Control system and control method for vehicle

• US 9,919,735 B2
• Filed: 09/10/2015
• Issued: 03/20/2018
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tomozawa, Motokatsu, Asai, Takatomo, Obayashi, Motonari, Ishijima, Hironobu
• Primary Examiner(s): Holloway, Jason
• Application Number:
  US14/850,131
• Publication Number:
  US 20160077525A1
• Time in Patent Office: 922 Days
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/027 Parking aids, e.g. instruction means
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• 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 control system for a vehicle includes an electronic control unit. The electronic control unit is configured to acquire first information indicating a situation of the vehicle at the time when the vehicle is traveling, and set a path for guiding the vehicle to a target position on the basis of the first information such that a variation in an inertial force in a lateral direction perpendicular to a traveling direction of the vehicle is smaller than or equal to a first threshold.

Claims

1. A control system for a vehicle, comprising:

an accelerator; and

an electronic control unit configured to

acquire a speed of the vehicle at the time when the vehicle is traveling,

set a path for guiding the vehicle to a target position on the basis of the speed of the vehicle such that a variation in inertial force in a lateral direction perpendicular to a traveling direction of the vehicle is smaller than or equal to a first threshold;

reset the path for guiding the vehicle to the target position on the basis of the speed of the vehicle at predetermined time intervals such that the variation in the inertial force in the lateral direction perpendicular to the traveling direction of the vehicle is smaller than or equal to the first threshold;

execute steering control of the vehicle such that the vehicle moves along the path reset by the electric control unit;

wherein the vehicle moves along the reset path by the steering control executed by the electric control unit and by depressing the accelerator.

2. The control system according to claim 1, wherein

the electronic control unit is configured to bring the variation in the inertial force in the lateral direction perpendicular to the traveling direction of the vehicle to the first threshold or smaller by setting the path such that a steering angle of the vehicle when the speed of the vehicle is high is smaller than the steering angle of the vehicle when the speed of the vehicle is low.

3. The control system according to claim 1, wherein

the electronic control unit is configured to further set a switching position in a path for guiding the vehicle to the target position in order to set the path such that the variation in the inertial force in the lateral direction perpendicular to the traveling direction of the vehicle is smaller than or equal to the first threshold, and the traveling direction of the vehicle is changed at the switching position.

4. A control method for a vehicle, comprising:

acquiring a speed of the vehicle at the time when the vehicle is traveling; and

setting a path for guiding the vehicle to a target position on the basis of the speed of the vehicle such that a variation in an inertial force in a lateral direction perpendicular to a traveling direction of the vehicle is smaller than or equal to a first threshold;

resetting the path for guiding the vehicle to the target position on the basis of the speed of the vehicle at predetermined time intervals such that the variation in the inertial force in the lateral direction perpendicular to the traveling direction of the vehicle is smaller than or equal to the first threshold;

executing steering control of the vehicle such that the vehicle moves along the reset path;

wherein the vehicle moves along the reset path by depressing an accelerator.

5. The control method according to claim 4, further comprising:

acquiring steering angle information in the vehicle; and

setting the path for guiding the vehicle to the target position such that a variation in a steering angle of the vehicle per unit time is smaller than or equal to a second threshold, the variation in the steering angle of the vehicle per unit time being determined on the basis of the steering angle information and the speed of the vehicle, wherein

when the variation in the steering angle is smaller than or equal to the second threshold, the variation in the inertial force is set to a value smaller than or equal to the first threshold.