Travel control apparatus for vehicle

• US 9,776,641 B2
• Filed: 10/26/2015
• Issued: 10/03/2017
• Est. Priority Date: 10/27/2014
• Status: Active Grant

• Current Assignee: Subaru Corp.
• Original Assignee: Subaru Corp.
• Inventors: Matsuno, Koji, Horiguchi, Harunobu, Oyama, Hajime, Takaso, Yasushi, Mizoguchi, Masato, Nagase, Takayuki, Shiraishi, Eiichi, Ezoe, Shiro, Akiyama, Satoru
• Primary Examiner(s): HEINLE, COURTNEY D
• Application Number:
  US14/923,236
• Publication Number:
  US 20160114811A1
• Time in Patent Office: 708 Days
• 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 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/0225 Failure correction strategy

Abstract

A travel control apparatus for a vehicle includes: a travel environment information acquisition unit that acquires travel environment information on a travel environment where the vehicle travels; a travel information detector that detects travel information on the vehicle; and an overtaking controller that detects an overtaking target vehicle ahead of the vehicle in an identical travel lane on the basis of the travel environment information and the travel information, and overtakes the overtaking target vehicle using automatic driving control. When failures are detected in relation to the travel environment information acquisition and in a steering system of the vehicle during the overtaking control, the overtaking controller modifies the overtaking control by activating required substitute control in accordance with the travel environment information obtained most recently before detecting the travel environment information acquisition failure, information on the overtaking target vehicle, the travel information, and conditions during the overtaking control.

Claims

1. A travel control apparatus for a vehicle, the apparatus comprising:

a travel controller configured to;

acquire travel environment information relating to a travel environment in which the vehicle travels, wherein the vehicle is in an automatic driving mode;

acquire travel information relating to the vehicle; and

perform an overtaking control when an overtaking target vehicle is detected in front of the vehicle in a travel lane on the basis of the travel environment information and the travel information, the overtaking control allows the vehicle traveling to overtake the overtaking target vehicle, the overtaking control includes a first phase in which the vehicle performs a first lane change from the travel lane to an overtaking lane, a second phase in which the vehicle passes the overtaking target vehicle via the overtaking lane, and a third phase in which the vehicle performs a second lane change from the overtaking lane back to the travel lane,

wherein, when a first failure is detected in acquiring the travel environment information and a second failure is detected in a steering system of the vehicle during the overtaking control, the travel controller;

determines a phase of the overtaking control at a time of detecting the first failure and the second failure, and

activates a substitute control corresponding to the determined phase of the overtaking control, the substitute control being performed in accordance with the travel environment information obtained most recently before detecting the first failure of the travel environment information, information relating to the overtaking target vehicle, and the travel information.

2. The travel control apparatus for a vehicle according to claim 1, wherein, when the first failure and the second failure are detected during the second phase of the overtaking control, the travel controller determines, on the basis of the travel environment information acquired most recently before the first failure, that the second lane change from the overtaking lane back to the travel lane is safe to perform, and

in response to the determination, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes deceleration control in accordance with a visibility limit of the most recently acquired travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

3. The travel control apparatus for a vehicle according to claim 1, wherein, when the first failure and the second failure are detected during the second phase of the overtaking control, travel controller determines that the overtaking target vehicle exists in the original travel lane according to the travel environment information acquired most recently before the first failure,

in response to the determination, the travel controller executes deceleration control in accordance with a vehicle speed of the overtaking target vehicle so that the vehicle retreats to a predetermined relative position behind the overtaking target vehicle, activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes the deceleration control in accordance with a visibility limit of the most recently acquired travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

4. The travel control apparatus for a vehicle according to claim 2, wherein, when the first failure and the second failure are detected during the second phase of the overtaking control, travel controller determines that the overtaking target vehicle exists in the travel lane according to the travel environment information acquired most recently before the first failure,

in response to the determination, the travel controller executes deceleration control in accordance with a vehicle speed of the overtaking target vehicle so that the vehicle retreats to a predetermined relative position behind the overtaking target vehicle, activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes the deceleration control in accordance with a visibility limit of the most recently acquired travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

5. The travel control apparatus for a vehicle according to claim 1, wherein, when the first failure and the second failure are detected during the third phase of the overtaking control, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

6. The travel control apparatus for a vehicle according to claim 2, wherein, when the first failure and the second failure are detected during the third phase of the overtaking control, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

7. The travel control apparatus for a vehicle according to claim 1, wherein, when the first failure and the second failure are detected during the overtaking control, the travel controller modifies a characteristic of a braking force generated by a driver during a brake operation.

8. The travel control apparatus for a vehicle according to claim 2, wherein, when the first failure and the second failure are detected during the overtaking control, the travel controller modifies a characteristic of a braking force generated by a driver during a brake operation.

9. The travel control apparatus for a vehicle according to claim 1, wherein, when the first failure and the second failure are detected during the first phase of the overtaking control, the travel controller cancels the first lane change from the travel lane to the overtaking lane, and, when a steering angle is not substantially zero, executes yaw brake control to reduce a yaw rate of the vehicle using a brake force.

10. The travel control apparatus for a vehicle according to claim 9, wherein, when the first failure and the second failure are detected during the second phase of the overtaking control, the travel controller determines, on the basis of the travel environment information detected most recently before the first failure, that the second lane change from the overtaking lane back to the travel lane is safe to perform, and

in response to the determination, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes deceleration control in accordance with a visibility limit of the most recently detected travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

11. The travel control apparatus for a vehicle according to claim 9, wherein, when the first failure and the second failure are detected the second phase of the overtaking control, travel controller determines that the overtaking target vehicle exists in the travel lane according to the travel environment information detected most recently before the first failure,

in response to the determination, the overtaking controller executes deceleration control in accordance with a vehicle speed of the travel target vehicle so that the vehicle retreats to a predetermined relative position behind the overtaking target vehicle, activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes the deceleration control in accordance with a visibility limit of the most recently acquired travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

12. The travel control apparatus for a vehicle according to claim 9, wherein, when the first failure and the second failure are detected the third phase of the overtaking control, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

13. A travel control apparatus for a vehicle, the apparatus comprising:

a travel controller configured to;

acquire travel environment information relating to a travel environment in which the vehicle travels, wherein the vehicle is in an automatic driving mode;

acquire travel information relating to the vehicle; and

perform an overtaking control when an overtaking target vehicle is detected in front of the vehicle in a travel lane on the basis of the travel environment information and the travel information, the overtaking control allows the vehicle traveling to overtake the overtaking target vehicle,

wherein, when a first failure is detected in acquiring the travel environment information and a second failure is detected in a steering system of the vehicle during a first lane change from the travel lane to an overtaking lane after detecting the overtaking target vehicle, the travel controller cancels the first lane change from the travel lane to the overtaking lane, and, when a steering angle is not substantially zero, executes yaw brake control to reduce a yaw rate of the vehicle using a brake force.

14. The travel control apparatus for a vehicle according to claim 13, wherein, when the first failure and the second failure are detected during an overtaking motion performed after detecting the overtaking target vehicle and changing lanes from the travel lane to the overtaking lane, the travel controller determines, on the basis of the travel environment information acquired most recently before the first failure, that a second lane change from the overtaking lane back to the travel lane is safe to perform, and

in response to the determination, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes deceleration control in accordance with a visibility limit of the most recently acquired travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

15. The travel control apparatus for a vehicle according to claim 13, wherein, when the first failure and a second failure are detected during an overtaking motion performed after detecting the overtaking target vehicle and changing lanes from the travel lane to the overtaking lane, the travel controller determines that the overtaking target vehicle exists in the travel lane according to the travel environment information acquired most recently before the first failure,

in response to the determination, the travel controller executes deceleration control in accordance with a vehicle speed of the overtaking target vehicle so that the vehicle retreats to a predetermined relative position behind the overtaking target vehicle, activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes the deceleration control in accordance with a visibility limit of the most recently acquired travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

16. The travel control apparatus for a vehicle according to claim 14, wherein, when the first failure and the second failure are detected in the steering system of the vehicle during the overtaking motion performed after detecting the overtaking target vehicle and changing lanes from the travel lane to the overtaking lane, the travel controller determines that the overtaking target vehicle exists in the travel lane according to the travel environment information acquired most recently before the first failure,

in response to the determination, the travel controller executes deceleration control in accordance with a vehicle speed of the overtaking target vehicle so that the vehicle retreats to a predetermined relative position behind the overtaking target vehicle, activates yaw brake control to apply a yaw moment to the vehicle using a brake force, executes the deceleration control in accordance with a visibility limit of the most recently acquired travel environment information, and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

17. The travel control apparatus for a vehicle according to claim 13, wherein, when the first failure and the second failure are detected during a lane change back to the original travel lane after detecting the overtaking target vehicle, changing lanes from the travel lane to the overtaking lane, and completing the overtaking motion, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force and allows the vehicle to perform a second lane change from the overtaking lane back to the travel lane.

18. The travel control apparatus for a vehicle according to claim 14, wherein, when the first failure and the second failure are detected in the steering system of the vehicle during a lane change back to the original travel lane after detecting the overtaking target vehicle, changing lanes from the travel lane to the overtaking lane, and completing the overtaking motion, the travel controller activates yaw brake control to apply a yaw moment to the vehicle using a brake force and allows the vehicle to perform the second lane change from the overtaking lane back to the travel lane.

19. The travel control apparatus for a vehicle according to claim 13, wherein, when the first failure and the second failure are detected during the overtaking control, the travel controller modifies a characteristic of a braking force generated by a driver during a brake operation.

20. The travel control apparatus for a vehicle according to claim 14, wherein, when the first failure and the second failure are detected during the overtaking control, the travel controller modifies a characteristic of a braking force generated by a driver during a brake operation.