Travel control device

• US 9,884,624 B2
• Filed: 12/10/2013
• Issued: 02/06/2018
• Est. Priority Date: 12/10/2013
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Morita, Shigeki, Sugawara, Hisashi
• Primary Examiner(s): BRUSHABER, FREDERICK M
• Application Number:
  US15/023,741
• Publication Number:
  US 20160229402A1
• Time in Patent Office: 1,519 Days
• CPC Class Codes: B60W 30/165 Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 30/17 with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A travel control device 10 includes: an intersection stopped vehicle determining unit 12 that determines whether or not a forward vehicle is a stopped vehicle that is stopped at an intersection, based on distance information from the own vehicle to each forward vehicle acquired by a forward vehicle detection device 1, and distance information to the intersection existing ahead of the own vehicle acquired by a forward intersection distance acquisition device 2; and a vehicle stop position prediction unit 13 that predicts a stop position of the own vehicle at the intersection based on distance information of the stopped vehicle, when the forward vehicle is determined as the stopped vehicle.

Claims

1. A travel control device having a forward vehicle follow-up traveling function that performs follow-up traveling to the nearest forward vehicle of one or more forward vehicles existing ahead of an own vehicle as a followed vehicle, said control device comprising an electronic control unit (ECU) comprising:

an intersection stopped vehicle determiner that determines whether the forward vehicle is a stopped vehicle that is stopped at an intersection or a parked vehicle that is not stopped at the intersection, based on distance information from the own vehicle to each forward vehicle, and distance information to the intersection existing ahead of the own vehicle; and

a vehicle stop position predictor that predicts a stop position of the own vehicle at the intersection based on distance information of the stopped vehicle, when the forward vehicle is determined as the stopped vehicle by the intersection stopped vehicle determiner, wherein

the electronic control unit is configured to decelerate the own vehicle, so as to stop the own vehicle at the stop position, when the forward vehicle is determined as the stopped vehicle the intersection stopped vehicle determiner, and

the electronic control unit is configured to maneuver the own vehicle, so as to cause the vehicle to pass the forward vehicle, when the forward vehicle is determined as the parked vehicle by the intersection stopped vehicle determiner.

2. The travel control device according to claim 1, wherein

the vehicle stop position predictor predicts the stop position at the intersection by obtaining a change of a travel speed of each forward vehicle from a change in the distance information from the own vehicle to each forward vehicle, determines whether or not the forward vehicle is the stopped vehicle to be stopped at the intersection based on the predicted stop position, and further predicts the stop position of the own vehicle at the intersection.

3. The travel control device according to claim 1, wherein

the intersection stopped vehicle determiner estimates a distance from a center of the intersection to a stop line based on attribute information of the intersection, sets a stop position estimation range adding a fixed distance to the estimated distance, to thereby determine as the stopped vehicle the forward vehicle that is stopped within the stop position estimation range, and determine as the parked vehicle the forward vehicle whose stop position deviates from the stop position estimation range.

4. The travel control device according to claim 3, wherein

the intersection stopped vehicle determiner expands the stop position estimation range when it is determined that the forward vehicles are stopped successively based on the distance information from the own vehicle to each forward vehicle and the distance information to the intersection.

5. The travel control device according to claim 1, wherein the ECU further comprises:

a travel mode switcher that executes to switch between at least;

a forward vehicle follow-up travel mode that performs the forward vehicle follow-up traveling function that travels using a speed of the followed vehicle as a target; and

an intersection deceleration mode that performs deceleration using the stop position of the own vehicle predicted by the vehicle stop position predictor as a target even if the followed vehicle does not start decelerating yet.

6. The travel control device according to claim 5, wherein

the travel mode switcher releases the intersection deceleration mode when it is determined that the forward vehicle determined as the stopped vehicle by the intersection stopped vehicle determiner starts proceeding.

7. The travel control device according to claim 5, wherein

the travel mode switcher delays a time when the intersection deceleration mode is released based on the number of the stopped vehicles when it is determined that the forward vehicle determined as the stopped vehicle by the intersection stopped vehicle determiner starts proceeding.

8. The travel control device according to claim 5, wherein

the travel mode switcher has the intersection deceleration mode that decelerates at a deceleration that differs for each type of a driving source of the own vehicle, and executes to switch the intersection deceleration mode according to the type of the driving source.

9. The travel control device according to claim 8, wherein the ECU further comprises a travel speed controller that controls an upper speed limit at which the own vehicle enters an idling stop, wherein

when the type of the driving source of the own vehicle is a combustion engine, the travel speed controller sets the upper speed limit, that enters the idling stop during execution of the intersection deceleration mode, higher as compared to a case that is not the intersection deceleration mode.

10. The travel control device according to claim 5, wherein

the intersection stopped vehicle determiner notifies a driver that the intersection deceleration mode is executed through a notification device equipped in the own vehicle, when the travel mode switcher executes to switch to the intersection deceleration mode.

11. The travel control device according to claim 1, wherein

the intersection stopped vehicle determiner notifies a driver that a stop of the own vehicle at the intersection is predicted through a notification device equipped in the own vehicle, when it is determined that the forward vehicle is the stopped vehicle.

12. The travel control device according to claim 1, wherein the ECU further comprises a forward vehicle detection device that acquires the distance information from the own vehicle to each forward vehicle using a millimeter radar or an inter-vehicle communication.