Vehicle cruise control device and cruise control method

Patent metadata

Field	Value
Publication number	US-10486698-B2
Application number	US-201615544847-A
Country	US
Kind code	B2
Filing date	Jan 15, 2016
Priority date	Jan 21, 2015
Publication date	Nov 26, 2019
Grant date	Nov 26, 2019

Abstract

A cruise control device 10 includes a cutting-in/deviation determination unit 12 for performing cutting-in determination and deviation determination of another vehicle. The cutting-in/deviation determination unit 12 calculates a lateral position that is a position in a vehicle width direction of a forward vehicle 51 traveling ahead of an own vehicle 50, and determines the forward vehicle 51 traveling on an adjacent lane 64 to be a cutting-in vehicle into an own lane 63 and determines the forward vehicle 51 traveling on the own lane 63 to be a deviating vehicle from the own lane 63 on the basis of the calculated lateral position. The cutting-in/deviation determination unit 12 determines whether or not the own vehicle 50 is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning, and determines permission of performing of cutting-in determination and deviation determination of the other vehicle on the basis of the determination result.

First claim

The invention claimed is:

1. A vehicle cruise control device comprising:
a lateral position calculating means calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
a vehicle determination means performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a travel lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated by the lateral position calculating means;
a turn determination means determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
a permission determining means determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result by the turn determination means; and
a change determination means determining whether or not the own vehicle is about to change lanes, wherein
the turn determination means determines that the own vehicle is in the own vehicle turning state when the change determination means determines that the own vehicle is about to change lanes.

2. The vehicle cruise control device according to claim 1 comprising a curve determination means determining whether or not the own vehicle is traveling in a curve section which is composed of at least one of a curved road and a curve entry road that is a predetermined section before entering the curved road, wherein
the turn determination means determines that the own vehicle is in the own vehicle turning state when the curve determination means determines that the own vehicle is traveling in the curve section.

3. A cruise control method by a vehicle cruise control device, the method comprising:
a lateral position calculation step of calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
a vehicle determination step of performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a traveling lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated by the lateral position calculation step;
a turn determination step of determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
a permission determination step of determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result by the turn determination step; and
a change determination step of determining whether or not the own vehicle is about to change lanes, wherein
in the turn determination step, it is determined that the own vehicle is in the own vehicle turning state when it is determined that the own vehicle is about to change lanes.

4. A vehicle cruise control device comprising:
a memory;
a processor communicable to the memory; and
a set of computer-executable instructions stored on the memory that cause the processor to implement:
calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a travel lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated;
determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result; and
determining whether or not the own vehicle is about to change lanes, wherein
the own vehicle is determined to be in the own vehicle turning state when it is determined that the own vehicle is about to change lanes.

5. A vehicle cruise control device comprising:
a lateral position calculating means calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
a vehicle determination means performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a travel lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated by the lateral position calculating means;
a turn determination means determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before starting a turn or a state of turning;
a permission determining means determining permission of performing of cutting-in determination and deviation determination on the basis of a determination result by the turn determination means; and
an unsteadiness determination means determining whether or not traveling of the own vehicle is unsteady, wherein
the turn determination means determines that the own vehicle is in the own vehicle turning state when the unsteadiness determination means determines that the traveling of the own vehicle is unsteady.

6. The vehicle cruise control device according to claim 5 comprising a curve determination means determining whether or not the own vehicle is traveling in a curve section which is composed of at least one of a curved road and a curve entry road that is a predetermined section before entering the curved road, wherein
the turn determination means determines that the own vehicle is in the own vehicle turning state when the curve determination means determines that the own vehicle is traveling in the curve section.

7. A cruise control method by a vehicle cruise control device, the method comprising:
a lateral position calculation step of calculating a lateral position that is a position in a vehicle width direction of a forward vehicle traveling ahead of an own vehicle;
a vehicle determination step of performing cutting-in determination and deviation determination with regard to the forward vehicle, in which it is determined whether the forward vehicle traveling on an adjacent lane adjacent to an own lane that is a traveling lane of the own vehicle is a cutting-in vehicle that cuts into the own lane, and determined whether the forward vehicle traveling on the own lane is a deviating vehicle that deviates from the own lane, on the basis of the lateral position calculated by the lateral position calculation step;
a turn determination step of determining whether or not the own vehicle is in a predetermined own vehicle turning state that is either one of a state before

Assignees

• Denso Corp
• Toyota Motor Co Ltd

Inventors

• Masui Youhei
• Katsukura Toyoharu
• Ogata Yoshihisa
• Nanami Takeshi
• Nishida Takashi

Classifications

• B60W2554/805

  Azimuth angle · CPC title

• B60W2554/801

  Lateral distance · CPC title

• B60W2554/4044

  Direction of movement, e.g. backwards · CPC title

• B60W2554/4041

  Position · CPC title

• B60W2552/30

  Road curve radius · CPC title