Vehicle speed control device and driver model processing device

Patent metadata

Field	Value
Publication number	US-12441182-B2
Application number	US-202218580957-A
Country	US
Kind code	B2
Filing date	Jul 15, 2022
Priority date	Jul 19, 2021
Publication date	Oct 14, 2025
Grant date	Oct 14, 2025

Abstract

This vehicle speed control device includes: a driving force command generation unit that generates a driving force command FcmD on the basis of the actual vehicle speed V of the vehicle and a vehicle speed command Vcmd; an accelerator control unit that generates an opening degree command θAC for the accelerator pedal on the basis of the driving force command Fcmd; a brake control unit that generates an opening degree command θBK for the brake pedal on the basis of the driving force command Fcmd; and a step change control unit that selects, on the basis of the driving force command Fcmd, whether to perform an acceleration control mode in which the opening degree command θAC is input to the drive robot, or a brake control mode in which the opening degree command θBK is input to the drive robot.

First claim

The invention claimed is:

1. A vehicle speed control device, which controls vehicle speed by driving a drive robot that operates an accelerator pedal and a brake pedal of a vehicle, the vehicle speed control device comprising:
a driving force command generator configured to generate a driving force command over the vehicle on a basis of actual vehicle speed of the vehicle and a vehicle speed command over the actual vehicle speed;
an accelerator controller configured to generate an accelerator operation amount command over an accelerator pedal operation amount on a basis of the driving force command;
a brake controller configured to generate a brake operation amount command over a brake pedal operation amount on a basis of the driving force command; and
a pedal switch controller configured to select, on a basis of the driving force command, an accelerator control mode in which the accelerator operation amount command is input to the drive robot or a brake control mode in which the brake operation amount command is input to the drive robot,
wherein the driving force command generator includes
a basic driving force calculator configured to calculate basic driving force on a basis of the vehicle speed command and vehicle weight,
a feedback controller provided upstream from the accelerator controller and the brake controller in a flow from the vehicle speed command to the accelerator operation amount command and the brake operation amount command, and configured to calculate corrective driving force so that a vehicle speed deviation between the vehicle speed command and the actual vehicle speed becomes 0,
a vehicle speed deviation calculator configured to calculate the vehicle speed deviation by subtracting the actual vehicle speed from the vehicle speed command, and to input the vehicle speed deviation to the feedback controller, and
an adder configured to output a sum of the basic driving force and the corrective driving force as the driving force command.

2. The vehicle speed control device according to claim 1 ,
wherein the accelerator controller generates the accelerator operation amount command by inputting the actual vehicle speed and the driving force command to an accelerator control map that associates generated driving force of the vehicle with the accelerator pedal operation amounts at respective vehicle speeds.

3. The vehicle speed control device according to claim 1 ,
wherein the brake controller generates the brake operation amount command by inputting the actual vehicle speed and the driving force command to a brake control map that associates generated driving force of the vehicle with the brake pedal operation amounts at respective vehicle speeds.

4. The vehicle speed control device according to claim 1 , wherein
the accelerator controller generates the accelerator operation amount command by inputting the actual vehicle speed and the driving force command to an accelerator control map that associates generated driving force of the vehicle with the accelerator pedal operation amounts at respective vehicle speeds, and
the brake controller generates the brake operation amount command by inputting the actual vehicle speed and the driving force command to a brake control map that associates the generated driving force with the brake pedal operation amounts at respective vehicle speeds.

5. The vehicle speed control device according to claim 1 ,
wherein the pedal switch controller selects the accelerator control mode in response to the driving force command exceeding an acceleration/deceleration determination value, and the pedal switch controller selects the brake control mode in response to the driving force command falling below the acceleration/deceleration determination value.

6. A vehicle speed control device, which controls vehicle speed by driving a drive robot that operates an accelerator pedal and a brake pedal of a vehicle, the vehicle speed control device comprising:
a driving force command generator configured to generate a driving force command over the vehicle on a basis of actual vehicle speed of the vehicle and a vehicle speed command over the actual vehicle speed;
an accelerator controller configured to generate an accelerator operation amount command over an accelerator pedal operation amount on a basis of the driving force command;
a brake controller configured to generate a brake operation amount command over a brake pedal operation amount on a basis of the driving force command; and
a pedal switch controller configured to select an accelerator control mode in which the accelerator operation amount command is input to the drive robot in response to the driving force command exceeding an acceleration/deceleration determination value, and select a brake control mode in which the brake operation amount command is input to the drive robot in response to the driving force command falling below the acceleration/deceleration determination value,
wherein the pedal switch controller switches the control mode to the brake control mode in response to the driving force command falls below a first pedal switch threshold that is set to a value smaller than the acceleration/deceleration determination value in a situation where the accelerator control mode is selected as the control mode, and the pedal switch controller switches the control mode to the accelerator control mode in response to the driving force command exceeds a second pedal switch threshold that is set to a value larger than the acceleration/deceleration determination value in a situation where the brake control mode is selected as the control mode.

7. The vehicle speed control device according to claim 6 ,
wherein the pedal switch controller changes the acceleration/deceleration determination value, the first pedal switch threshold, and the second pedal switch threshold depending on the actual vehicle speed.

8. The vehicle speed control device according to claim 6 ,
wherein the driving force command generator includes
a basic driving force calculator configured to calculate basic driving force on a basis of the vehicle speed command and vehicle weight,
a feedback controller configured to calculate corrective driving force on a basis of a deviation between the vehicle speed command and the actual vehicle speed, and
an adder configured to output a sum of the basic driving force and the corrective driving force as the driving force command, and

wherein the pedal switch controller changes a difference between the first pedal switch threshold and the second pedal switch threshold depending on a value of a control parameter included in the feedback controller.

9. A driver model processing device, which simulates operations to be performed on an accelerator pedal and a brake pedal of a vehicle by a driver, the driver model processing device comprising:
a driving force command generator configured to generate a driving force command over the vehicle on a basis of actual vehicle speed of the vehicle and a vehicle speed command over the actual vehicle speed;
an accelerator controller configured to generate an accelerator operation amount command over an accelerator pedal operation amount on a basis of the driving force command;
a brake controller configured to generate a brake operation amount command over a brake pedal operation amount on a basis of the driving force command; and
a pedal switch controller configured to select, on a basis of the driving force command, an accelerator control mode in which the accelerator controller is turned on or a brake control mode in which the brake controller is turned on,
wherein the driving force command generator includes
a basic driving force calculator configured to calculate basic driving fo

Assignees

• Meidensha Electric Mfg Co Ltd

Inventors

• Yamaguchi Takashi

Classifications

• B60Y2300/143

  Speed control · CPC title

• B60T2250/04

  Vehicle reference speed; Vehicle body speed · CPC title

• B60T7/12

  for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} · CPC title

• B60K26/02 Primary

  of initiating means or elements · CPC title

• B60W10/18

  including control of braking systems · CPC title