APPARATUS AND SYSTEM FOR CONTROLLING AUTOMATIC STOPPING OF VEHICLE

• US 20090043474A1
• Filed: 08/08/2008
• Published: 02/12/2009
• Est. Priority Date: 08/10/2007
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: MORI, Yukio, FUKUDA, Shotaro, YOKOYAMA, Takahisa, KODAMA, Hiroyuki, NIWA, Satoshi, KUMABE, Hajime, NAKAI, Yasuhiro
• Granted Patent: US 8,660,767 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60W 10/00 Conjoint control of vehicle sub-units of different type or different function for propulsion of purely electrically-propelled vehicles with power supplied within the vehicle B60L50/00 - B60L58/00
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/11 Stepped gearings
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2050/0008 Feedback, closed loop systems or details of feedback error signal
• CPC Class Codes: B60W 2050/0012 Feedforward or open loop systems
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/0042 Transfer function lag; delays
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 2710/1005 Transmission ratio engaged
• CPC Class Codes: B60W 2710/182 Brake pressure, e.g. of fluid or between pad and disc
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/103 Speed profile
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• 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: B60W 30/181 Preparing for stopping
• CPC Class Codes: B60W 30/18109 Braking
• CPC Class Codes: G01S 13/931 : of land vehicles
• CPC Class Codes: Y02T 10/40 : Engine management systems

Abstract

A control apparatus is provided to control the stopping of a vehicle. The control apparatus comprises a speed detector that detects a speed of a vehicle, speed acquiring means, target setting means, and control means. The speed acquiring means acquires an actual speed of the vehicle from detected results of the speed detector. The target setting means sets a target acceleration of the vehicle depending on the actual speed when the vehicle is stopped automatically. The control means controls an actual acceleration of the vehicle at the target acceleration.

Claims

1. A control apparatus for controlling stopping of a vehicle, comprising:

a speed detector that detects a speed of a vehicle;

speed acquiring means for acquiring an actual speed of the vehicle from detected results of the speed detector;

target setting means for setting a target acceleration of the vehicle depending on the actual speed when the vehicle is stopped automatically; and

control means for controlling an actual acceleration of the vehicle at the target acceleration.

2. The control apparatus of claim 1, wherein the target setting means is configured to set the target acceleration so that an absolute value of the target acceleration decreases as the actual speed decrease.

3. The control apparatus of claim 1, wherein the target setting means has a vehicle model to which different target acceleration so patterns depending on different travels speeds of the vehicle are given and from which travel speeds and accelerations are outputted depending on the inputted target acceleration patterns, and

the target acceleration is adapted based on both the travel speeds and the accelerations outputted from the vehicle model.

4. The control apparatus of claim 1, comprising

an acceleration detector that detects an acceleration of a vehicle;

and

acceleration acquiring means for acquiring an actual acceleration so of the vehicle from the detected acceleration of the acceleration detector,

wherein the control means comprises

means for converting the target acceleration into an acceleration by using a reference model of the vehicle,

feedback control means for applying feedback control to the actual acceleration so that the actual acceleration complies with the acceleration converted by using the reference model, and

feedforward control means for applying feedforward control to the actual acceleration depending on the target acceleration.

5. The control apparatus of claim 4, wherein the reference model is a mathematical model in which a response delay of the vehicle to the target acceleration is modeled in a situation where the vehicle is an object to be controlled.

6. The control apparatus of claim 5, wherein the reference model is set based on a response characteristic of the vehicle which appears when the response delay for a change in the target acceleration is maximum.

7. The control apparatus of claim 4, wherein

the acceleration detector comprises a sensor to detect a rotational speed of a wheel of the vehicle and means for differentiating the rotational speed to produce the actual acceleration, and

the feedback control means is configured to perform the feedback control by applying the same filtering process to the actual acceleration outputted from the acceleration acquiring means and the acceleration outputted from the referenced model.

8. The control apparatus of claim 1, wherein the target setting means is configured to fix the target acceleration over a predetermined period of time when the actual speed of the vehicle is below a predetermined threshold.

9. The control apparatus of claim 1, comprising

an acceleration detector that detects an acceleration of a vehicle;

acceleration acquiring means for acquiring an actual acceleration of the vehicle from the detected acceleration of the acceleration detector;

determining means for determining, based on the actual acceleration and the actual speed, whether or not it is a time when the control means should start the control of the actual acceleration, wherein the determining means is configured to determine the start of the control of the control means at timing providing the actual speed whose absolute value is made smaller as the actual acceleration becomes smaller in an absolute value thereof.

10. A system for control apparatus for controlling stopping of a vehicle, comprising:

an actuator used for controlling the stopping of the vehicle,

a speed detector that detects a speed of a vehicle;

speed acquiring means for acquiring an actual speed of the vehicle from detected results of the speed detector;

target setting means for setting a target acceleration of the vehicle depending on the actual speed when the vehicle is stopped; and

control moans for controlling the actuator so that an actual acceleration of the vehicle is controlled at the target acceleration.

11. The control system of claim 10, wherein the target setting means is configured to set the target acceleration so that an absolute value of the target acceleration decreases as the actual speed decrease.

12. The control system of claim 10, wherein the target setting so means has a vehicle model to which different target acceleration patterns depending on different travels speeds of the vehicle are given and from which travel speeds and accelerations are outputted depending on the inputted target acceleration patterns, and

the target acceleration is adapted based on both the travel speeds and the accelerations outputted from the vehicle model.