VEHICLE MOTION CONTROL DEVICE

• US 20080097699A1
• Filed: 12/28/2005
• Published: 04/24/2008
• Est. Priority Date: 12/28/2004
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Chuo Kenkyusho (Toyota Motor Corporation)
• Inventors: ONO, Eiichi
• Granted Patent: US 7,966,127 B2
• Time in Patent Office: Days
• US Class Current: 701/300
• CPC Class Codes: B60R 2021/346 means outside vehicle body
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60R 21/36 using airbags
• 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 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

The invention provides a vehicle motion control device capable of realizing optimum avoidance control in the case of an emergency. The vehicle motion control device includes an external environment detection unit for detecting external environment, and a travel state detection unit for detecting a travel state of a driver'"'"'s vehicle. An obstruction is detected based on the external environment detected by the external environment detection unit, and an environment map indicating obstructions is created. A control device estimates a plurality of possible avoidance actions for avoiding an obstruction based on the environment map and the travel state of the driver'"'"'s vehicle detected by the travel state detection unit. The control device estimates collision damage according to each avoidance action estimated by the avoidance action estimation unit, and selects an appropriate avoidance action based on the estimated collision damage. The control device controls a vehicle such that the selected avoidance action is carried out.

Claims

1. :

A vehicle motion control device comprising;

an external environment detection unit for detecting an external environment;

a travel state detection unit for detecting a travel state of a driver'"'"'s vehicle;

an environment map creation unit for detecting an obstruction based on the external environment detected by the external environment detection unit and for creating an environment map indicating the obstruction;

an avoidance action estimation unit for estimating a plurality of possible avoidance actions for avoiding the obstruction based on the environment map and the travel state of the driver'"'"'s vehicle detected by the travel state detection unit; and

a selection unit for estimating collision damage according to each avoidance action estimated by the avoidance action estimation unit and for selecting an appropriate avoidance action based on the estimated collision damages.

2. :

The vehicle motion control device of claim 1, wherein when an avoidance action exists according to which the collision damage is less than a predetermined value, the selection unit selects the avoidance action according to which the collision damage is less than the predetermined value as the appropriate avoidance action, and when there is no avoidance action according to which the collision damage is less than the predetermined value, the selection unit selects an avoidance action having the minimum collision damage equal to or higher than the predetermined value as the appropriate avoidance action.

3. :

The vehicle motion control device of claim 1, wherein when a possibility of a new obstruction appearing from a dead angle region in the environment map is low, and when a possibility of a new obstruction appearing from the dead angle region in the environment map and interfering with the avoidance action estimated by the avoidance action estimation unit is low, the selection unit selects the appropriate avoidance action based on the estimated collision damages, and when the possibility of the new obstruction appearing from the dead angle region in the environment map and interfering with the avoidance action estimated by the avoidance action estimation unit is high, the selection unit selects, as an optimum avoidance action, straight braking avoidance action of traveling at maximum deceleration in parallel to a road on which the driver'"'"'s vehicle is traveling, or an avoidance action to be carried out by the driver.

4. :

The vehicle motion control device of claim 1, wherein the avoidance action estimation unit comprises;

an action prediction database in which data, including data indicative of a probability of presence of an obstruction, for predicting behavior of an obstruction is stored;

a risk map creation unit for creating a risk map for predicting a current risk based on the environment map;

a future risk map creation unit for creating a future risk map to predict a risk after a predetermined time based on the current risk map created by the risk map creation unit, and the action prediction database;

a passage time risk map creation unit for creating a passage time risk map to predict a risk at a passage time, based on a passage time at which the driver'"'"'s vehicle passes through a shortest trajectory when a shortest avoidance control for moving to a lateral position on the road is executed, having the lateral position on the road as a parameter, and the future risk map; and

a risk minimization avoidance action estimation unit for estimating, as the avoidance action, an action for moving to the lateral position on the road that minimizes the risk on the shortest trajectory, based on the passage time risk map.

5. :

The vehicle motion control device of claim 1, further comprising a control unit for controlling the driver'"'"'s vehicle such that the avoidance action selected by the selection unit is carried out.

8. :

The vehicle motion control device of claim 4, wherein when the obstruction is a pedestrian, at least one of age and direction of line of sight is checked, and the probability of presence of the obstruction after a predetermined time is corrected based on a result of the check.

10. :

The vehicle motion control device of claim 4, wherein the risk is determined by a product of a standard degree of risk corresponding to the type of the obstruction and a correction coefficient determined based on at least one of the external environment or an accident occurrence ratio.

11. :

The vehicle motion control device of claim 5, wherein when the driver'"'"'s vehicle stops, when the avoidance action cannot be estimated, or when the driver'"'"'s vehicle is controlled such that the avoidance action is carried out and collision damage is generated, the control unit controls a yaw angle of a vehicle such that a vehicle position which minimizes the collision damage is obtained based on the passage time risk map.

13. :

The vehicle motion control device of claim 1, wherein the external environment detection unit detects an obstruction by obtaining information indicating a position and a speed of the obstruction.

14. :

The vehicle motion control device of claim 1, wherein a damage level indicating the collision damage of each of the avoidance actions is estimated by a product of a magnitude of damage, a probability and a correction value, and when there is a possibility that a latent obstruction exists, the damage level is calculated using the probability of presence of the latent obstruction as the probability, and an optimum avoidance action is selected based on the calculated damage level.

6. :

A vehicle motion control device comprising;

an external environment detection unit for detecting an external environment;

a risk map creation unit for detecting a position and a type of an obstruction based on the external environment detected by the external environment detection unit and for creating a risk map to predict a current degree of risk based on the position and the type of the obstruction;

an action prediction database in which data, including data indicating a probability of presence of an obstruction, for predicting behavior of an obstruction is stored;

a future risk map creation unit for creating a future risk map to predict a degree of risk after a predetermined time based on the current risk map created by the risk map creation unit, and the action prediction database;

a passage time risk prediction unit for creating a passage time risk map to predict a risk at a passage time, based on a passage time at which the driver'"'"'s vehicle passes through a shortest trajectory when a shortest avoidance control for moving to a lateral position on the road is executed, having the lateral position on the road as a parameter, and the future risk map; and

a control unit for determining, as the avoidance action, an action for moving to a lateral position on a road that minimizes the risk on the shortest trajectory, based on the passage time risk map and for controlling the driver'"'"'s vehicle such that the determined avoidance action is carried out.

7. :

The vehicle motion control device of claim 6, wherein when a possibility of a new obstruction appearing from a dead angle region of the passage time risk map is low, and when a possibility of a new obstruction appearing from the dead angle region in the passage time risk map and interfering with the determined avoidance action is low, the control unit controls the driver'"'"'s vehicle such that the determined avoidance action is carried out, and when the possibility of the new obstruction appearing from the dead angle region in the passage time risk map and interfering with the determined avoidance action is high, the control unit controls the driver'"'"'s vehicle such that a straight braking avoidance action of traveling at maximum deceleration in parallel to a road on which the driver'"'"'s vehicle is traveling, or an avoidance action to be carried out by the driver, is carried out.

9. :

The vehicle motion control device of claim 6, wherein the shortest trajectory is obtained in accordance with a longitudinal speed of the driver'"'"'s vehicle with respect to the road, a lateral speed of the driver'"'"'s vehicle, a friction coefficient between a tire of the driver'"'"'s vehicle and the road surface, and a distance between an intended lateral position and a lateral position of the driver'"'"'s vehicle.

15. :

The vehicle motion control device of claim 6, wherein when the obstruction is a pedestrian, at least one of age and direction of line of sight is checked, and the probability of presence of the obstruction after a predetermined time is corrected based on a result of the check.

16. :

The vehicle motion control device of claim 6, wherein the risk is determined by a product of a standard degree of risk corresponding to the type of the obstruction and a correction coefficient determined based on at least one of the external environment or an accident occurrence ratio.

17. :

The vehicle motion control device of claim 6, wherein when the driver'"'"'s vehicle stops, when the avoidance action cannot be estimated, or when the driver'"'"'s vehicle is controlled such that the avoidance action is carried out and collision damage is generated, the control unit controls a yaw angle of a vehicle such that a vehicle position which minimizes the collision damage is obtained based on the passage time risk map.

18. :

The vehicle motion control device of claim 6, wherein the external environment detection unit detects an obstruction by obtaining information indicating a position and a speed of the obstruction.

12. :

A vehicle motion control device comprising;

an external environment detection unit for detecting an external environment;

a risk map creation unit for detecting a position and a type of an obstruction based on the external environment detected by the external environment detection unit and for creating a risk map to predict a current risk based on the position and the type of the obstruction,

an action prediction database in which data, including data indicating a probability of presence of an obstruction, for estimating an action of an obstruction is stored,

a future risk map creation unit for creating a future risk map to predict a risk after a predetermined time based on the current risk map created by the risk map creation unit and the action prediction database,

a passage time risk map creation unit for creating a passage time risk map to predict a risk at a passage time, based on a passage time at which the driver'"'"'s vehicle passes through a shortest trajectory when a shortest avoidance control for moving to a lateral position on the road is executed, having the lateral position on the road as a parameter, and the future risk map; and

a control unit for controlling a shift down such that a number of revolutions of an engine of the driver'"'"'s vehicle is increased when a future risk is equal to or higher than a predetermined value based on the passage time risk map at the time when a pedestrian as an obstruction passes.

19. :

The vehicle motion control device of claim 12, wherein the external environment detection unit detects an obstruction by obtaining information indicating a position and a speed of the obstruction.