Vehicle driving control device and control device

• US 9,956,958 B2
• Filed: 08/31/2016
• Issued: 05/01/2018
• Est. Priority Date: 09/10/2015
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sakaguchi, Eiji, Kuriyama, Tomoyuki
• Primary Examiner(s): Do, Truc M
• Application Number:
  US15/253,253
• Publication Number:
  US 20170072951A1
• Time in Patent Office: 608 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• CPC Class Codes: B60W 2720/28 Wheel speed
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence

Abstract

A vehicle driving control device includes a target speed calculation unit configured to calculate a target speed on the basis of a target lateral acceleration and a curve radius; a speed control unit configured to control the speed of a vehicle on the basis of the target speed and a vehicle speed; and a lane determination unit configured to determine whether a lane on which the vehicle is driving is an overtaking lane on the basis of image information. The target lateral acceleration setting unit sets the target lateral acceleration to be higher than the target lateral acceleration when it is determined that the lane on which the vehicle is driving is not the overtaking lane in a case where it is determined that the lane on which the vehicle is driving is the overtaking lane.

Claims

1. A vehicle driving control device comprising:

a curve radius acquisition unit configured to acquire a radius of a curve of a drive road in front of a vehicle;

a target lateral acceleration setting unit configured to set a target lateral acceleration on the curve on the basis of the radius;

a target speed calculation unit configured to calculate a target speed on the curve on the basis of the target lateral acceleration and the radius;

a speed acquisition unit configured to acquire a speed of the vehicle;

a speed control unit configured to control the speed of the vehicle on the curve on the basis of the target speed and the speed of the vehicle;

an image information acquisition unit configured to acquire image information obtained by imaging surroundings of the vehicle; and

a lane determination unit configured to determine whether or not a lane on which the vehicle is driving is an overtaking lane in one-way multiple lanes in the drive road on the basis of the image information,

wherein the target lateral acceleration setting unit sets the target lateral acceleration on the curve to be higher than the target lateral acceleration on the curve when it is determined that the lane on which the vehicle is driving is not the overtaking lane in a case where it is determined that the lane on which the vehicle is driving is the overtaking lane, and

wherein the speed control unit performs the speed control of reducing the speed of the vehicle in accordance with the target speed, in a case where the speed of the vehicle is greater than the target speed.

2. The vehicle driving control device according to claim 1, further comprising:

a lane information determination unit configured to determine whether or not the lane on which the vehicle is driving is an outside lane of the curve or an inside lane of the curve in one-way multiple lanes on the basis of the image information,

wherein the target lateral acceleration setting unit sets the target lateral acceleration on the curve to be higher than the target lateral acceleration on the curve when the lane information determination unit determines that the lane on which the vehicle is driving is the outside lane of the curve, in a case where the lane determination unit determines that the lane on which the vehicle is driving is the overtaking lane and the lane information determination unit determines that the lane on which the vehicle is driving is the inside lane of the curve.

3. A control device comprising:

an actuator that executes driving control of a vehicle; and

an electronic controller configured to execute

acquiring a radius of a curve of a drive road in front of the vehicle,

setting a target lateral acceleration on the curve on the basis of the radius,

calculating a target speed on the curve on the basis of the target lateral acceleration and the radius,

acquiring a speed of the vehicle,

controlling the speed of the vehicle on the curve on the basis of the target speed and the speed of the vehicle,

acquiring image information obtained by imaging surroundings of the vehicle, and

determining whether or not a lane on which the vehicle is driving is an overtaking lane in the drive road on the basis of the image information,

wherein the electronic controller sets the target lateral acceleration in a case where it is determined that the lane on which the vehicle is driving is the overtaking lane to be higher than the target lateral acceleration in a case where it is determined that the lane on which the vehicle is driving is not the overtaking lane, and

wherein in a case where the speed of the vehicle is greater than the target speed, the electronic controller transmits a control signal to the actuator so as to perform the speed control of reducing the speed of the vehicle in accordance with the target speed.