Vehicle motion control device

• US 9,990,332 B2
• Filed: 07/19/2011
• Issued: 06/05/2018
• Est. Priority Date: 07/30/2010
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Takahashi, Junya, Yamakado, Makoto, Saito, Shinjiro
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US13/813,055
• Publication Number:
  US 20130131947A1
• Time in Patent Office: 2,513 Days
• Field of Search: 701 1, 701 23, 701 36, 701 58, 701 70, 701 72, 701 93, 701 94, 701 96, 701532, 340441
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2210/24 Curve radius
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 7/042 by electrical means, e.g. using travel or force sensors
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/18 operated by wayside apparatus
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/025 related to comfort of drivers or passengers
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00

Abstract

A vehicle motion control device includes curve shape acquisition means for acquiring a shape of a curve present in front of a currently traveling vehicle, vehicle position acquisition means for acquiring a position of the vehicle, and vehicle motion control arithmetic means for computing, on the basis of the shape of the curve and the position of the vehicle, a command value relating to longitudinal acceleration to be caused to the vehicle. During a time interval from before the vehicle reaches a near end of the curve, until the vehicle has approached the curve and traveled to a site having a constant or maximum curvature of the curve, the vehicle motion control arithmetic means computes a plurality of different negative longitudinal acceleration command values. Thus, even when there is no lateral motion, the vehicle motion control device accelerates/decelerates the vehicle while improving a driver'"'"'s feeling of slowdown.

Claims

1. A vehicular device, comprising:

a vehicle motion controller that acquires a shape of a curve present in front of a current position of a traveling vehicle, the vehicle motion controller also acquiring a position of the traveling vehicle;

a processor that outputs a command on a basis of the shape of the curve and on a basis of the position of the traveling vehicle, wherein

first negative longitudinal jerk during a first time period that takes place before entering the curve, and a second negative longitudinal jerk during a second time period that takes place before the first time period, are generated in response to operation of a driving controller on a basis of the command output by the processor,

the first time period and the second time period are included in a third time period that begins at a time when deceleration begins and that ends at a time at which negative acceleration becomes a maximum,

positive longitudinal jerk is not generated in the third time period,

wherein the vehicle motion controller also;

acquires road surface information relating to road surface along which the vehicle travels, and

computes a command value relating to longitudinal acceleration to be caused to the vehicle, the command value being based upon the road surface information, and

wherein the processor is also configured to

acquire a forward-fixation-distance,

acquire the command value based on the forward fixation distance,

determine whether a road-surface-friction-coefficient is equal to or less than a predetermined value based on road surface information, wherein

the forward-fixation-distance in a first condition is longer than the forward-fixation-distance in a second condition,

the first condition corresponds to the road-surface-friction-coefficient being equal to or less than the predetermined value, and

the second condition corresponds to the road-surface-friction-coefficient being larger than the predetermined value.

2. The vehicular device according to claim 1, wherein

a plurality of different negative longitudinal acceleration command values include a first longitudinal acceleration command value that causes a first negative acceleration to the vehicle in front of the curve and after this, becomes substantially constant, and a second longitudinal acceleration command value that changes so that a negative acceleration caused to the vehicle will change before the vehicle starts approaching the curve;

and

the first longitudinal acceleration command value has a maximum absolute value that is different than that of the second longitudinal acceleration command value.

3. The vehicular device according to claim 1, wherein based on a time-varying change in curvature of the curve at either a predefined distance from the vehicle position taken as an origin, or a distance obtained from a product of a speed of the vehicle and a predefined time, the vehicle motion controller generates a decrease in a longitudinal acceleration command value which generates an increase/decrease in longitudinal jerk which is a change in longitudinal acceleration with time.

4. The vehicular device according to claim 1, wherein based on a speed of the vehicle in addition to either a curvature of the curve ahead of the vehicle or a rate of change of the curvature of the curve, the vehicle motion controller generates a decrease in a longitudinal acceleration command value which generates an increase/decrease in a longitudinal jerk which is a change in longitudinal acceleration with time.

5. The vehicular device according to claim 1, wherein the vehicle motion controller:

calculates a speed of a vehicle,

sets a plurality of predefined forward fixation points on a course in a traveling direction of the vehicle, and calculating forward fixation distances each from the position of the vehicle to one of the forward fixation points,

calculates curvatures of the curve at each of the forward fixation distances and time-varying changes in curvature of the curve at each forward fixation point; and

computes a longitudinal acceleration command value based upon the time-varying change in the curvature of the curve at the forward fixation distance as well as upon the curvature of the curve thereat.

6. The vehicular device according to claim 1, wherein the vehicle motion controller also:

acquires at least one set of vehicle motion including a speed of the vehicle and a longitudinal acceleration thereof,

acquires a longitudinal acceleration requested from a driver,

acquires a lateral motion coordination longitudinal acceleration based upon lateral jerk of the vehicle, and

computes the command value relating to the longitudinal acceleration to be caused to the vehicle, the command value being based upon the shape of the curve, the position of vehicle, the vehicle motion, the driver requested longitudinal acceleration, the lateral motion coordination longitudinal acceleration, and the road surface information, and

wherein the road surface information includes road surface friction coefficients, and road surface longitudinal gradients of a road surface along which the vehicle travels.

7. The vehicular device according to claim 6, wherein

the vehicle motion controller detects an ON or OFF state of a longitudinal acceleration control switch and outputs ON/OFF information relating to the longitudinal acceleration control switch;

and

the vehicle motion controller also

sets a plurality of predefined forward fixation points on a course in a traveling direction of the vehicle, and calculates forward fixation distances each from the position of the vehicle to one of the forward fixation points,

computes data relating to a longitudinal acceleration control mode, based upon the longitudinal acceleration control switch ON/OFF information, the speed of the vehicle, the shape of the curve, the position of the vehicle, and the lateral motion coordination longitudinal acceleration,

calculates, based on the computed longitudinal acceleration control mode, curvatures of the curve at each of the forward fixation distances and time-varying changes in curvature of the curve at each forward fixation point,

computes a longitudinal acceleration command value based upon the time-varying change in the curvature of the curve at the forward fixation distance, the curvature of the curve thereat, and the vehicle speed thereat, and

outputs, based on the computed longitudinal acceleration control mode, a control command value for achieving the computed longitudinal acceleration command value.

8. The vehicular device according to claim 7, wherein

when a first forward fixation point speed or a second forward fixation point speed, whichever has a smaller value, is defined as a forward fixation point speed,

the first forward fixation point speed being obtained to a product of a longitudinal acceleration of the vehicle and a predefined forward fixation time,

the second forward fixation point speed being created based on a curvature of the curve at a forward fixation point position and a forward fixation distance, and

the forward fixation point is set based on a distance obtained by integrating the forward fixation point speed, or from a product of the vehicle speed and a predefined forward fixation time.

9. The vehicular device according to claim 1, wherein the vehicle motion controller also:

exchanges information with an electronic controller mounted on the vehicle, the electronic controller being an external device not included in the vehicle motion controller.

10. The vehicular device according to claim 1, wherein the vehicle motion controller acquires the shape of the curve from at least one of map information relating to a course which the vehicle travels, curve information by road-to-vehicle communication system, curve information by vehicle-to-vehicle communication system;

and an image.

11. The vehicular device according to claim 1, wherein the vehicle motion controller acquires the position from at least one of data by a global positioning system, data by road-to-vehicle communication system, and image.

12. The vehicular device according to claim 1, wherein the vehicle motion controller also:

acquires at least one set of vehicle motion including a speed of the vehicle and a longitudinal acceleration thereof,

acquires a longitudinal acceleration requested from a driver, and

acquires a lateral motion coordination longitudinal acceleration based upon lateral jerk of the vehicle.

13. The vehicular device according to claim 1, wherein the road surface information includes road surface friction coefficient.

14. The vehicular device according to claim 1, wherein the road surface information includes road surface longitudinal gradient of a road surface along which the vehicle travels.

15. A vehicular device, comprising:

a vehicle motion controller that acquires a shape of a curve present in front of a current position of a traveling vehicle, the vehicle motion controller also acquiring a position of the traveling vehicle;

a processor that outputs a command on a basis of the shape of the curve and on a basis of the position of the traveling vehicle, wherein

first negative longitudinal jerk during a first time period that takes place before entering the curve, and a second negative longitudinal jerk during a second time period that takes place before the first time period, are generated in response to operation of a driving controller on a basis of the command output by the processor,

the first time period and the second time period are included in a third time period that begins at a time when deceleration begins and that ends at a time at which negative acceleration becomes a maximum,

positive longitudinal jerk is not generated in the third time period,

wherein the vehicle motion controller also;

acquires road surface information relating to road surface along which the vehicle travels,

computes a command value relating to longitudinal acceleration to be caused to the vehicle, the command value being based upon the road surface information, the position of vehicle, the vehicle motion, the driver requested longitudinal acceleration, the lateral motion coordination longitudinal acceleration, and the road surface information, and

where the command value relating to longitudinal acceleration is calculated using the following expression;