Travel control apparatus for vehicle

Patent metadata

Field	Value
Publication number	US-9764640-B2
Application number	US-201514928943-A
Country	US
Kind code	B2
Filing date	Oct 30, 2015
Priority date	Oct 31, 2014
Publication date	Sep 19, 2017
Grant date	Sep 19, 2017

Abstract

In a travel control apparatus for a vehicle, a travel environment information acquisition unit acquires travel environment information, and a travel information detector detects travel information relating to the vehicle. The apparatus executes automatic driving control based on such information pieces. A vehicle peripheral object detector detects an object around the vehicle, separately to the travel environment information acquisition unit. An environment information acquisition failure detector detects an acquisition failure in the travel environment information acquisition unit. Upon an acquisition failure of the travel environment information, an evacuation controller executes evacuation control by evacuating the vehicle to the roadside through automatic driving based on the travel environment information detected most recently before the acquisition failure and the travel information, and activates the vehicle peripheral object detector and, when an object is detected on the periphery around the vehicle, executes the evacuation control.

First claim

The invention claimed is:

1. A travel control apparatus for a vehicle, the travel control apparatus executing automatic driving control on the basis of travel environment information and travel information relating to the vehicle, the travel control apparatus comprising:
a travel environment information acquisition unit configured to acquire the travel environment information relating to the travel environment in which the vehicle travels;
a travel information detector configured to detect the travel information relating to the vehicle;
a vehicle peripheral object detector configured to detect an object on a periphery of the vehicle, the vehicle peripheral object detector being provided separately from the travel environment information acquisition unit;
an environment information acquisition failure detector configured to detect an acquisition failure in the travel environment information acquisition unit; and
an evacuation controller configured to:
execute evacuation control, when an acquisition failure of the travel environment information is detected, by setting a first travel path on which to evacuate the vehicle to a roadside as a target travel path on the basis of the travel information and the travel environment information detected most recently before the acquisition failure of the travel environment information,
after setting the target travel path, activate the vehicle peripheral object detector,
when the vehicle peripheral object detector detects the object on the periphery of the vehicle, execute the evacuation control by setting a second travel path as the target travel path on the basis of information relating to the object on the periphery of the vehicle, the travel information, and the travel environment information detected most recently before the acquisition failure of the travel environment information, and when the vehicle peripheral object detector detects no object on the periphery of the vehicle, continue to execute the evacuation control based on the first travel path as the target travel path, and
evacuate the vehicle to the roadside through automatic driving on the basis of the target travel path.

2. The travel control apparatus for a vehicle according to claim 1 , wherein the evacuation controller cancels the evacuation control when a driver performs a driving operation.

3. The travel control apparatus for a vehicle according to claim 2 , wherein the evacuation control executed by the evacuation controller involves deceleration control performed by setting a target deceleration in accordance with a travel distance of the vehicle and a visibility limit included in the travel environment information detected most recently before the acquisition failure of the travel environment information.

4. The travel control apparatus for a vehicle according to claim 3 , wherein, when the vehicle stops as a result of the deceleration control performed during the evacuation control executed by the evacuation controller and when the acquisition failure has eliminated, the travel control apparatus resumes the automatic driving.

5. The travel control apparatus for a vehicle according to claim 4 , wherein, when the vehicle peripheral object detector detects the object on the periphery of the vehicle, the evacuation controller is further configured to control steering for maintaining a predetermined distance between the detected object on the periphery of the vehicle and the vehicle.

6. The travel control apparatus for a vehicle according to claim 3 , wherein, when the vehicle peripheral object detector detects the object on the periphery of the vehicle, the evacuation controller is further configured to control steering for maintaining a predetermined distance between the detected object on the periphery of the vehicle and the vehicle.

7. The travel control apparatus for a vehicle according to claim 2 , wherein, when the vehicle peripheral object detector detects the object on the periphery of the vehicle, the evacuation controller is further configured to control steering for maintaining a predetermined distance between the detected object on the periphery of the vehicle and the vehicle.

8. The travel control apparatus for a vehicle according to claim 1 , wherein the evacuation control executed by the evacuation controller involves deceleration control performed by setting a target deceleration in accordance with a travel distance of the vehicle and a visibility limit included in the travel environment information detected most recently before the acquisition failure of the travel environment information.

9. The travel control apparatus for a vehicle according to claim 8 , wherein, when the vehicle stops as a result of the deceleration control performed during the evacuation control executed by the evacuation controller and when the acquisition failure has eliminated, the travel control apparatus resumes the automatic driving.

10. The travel control apparatus for a vehicle according to claim 9 , wherein, when the vehicle peripheral object detector detects the object on the periphery of the vehicle, the evacuation controller is further configured to control steering for maintaining a predetermined distance between the detected object on the periphery of the vehicle and the vehicle.

11. The travel control apparatus for a vehicle according to claim 8 , wherein, when the vehicle peripheral object detector detects the object on the periphery of the vehicle, the evacuation controller is further configured to control steering for maintaining a predetermined distance between the detected object on the periphery of the vehicle and the vehicle.

12. The travel control apparatus for a vehicle according to claim 1 , wherein, when the vehicle peripheral object detector detects the object on the periphery of the vehicle, the evacuation controller is further configured to control steering for maintaining a predetermined distance between the detected object on the periphery of the vehicle and the vehicle.

13. The travel control apparatus for a vehicle according to claim 1 , wherein the travel environment information acquisition unit is a camera or a radar.

14. The travel control apparatus for a vehicle according to claim 1 , wherein the vehicle peripheral object detector is an ultrasonic sensor or an infrared sensor.

15. The travel control apparatus for a vehicle according to claim 1 , wherein the travel information includes a vehicle speed, a steering wheel angle, a yaw rate, an accelerator opening, a throttle opening, a road surface gradient of a travel road surface, an estimated road surface friction coefficient value.

Assignees

• Subaru Corp

Inventors

• Matsuno Koji
• Oyama Hajime
• Takaso Yasushi
• Mizoguchi Masato
• Horiguchi Harunobu
• Nagase Takayuki
• Shiraishi Eiichi
• Ezoe Shiro
• Akiyama Satoru

Classifications

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W50/02 Primary

  Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures · CPC title

• B60W2520/125

  Lateral acceleration · CPC title

• B60K28/10 Primary

  responsive to conditions relating to the vehicle · CPC title

• B60W2556/65

  Data transmitted between vehicles · CPC title