicle and a distance to the frontal obstacle.

18. The travel support apparatus of claim 17 wherein

the speed control capacity of the subject vehicle is an indication of a length of time required to reduce a speed of the subject vehicle to a subject vehicle target value;

and

the speed control capacity of the following vehicle is an indication of a length of time required to reduce a speed of the following vehicle to a following vehicle target value.