Driving assistance control device of vehicle having vehicle speed and acceleration control based on preceding vehicle information and road topology

Patent metadata

Field	Value
Publication number	US-11932247-B2
Application number	US-202117317193-A
Country	US
Kind code	B2
Filing date	May 11, 2021
Priority date	Jul 16, 2020
Publication date	Mar 19, 2024
Grant date	Mar 19, 2024

Abstract

A device according to the present disclosure is configured to, when it is determined that the road on which a vehicle travels is an uphill road and the speed of the vehicle is controlled such that the vehicle follows a preceding vehicle, in a case where the preceding vehicle is no longer detected, inhibit the acceleration of the vehicle or decelerate the vehicle until it is determined that the road on which the vehicle travels is no longer the uphill road, or alternatively, until a certain period of time elapses.

First claim

What is claimed is:

1. A driving assistance control device of a vehicle, the driving assistance control device comprising an electronic control device configured to:
acquire a setting vehicle speed set by a driver;
detect a preceding vehicle on a route of the vehicle;
determine whether a road on which the vehicle travels is an uphill road;
detect a peak of the uphill road when it is determined that the road on which the vehicle travels is the uphill road;
when the preceding vehicle is not detected, control a speed of the vehicle such that the speed matches the setting vehicle speed, and when the preceding vehicle is detected, control the speed of the vehicle such that the vehicle follows the preceding vehicle by maintaining a specified inter-vehicle distance; and
when it is determined that the road on which the vehicle travels is the uphill road and when controlling the speed of the vehicle such that the vehicle follows the preceding vehicle;
in a case where the preceding vehicle is no longer detected, decelerate the vehicle to a reduced speed until it is determined that the road on which the vehicle travels is no longer the uphill road, or until a certain period of time elapses, wherein a magnitude of deceleration of the vehicle is changed according to an incline of the uphill road;
in a case where the preceding vehicle changes lanes and is no longer detected on the route of the vehicle and the peak of the uphill road is detected to be within a predetermined distance of the vehicle, inhibit the acceleration of the vehicle or decelerate the vehicle; and
in a case where the preceding vehicle changes lanes and is no longer detected on the route of the vehicle and the peak of the uphill road is not detected to be within the predetermined distance of the vehicle, permit the acceleration of the vehicle.

2. The driving assistance control device according to claim 1 , wherein the electronic control unit is further configured to:
acquire information on a degree of an incline of the uphill road; and
in a case where the vehicle is decelerated, when the uphill road has a first incline, increase the magnitude of deceleration applied to the vehicle as compared with when the uphill road has a second incline that is less steep than the first incline.

3. The driving assistance control device according to claim 1 , wherein the electronic control unit is further configured to detect the incline of the uphill road by matching map information with location information obtained by a GPS device.

4. The driving assistance control device according to claim 1 , wherein the electronic control unit is further configured to determine the speed of the vehicle based on a wheel speed detected by wheel speed sensors.

5. The driving assistance control device according to claim 1 , wherein the electronic control unit is further configured to detect the peak of the uphill road by matching map information with location information obtained by a GPS device.

6. The driving assistance control device according to claim 1 , wherein the electronic control unit is further configured to detect the peak of the uphill road by detecting a point at which the uphill road, a white center line, or a yellow line cannot be detected in front of the vehicle.

Assignees

• Toyota Motor Co Ltd

Inventors

• Aikawa Hiroki

Classifications

• B60W30/146 Primary

  Speed limiting · CPC title

• B60W2552/15

  Road slope, i.e. the inclination of a road segment in the longitudinal direction · CPC title

• B60W2554/4041

  Position · CPC title

• B60W2720/10

  Longitudinal speed · CPC title

• B60W30/16 Primary

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title