Vehicle acceleration and deceleration control device

Patent metadata

Field	Value
Publication number	US-10144399-B2
Application number	US-201515301885-A
Country	US
Kind code	B2
Filing date	Nov 4, 2015
Priority date	Nov 10, 2014
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

Abstract

A target acceleration/deceleration setting unit (28) of a vehicle acceleration/deceleration controller (16) sets a target acceleration or deceleration at a location at which a curve starts to be a predetermined maximum deceleration, sets a target acceleration or deceleration at a location at which the curve ends to be a predetermined maximum acceleration, sets a target acceleration or deceleration at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero, and sets a target deceleration D (Ld) at a location to which the travelling distance from the location at which the curve starts is Ld and a target acceleration A (La) at a location to which the travelling distance from the predetermined intermediate location is La to satisfy respective predetermined relations.

First claim

The invention claimed is:

1. A vehicle control device for a vehicle, the vehicle control device comprising:
a brake of the vehicle;
an engine of the vehicle; and
a vehicle acceleration/deceleration controller that controls an acceleration and deceleration of the vehicle in a direction of travel of the vehicle from entry of the vehicle into a curve to exit of the vehicle from the curve, the vehicle acceleration/deceleration controller comprising:
a curve shape information obtaining unit configured to obtain shape information including a radius of curvature of the curve in front of the vehicle;
a target acceleration/deceleration setting unit configured to set target accelerations and decelerations of the vehicle in the direction of travel of the vehicle between a location at which the curve starts and a location at which the curve ends; and
an acceleration/deceleration control unit configured to, when the vehicle travels from the location at which the curve starts to the location at which the curve ends, control the acceleration and deceleration of the vehicle in the direction of travel of the vehicle in accordance with the target accelerations and decelerations set by the target acceleration/deceleration setting unit, wherein

the acceleration/deceleration control unit controls the brake and the engine,
the target acceleration/deceleration setting unit
sets one of the target accelerations and decelerations at the location at which the curve starts to be a predetermined maximum deceleration,
sets another one of the target accelerations and decelerations at the location at which the curve ends to be a predetermined maximum acceleration,
sets still another one of the target accelerations and decelerations at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero,
sets a target deceleration D (Ld) at a location to which a travelling distance from the location at which the curve starts is Ld between the location at which the curve starts and the predetermined intermediate location to satisfy a following expression (1):
D max·(1− Ld/L 1)≤ D ( Ld )≤ D max·cos(π Ld/ 2 L 1)

where Dmax represents the predetermined maximum deceleration, and L1 represents a travelling distance between the location at which the curve starts and the predetermined intermediate location, and
sets a target acceleration A (La) at a location to which a travelling distance from the predetermined intermediate location is La between the predetermined intermediate location and the location at which the curve ends to satisfy a following expression (2):
A max· La/L 2≤ A ( La )≤ A max·sin(π La/ 2 L 2)

where Amax represents the predetermined maximum acceleration, and L2 represents a travelling distance between the predetermined intermediate location and the location at which the curve ends.

2. The vehicle control device of claim 1 , wherein
the predetermined intermediate location at which the target acceleration/deceleration setting unit sets the target acceleration and deceleration to be zero is a location at which the radius of curvature of the curve is smallest.

3. The vehicle control device of claim 1 , wherein
the predetermined intermediate location at which the target acceleration/deceleration setting unit sets the target acceleration and deceleration to be zero is a location between the location at which the curve starts and a location at which the radius of curvature of the curve is smallest.

4. The vehicle control device of claim 1 , wherein
the predetermined intermediate location at which the target acceleration/deceleration setting unit sets the target acceleration and deceleration to be zero is a location between the location at which the curve ends and a location at which the radius of curvature of the curve is smallest.

5. The vehicle control device of claim 1 , wherein
the predetermined maximum deceleration set as the one of the target accelerations and decelerations at the location at which the curve starts by the target acceleration/deceleration setting unit is a deceleration having a magnitude equal to that of a maximum lateral acceleration that may be applied to the vehicle during cornering.

6. The vehicle control device of claim 1 , wherein the target acceleration/deceleration setting unit sets the target accelerations and decelerations so that a plot of travelling distance along a horizontal axis against acceleration and deceleration along a vertical axis results in a sinusoidal curve from the location at which the curve starts to the location at which the curve ends.

7. A vehicle control device for a vehicle, the vehicle control device comprising:
a brake of the vehicle;
an engine of the vehicle; and
a vehicle acceleration/deceleration controller that controls an acceleration and deceleration of the vehicle in a direction of travel of the vehicle from entry of the vehicle into a curve to exit of the vehicle from the curve, the vehicle acceleration/deceleration controller comprising:
a curve shape information obtaining unit configured to obtain shape information including a radius of curvature of the curve in front of the vehicle;
a target acceleration/deceleration setting unit configured to set target accelerations and decelerations of the vehicle in the direction of travel of the vehicle between a location at which the curve starts and a location at which the curve ends;
an acceleration/deceleration control unit configured to, when the vehicle travels from the location at which the curve starts to the location at which the curve ends, control the acceleration and deceleration of the vehicle in the direction of travel of the vehicle in accordance with the target accelerations and decelerations set by the target acceleration/deceleration setting unit; and

an occupant condition obtaining unit configured to obtain a condition of an occupant in the vehicle, wherein
the acceleration/deceleration control unit controls the brake and the engine,
the target acceleration/deceleration setting unit
sets one of the target accelerations and decelerations at the location at which the curve starts to be a predetermined maximum deceleration,
sets another one of the target accelerations and decelerations at the location at which the curve ends to be a predetermined maximum acceleration,
sets still another one of the target accelerations and decelerations at a predetermined intermediate location between the location at which the curve starts and the location at which the curve ends to be zero,
sets a target deceleration D (Ld) at a location to which a travelling distance from the location at which the curve starts is Ld between the location at which the curve starts and the predetermined intermediate location to satisfy a following expression (1):
D max·(1− Ld/L 1)≤ D ( Ld )≤ D max·cos(π Ld/ 2 L 1)

where Dmax represents the predetermined maximum deceleration, and L1 represents a travelling distance between the location at which the curve starts and the predetermined intermediate location,
sets a target acceleration A (La) at a location to which a travelling distance from the predetermined intermediate location is La between the predetermined intermediate location and the location at which the curve ends to satisfy a following expression (2):
A max· La/L 2≤ A ( La )≤ A max·sin(π La/ 2 L 2)

where Amax represents the predetermined maximum acceleration, and L2 represents a travelling distance between the predetermined intermediate location and the location at which the curve ends, and
the target acceleration/deceleration setting unit sets the target deceleration D (Ld) within a range satisfying the expression (1) in accordance with the condi

Assignees

• Mazda Motor

Inventors

• Sugano Takashi
• Kusumoto Shimpei

Classifications

• B60W2540/049

  Number of occupants · CPC title

• B60W2540/221

  Physiology, e.g. weight, heartbeat, health or special needs · CPC title

• B60W2552/30

  Road curve radius · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2555/20

  Ambient conditions, e.g. wind or rain · CPC title