Vehicle control method and vehicle control system

Patent metadata

Field	Value
Publication number	US-2018229722-A1
Application number	US-201815953589-A
Country	US
Kind code	A1
Filing date	Apr 16, 2018
Priority date	Jul 30, 2013
Publication date	Aug 16, 2018
Grant date	—

Abstract

A vehicle control method of performing automatic braking for automatically braking a vehicle or alarm output, depending on a possibility of a collision between the vehicle and an obstacle, includes: cancelling the automatic braking or the alarm output, when an accelerator operation amount is equal to or larger than a predetermined threshold value, during the automatic braking or the alarm output, and cancelling the automatic braking or the alarm output, when a given cancellation condition is satisfied under a situation where the accelerator operation amount of the vehicle is smaller than the predetermined threshold value, during the automatic braking or the alarm output.

First claim

1 . A vehicle control method of performing automatic braking for automatically braking a vehicle or alarm output, depending on a possibility of a collision between the vehicle and an obstacle, wherein said automatic braking or said alarm output is cancelled when one of a first cancellation condition and a second cancellation condition is fulfilled during said automatic braking or said alarm output, comprising:
cancelling said automatic braking or the alarm output according to a first cancellation condition, wherein the first cancellation condition is fulfilled when an accelerator operation amount is equal to or larger than a predetermined threshold value, during the automatic braking or the alarm output; and cancelling said automatic braking or the alarm output according to a second cancellation condition other than the first cancellation condition, wherein the second cancellation condition is fulfilled when a steering operation of a driver is performed under a situation where the accelerator operation amount of the vehicle is smaller than the predetermined threshold value, during the automatic braking or the alarm output.

2 . The vehicle control method according to claim 1 , wherein the steering operation is detected based on a combination of an accelerator operation that increases the accelerator operation amount and the steering operation.

3 . The vehicle control method according to claim 1 , wherein under a situation where an overlap range between the vehicle and the obstacle in a lateral direction is located closer to one of right and left sides of the vehicle, the steering operation includes a steering operation to turn the vehicle in such a direction as to reduce the overlap range.

4 . The vehicle control method according to claim 1 , wherein the steering operation is a combination of a condition of the driver's face determined based on an image recognition result of a face image of the driver and the steering operation.

5 . The vehicle control method according to claim 4 , wherein the steering operation includes a steering operation, which is performed after the driver changes to face front from a condition where the driver fails to face front, or after the driver's condition changes from a condition of slumber into a condition of wakefulness.

6 . The vehicle control method according to claim 1 , wherein the steering operation is an operation that results in a change of a steering angle by a predetermined degree or larger.

7 . The vehicle control method according to claim 1 , wherein the steering operation is determined in view of steering torque or steering speed.

8 . The vehicle control method according to claim 1 , wherein performing automatic braking includes automatically generating braking force by controlling a brake system of the vehicle.

9 . The vehicle control method according to claim 1 , wherein performing automatic braking includes increasing a wheel cylinder pressure of each wheel under a situation where a brake pedal is not operated by the driver.

10 . The vehicle control method according to claim 1 , wherein performing automatic braking includes suppressing driving force by reducing an output of an engine or motor.

11 . The vehicle control method according to claim 1 , further comprising
determining that an automatic braking condition is satisfied based on a result of detection from a laser sensor, and cancelling the automatic braking or the alarm output when a temporary reduction of reflection power of the laser sensor is detected.

12 . The vehicle control method according to claim 1 , wherein
the automatic braking is started while it is not determined whether the first cancellation condition or the second cancellation condition is satisfied in a control cycle in which an automatic braking condition is satisfied for a first time, and determining whether the first cancellation condition or the second cancellation condition is satisfied is performed after the automatic braking is started.

13 . The vehicle control method according to claim 1 , further comprising
determining that an automatic braking condition is satisfied based on a time to collision, and cancelling the automatic braking or the alarm output when the time to collision is within a predetermined range.

14 . The vehicle control method according to claim 13 , wherein a period of determination of the second cancelling condition is shorter than a period of determination of the first cancellation condition.

15 . The vehicle control method according to claim 1 , wherein when the first cancellation condition or the second cancellation condition is satisfied, a target control value of an automatic braking request is reduced at a given rate lower than a given rate used when an automatic braking termination condition is satisfied.

16 . A vehicle control system comprising:
a sensor that detects a condition of an obstacle around a vehicle; an accelerator pedal position sensor that detects an operation amount of an accelerator pedal; and an ECU that outputs a signal that requests automatic braking for automatically braking the vehicle or generation of an alarm, based on said condition of the obstacle, and stops output of the signal according to a first cancellation condition, wherein the first cancellation condition is fulfilled when the operation amount of the accelerator pedal is equal to or larger than a first threshold value, or stops the output of the signal according to a second cancellation condition other than the first cancellation condition, wherein the second cancellation condition is fulfilled when a steering operation of a driver is performed under a situation where the accelerator operation amount of the vehicle is smaller than the first threshold value.

Assignees

• Toyota Motor Co Ltd

Inventors

• Taki Naoki
• Uechi Masaaki
• Mizoguchi Yoji
• Harada Hiroshi
• Kondo Kumiko

Classifications

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2050/143

  Alarm means · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60T2201/022

  Collision avoidance systems · CPC title

• B60W2540/18

  Steering angle · CPC title