Vehicle drive-control device

• US 9,707,996 B2
• Filed: 08/31/2011
• Issued: 07/18/2017
• Est. Priority Date: 08/31/2011
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ueyama, Masao, Limpibunterng, Theerawat, Kunihiro, Yoji, Kojo, Takahiro
• Primary Examiner(s): Smith, Jelani
• Assistant Examiner(s): Martinez Borrero, Luis A
• Application Number:
  US14/342,049
• Publication Number:
  US 20140229068A1
• Time in Patent Office: 2,148 Days
• Field of Search: 701117, 701 25, 701 41, 701 44, 701 58, 701 68, 701 70, 701 1, 701 42, 701 36, 701 2, 701 23, 701411, 701 45, 701113, 701 28, 701 50, 701 22, 701466, 701 65, 180421, 180282
• CPC Class Codes: B60W 10/16 Axle differentials, e.g. for dividing torque between left and right wheels
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B62D 15/02 Steering position indicators ; Steering position determination; Steering aids
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• 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 drive-control device which executes trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory. When the possibility exists that the travel direction of the vehicle may be changed by the trajectory control, at least one of an operation position of a steering input unit operated by a driver; a yaw angle of the vehicle; and a lateral position of the vehicle with respect to a lane is changed before a change in the travel direction is made, thereby giving occupants in the vehicle advance notice of the possibility of a change in vehicle travel direction caused by the trajectory control.

Claims

1. A vehicle comprising:

a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory;

a steering wheel configured to be operated by a driver and serve as a steering input device;

a power steering device configured to generate steering assist torque for steering front wheels which are steered wheels; and

a steering relation varying device that is provided between the steering wheel and the power steering device and is configured to vary a relationship between an operation position of the steering wheel and a steered angle of the front wheels,

wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by varying the operation position of the steering wheel with respect to the steered angle of said front wheels by controlling the power steering device and the steering relation varying device before the change in the travel direction is actually made by the trajectory control.

5. The vehicle according to claim 1, wherein an amount, by which the operation position of the steering wheel is varied before the change in the travel direction is actually made by the trajectory control, is increased when a change degree of the travel direction of the vehicle is high as compared to the amount when the change degree of the travel direction of the vehicle is low.

6. The vehicle according to claim 1, wherein in a situation where the vehicle is laterally offset with respect to the center of a road, an amount, by which the operation position of the steering wheel is varied before the change in the travel direction is actually made by the trajectory control in a direction increasing an amount of the offset, is smaller, as compared to where the change is made in a direction decreasing the amount of the offset.

7. The vehicle according to claim 1, wherein an amount, by which the operation position of the steering wheel is varied before the change in the travel direction is actually made by the trajectory control, is decreased when a running safety of the vehicle is low, as compared to where a running safety of the vehicle is high.

8. The vehicle according to claim 6, wherein when the amount, by which the operation position of the steering wheel is varied before the change in the travel direction is actually made by the trajectory control, is small, a speed of the variation of the operation position of the steering wheel is increased, as compared to where the change amount is large.

9. The vehicle according to claim 1, wherein

the possibility that the travel direction of the vehicle may be changed by the trajectory control is a possibility due to a change of the target trajectory effected by the driver at a branch of a road, and

the variation, of the operation position of the steering wheel before the change in the travel direction is actually made by the trajectory control, is effected to a side opposite to the travel direction of the vehicle after the change in the travel direction is actually made.

10. The vehicle according to claim 1, wherein when there is a branch having a travel direction different from that determined by the target trajectory which has been set and a possibility exists that the travel direction of the vehicle may be changed due to a change of the target trajectory effected by the driver, the controller is configured to determine whether or not the target trajectory is to be altered on a basis of an operation by the driver on the steering wheel.

11. The vehicle according to claim 10, wherein

the controller is configured to:

set a decision-making travel section for deciding whether or not the target trajectory is to be altered on this side of the branch, and

determine whether or not the target trajectory is to be altered on the basis of the operation conducted by the driver on the steering wheel in the decision-making travel section.

12. The vehicle according to claim 11, wherein

the controller is configured to:

set an end point of the decision-making travel section on this side of the branch, and

set a start point of the decision-making travel section at a position which is spaced by a predetermined distance on this side of the end point.

13. The vehicle according to claim 11, wherein when at least one of an amount and a speed of the operation conducted by the driver on the steering wheel after the vehicle has passed the decision-making travel section are large, the controller is configured to effect the change of the target trajectory more quickly, as compared to where the at least one of the amount and the speed are small.

14. The vehicle according to claim 1, wherein the possibility that the travel direction of the vehicle may be changed by the trajectory control is a possibility due to at least one of a change of the target trajectory caused by a change in curvature of a road which arises as the vehicle travels and a change of the target trajectory effected by the driver at a branch of the road.

15. The vehicle according to claim 1, wherein the controller is configured to effect the variation, of the operation position of the steering wheel before the change in the travel direction is actually made by the trajectory control, to a same side as the travel direction of the vehicle after the change while controlling the steered angle of the steered wheels so that the vehicle may travel along the target trajectory.

16. The vehicle according to claim 1, wherein the steering relation varying device is configured to vary the operation position of the steering wheel with respect to the steered angle of the front wheels by rotating a lower shaft connected to the power steering device relative to an upper steering shaft connected to the steering wheel so as to announce the change in the travel direction of the vehicle made by the trajectory control before the change in the travel direction is actually made by the trajectory control.

20. The vehicle according to claim 1, wherein the controller announces the change in the travel direction of the vehicle by controlling the power steering device and the steering relation varying device such that the steering wheel turns and the front wheels do not correspondingly turn.

2. A vehicle comprising:

a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory; and

a first power steering device configured to vary a steered angle of front wheels; and

a second power steering device configured to vary a steered angle of rear wheels,

wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by changing at least one of a yaw angle of the vehicle and a lateral position of the vehicle with respect to a lane by controlling the first and second power steering devices before the change in the travel direction is actually made by the trajectory control.

17. The vehicle according to claim 2, wherein

the first power steering device is configured to vary the steered angle of the front wheels by transferring rotational motion of a first motor to the front wheels so as to announce the change in the travel direction of the vehicle made by the trajectory control before the change in the travel direction is actually made by the trajectory control, and

the second power steering device is configured to vary the steered angle of the rear wheels by transferring rotational motion of a second motor to the rear wheels so as to announce the change in the travel direction of the vehicle made by the trajectory control before the change in the travel direction is actually made by the trajectory control.

3. A vehicle comprising:

a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory;

a steering wheel configured to be operated by a driver and serve as a steering input device; and

a steering relation varying device that is provided between the steering wheel and front wheels which are steered wheels and is configured to vary a relationship between an operation position of a steering wheel operated by a driver and a steered angle of the front wheels,

wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by changing the operation position of the steering wheel by controlling the steering relation varying device to vary the operation position of said steering wheel with respect to the steered angle of said front wheels before the change in the travel direction is actually made by the trajectory control.

18. The vehicle according to claim 3, wherein the steering relation varying device is configured to vary the operation position of the steering wheel with respect to the steered angle of the front wheels by rotating a lower shaft connected to front wheels relative to an upper steering shaft connected to the steering wheel so as to announce the change in the travel direction of the vehicle made by the trajectory control before the change in the travel direction is actually made by the trajectory control.

4. A vehicle comprising:

a drive control device including a controller configured to execute trajectory control in which steered wheels are controlled so as to make the vehicle travel along a target trajectory;

a steering wheel configured to be operated by a driver and serve as a steering input device;

a first power steering device configured to generate steering assist torque for steering front wheels which are steered wheels;

a steering relation varying device that is provided between the steering wheel and the first power steering device and is configured to vary a relationship between an operation position of the steering wheel and a steered angle of the front wheels; and

a second power steering device configured vary a steered angle of rear wheels,

wherein, when a possibility is determined to exist that a travel direction of the vehicle may be changed by the trajectory control, the controller announces the change in the travel direction of the vehicle by changing, at least one of a yaw angle of the vehicle and a lateral position of the vehicle by controlling the first power steering device, the steering relation varying device, and the second power steering device before the change in the travel direction is actually made by the trajectory control.

19. The vehicle according to claim 4, wherein

the steering relation varying device is configured to vary the operation position of the steering wheel and with respect to the steered angle of the front wheels by rotating a lower shaft connected to the power steering device relative to an upper steering shaft connected to the steering wheel so as to announce the change in the travel direction of the vehicle made by the trajectory control before the change in the travel direction is actually made by the trajectory control, and

the second power steering device is configured to vary the steered angle of the rear wheels by transferring rotational motion of a motor to the rear wheels so as to announce the change in the travel direction of the vehicle made by the trajectory control before the change in the travel direction is actually made by the trajectory control.