Scenario-based motion planning and control for coasting
US-2024262360-A1 · Aug 8, 2024 · US
US9410584B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9410584-B2 |
| Application number | US-201514793290-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jul 7, 2015 |
| Priority date | Jul 17, 2014 |
| Publication date | Aug 9, 2016 |
| Grant date | Aug 9, 2016 |
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A vehicle control apparatus includes a first control section that shifts a vehicle from a normal running state to a coasting state by disengaging the clutch device of the vehicle when a predetermined execution condition is satisfied, a second control section that releases the coasting state when a brake operation or an accelerator operation is performed by a vehicle driver while the vehicle is in the coasting state, and an operation amount determination section that determines whether or not an operation amount of a brake operation or an accelerator operation performed while the vehicle is in the coasting state exceeds a release threshold. The second control section releases the coasting state if the operation amount is determined to exceed the release threshold, and does not release the coasting state if the operation amount is determined not to exceed the release threshold.
Opening claim text (preview).
What is claimed is: 1. A vehicle control apparatus for a vehicle including an engine as a motive power source thereof and a clutch device provided in a power transmission path connected with an output shaft of the engine, comprising: a first control section that shifts the vehicle from a normal running state to a coasting state by disengaging the clutch device when a predetermined execution condition is satisfied; a second control section that releases the coasting state when a brake operation or an accelerator operation is performed by a vehicle driver while the vehicle is in the coasting state; and an operation amount determination section that determines whether or not an operation amount of a brake operation or an accelerator operation performed while the vehicle is in the coasting state exceeds a release threshold, wherein the second control section releases the coasting state if the operation amount is determined to exceed the release threshold, and does not release the coasting state if the operation amount is determined not to exceed the release threshold. 2. The vehicle control apparatus according to claim 1 , further comprising a setting section that variably sets the release threshold depending on an acceleration or a speed of the vehicle. 3. The vehicle control apparatus according to claim 2 , wherein the second control section releases the coasting state in response to a brake operation performed while the vehicle is in the coasting state, and the setting section sets the release threshold for a case of a brake operation being performed in accordance with an acceleration or a deceleration of the vehicle in the coasting state such that the release threshold is larger when the vehicle is decelerating than when the vehicle is accelerating. 4. The vehicle control apparatus according to claim 3 , wherein, when the vehicle coasts while decelerating, the setting section set the release threshold to a larger value for the case of a brake operation being performed when the deceleration is larger. 5. The vehicle control apparatus according to claim 2 , wherein the second control section releases the coasting state in response to an accelerator operation performed while the vehicle is in the coasting state, and the setting section sets the release threshold for a case of an accelerator operation being performed in accordance with an acceleration or a deceleration of the vehicle in the coasting state such that the release threshold is larger when the vehicle is accelerating than when the vehicle is decelerating. 6. The vehicle control apparatus according to claim 5 , wherein, when the vehicle coasts while accelerating, the setting section set the release threshold to a larger value when the acceleration is larger. 7. The vehicle control apparatus according to claim 2 , wherein the second control section releases the coasting state in response to a brake operation performed while the vehicle is in the coasting state, and the setting section sets the release threshold for a case of a brake operation being performed in accordance with a speed of the vehicle in the coasting state such that the release threshold is larger when the speed of the vehicle is smaller. 8. The vehicle control apparatus according to claim 2 , wherein the second control section releases the coasting state in response to an accelerator operation performed while the vehicle is in the coasting state, and the setting section sets the release threshold for a case of an accelerator operation being performed in accordance with a speed of the vehicle in the coasting state such that the release threshold is larger when the speed of the vehicle is larger. 9. The vehicle control apparatus according to claim 1 , wherein the operation amount determination section includes a section for determining whether or not an operation amount of a brake operation or an accelerator operation performed during the normal running state is smaller than or equal to a predetermined permission threshold, the first control section permitting a shift from the normal running state to the coasting state if the operation amount is determined to be smaller than or equal to the permission threshold, and not permitting the shift from the normal running state to the coasting state if the operation amount is determined to be larger than the permission threshold, the vehicle control apparatus further comprising a setting section that variably sets the permission threshold depending on an acceleration or a speed of the vehicle. 10. The vehicle control apparatus according to claim 1 , wherein the first control section shifts the vehicle to the coasting state by disengaging the clutch device and keeping the engine in operation, and the second control section release the coasting state in response to an accelerator operation performed during the coasting state, the vehicle control apparatus further comprising a section that causes the engine not to race up in response to an accelerator operation performed during the coasting state, if the operation amount is determined not to exceed the release threshold and the coasting state is not released.
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