Vehicle speed limiting apparatus and vehicle speed control apparatus

• US 9,845,093 B2
• Filed: 05/19/2016
• Issued: 12/19/2017
• Est. Priority Date: 05/22/2015
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yamashita, Keiji, Inoue, Takashi, Taira, Tetsuya, Masuda, Takato, Tomatsu, Nobuyuki, Yee, Sokfan
• Primary Examiner(s): Cheung, Mary D
• Application Number:
  US15/159,244
• Publication Number:
  US 20160339913A1
• Time in Patent Office: 579 Days
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/106 Rate of change
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/146 Speed limiting
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres

Abstract

A vehicle speed limiting apparatus includes an opening detection unit to detect an opening of an accelerator pedal of the vehicle; an estimation unit to estimate whether the vehicle starts a lane change; and an ECU to implement an upper-limit setting unit to set an upper-limit speed of the vehicle, a vehicle speed control unit to control the traveling speed so as not to exceed the upper-limit speed even when the opening of the accelerator pedal becomes great enough to make the traveling speed exceed the upper-limit speed, and a permissible speed setting unit to set a permissible speed higher than the upper-limit speed. When the estimation unit estimates that the vehicle starts the lane change, the vehicle speed control unit permits the traveling speed to exceed the upper-limit speed, and controls the traveling speed so as not to exceed the permissible speed.

Claims

1. A vehicle speed limiting apparatus, comprising:

an opening detection unit configured to detect an opening of an accelerator pedal of the vehicle;

an estimation unit configured to estimate whether the vehicle starts a lane change; and

an electronic control unit configured to implement

an upper-limit setting unit configured to set an upper-limit speed of the vehicle,

a vehicle speed control unit configured to control the traveling speed so as not to exceed the upper-limit speed even when the opening of the accelerator pedal of the vehicle becomes great enough to make the traveling speed of the vehicle exceed the upper-limit speed, and

a permissible speed setting unit configured to set a permissible speed higher than the upper-limit speed,

wherein when the estimation unit estimates that the vehicle starts the lane change, the vehicle speed control unit permits the traveling speed to exceed the upper-limit speed, and controls the traveling speed so as not to exceed the permissible speed set by the permissible speed setting unit.

2. The vehicle speed limiting apparatus as claimed in claim 1, wherein the permissible speed setting unit sets the permissible speed depending on an increased amount of the opening of the accelerator pedal after the estimation unit has estimated that the vehicle has started the lane change.

3. The vehicle speed limiting apparatus as claimed in claim 1, further comprising:

a speed limit recognition unit configured to recognize a speed limit of a road on which the vehicle is traveling,

wherein the permissible speed setting unit sets the permissible speed to be greater than or equal to the speed limit of the road on which the vehicle is traveling.

4. The vehicle speed limiting apparatus as claimed in claim 3, wherein the speed limit recognition unit recognizes the speed limit of the lane on which the vehicle is traveling and the speed limit of the lane-change destination of the vehicle,

wherein the upper-limit setting unit sets the speed limit of the lane on which the vehicle is traveling as the upper-limit speed,

wherein when the speed limit of the lane-change destination of the vehicle is higher than the speed limit of the lane on which the vehicle is traveling, the permissible speed setting unit sets the permissible speed to a value greater than or equal to the speed limit of the lane-change destination of the vehicle.

5. The vehicle speed limiting apparatus as claimed in claim 1, further comprising:

a speed measurement unit configured to measure traveling speed of another vehicle,

wherein the permissible speed setting unit sets the permissible speed depending on the traveling speed of the other vehicle on the lane-change destination of the vehicle.

6. The vehicle speed limiting apparatus as claimed in claim 5, wherein the estimation unit estimates whether the vehicle starts the lane change ahead of the other vehicle,

wherein the permissible speed setting unit sets the permissible speed to be greater than or equal to the traveling speed of the other vehicle when the estimation unit estimates that the vehicle starts the lane change ahead of the other vehicle.

7. The vehicle speed limiting apparatus as claimed in claim 5, wherein the estimation unit estimates whether the vehicle starts the lane change behind the other vehicle,

wherein the permissible speed setting unit sets the permissible speed to be less than or equal to the traveling speed of the other vehicle when the estimation unit estimates that the vehicle starts the lane change behind the other vehicle and the upper-limit speed is less than or equal to the traveling speed of the other vehicle.

8. The vehicle speed limiting apparatus as claimed in claim 1, wherein the vehicle speed control unit includes

a speed command unit configured to generate a speed command value to control the traveling speed depending on the opening of the accelerator pedal,

a permissible speed command unit configured to generate a permissible speed command value to control the traveling speed to be the permissible speed, and

a speed adjustment unit configured to adjust the traveling speed following a command value among the speed command value and the permissible speed command value, whichever makes the traveling speed lower.

9. The vehicle speed limiting apparatus as claimed in claim 8, wherein the permissible speed command unit generates a plurality of candidates of the permissible speed command value, based on respective requirements to determine the permissible speed, and determines the permissible speed command value to be one of the candidates that makes the permissible speed a highest.

10. A vehicle speed control apparatus, comprising:

an electronic control unit configured to implement

an upper-limit setting unit configured to set an upper-limit speed of the vehicle,

a vehicle speed control unit configured to control the traveling speed so as not to exceed the upper-limit speed even when an opening of an accelerator pedal of the vehicle becomes great enough to make the traveling speed of the vehicle exceed the upper-limit speed, and

a permissible speed setting unit configured to set a permissible speed higher than the upper-limit speed,

wherein when it is estimated that the vehicle starts a lane change, the vehicle speed control unit permits the traveling speed to exceed the upper-limit speed, and controls the traveling speed so as not to exceed the permissible speed set by the permissible speed setting unit.