Vehicle control apparatus

Patent metadata

Field	Value
Publication number	US-9902396-B2
Application number	US-201615205130-A
Country	US
Kind code	B2
Filing date	Jul 8, 2016
Priority date	Jul 10, 2015
Publication date	Feb 27, 2018
Grant date	Feb 27, 2018

Abstract

A vehicle control apparatus includes a driving state determining portion configured to determine whether the vehicle is in a drivable state at a present time or will be in a drivable state at a point in time after a predetermined period of time has passed from the present time, based on data indicative of a positional relationship between the vehicle and a surrounding environment, that is used in the autonomous driving mode; and a rotation speed reducing portion configured to reduce a rotation speed of the electric motor when it is determined that the vehicle is in an undrivable state at the present time or will be in an undrivable state at the point in time after the predetermined period of time has passed, and the rotation speed of the electric motor is equal to or greater than a predetermined rotation speed.

First claim

What is claimed is:

1. A vehicle control apparatus that controls a vehicle that is provided with an electric motor as a power source and is able to realize an automated driving mode in which autonomous driving without input from a driver is possible, comprising:
a driving state determining portion configured to determine whether the vehicle is in a drivable state at a present time or will be in a drivable state at a point in time after a predetermined period of time has passed from the present time, based on data indicative of a positional relationship between the vehicle and a surrounding environment, that is used in the autonomous driving mode; and
a rotation speed reducing portion configured to reduce a rotation speed of the electric motor when it is determined that the vehicle is in an undrivable state at the present time or will be in an undrivable state at the point in time after the predetermined period of time has passed, and the rotation speed of the electric motor is equal to or greater than a predetermined rotation speed.

2. The vehicle control apparatus according to claim 1 , wherein
the rotation speed reducing portion includes at least one of a command portion configured to apply a command value that makes a rotation speed target value of the electric motor less than the predetermined rotation speed, a brake that decelerates the electric motor by friction force, and an opening portion configured to disengage a relay of a drive circuit of the electric motor.

3. The vehicle control apparatus according to claim 1 , wherein
the undrivable state is a state in which any one driving wheel of the vehicle is not in contact with a road surface for equal to or greater than a first predetermined period of time, or a state in which the vehicle has contacted another object and been rendered undrivable.

4. The vehicle control apparatus according to claim 1 , wherein
the driving state determining portion is configured to determine that the vehicle is undrivable when an axis in a normal direction is deviating by a predetermined value or more, in a coordinate system based on orientation of the vehicle and a coordinate system based on a traveling road surface of the vehicle.

5. The vehicle control apparatus according to claim 4 , wherein
the driving state determining portion is configured to determine that the vehicle is undrivable when the state in which the axis in the normal direction is deviating by the predetermined value or more continues for a second predetermined period of time or longer.

6. The vehicle control apparatus according to claim 5 , wherein
the driving state determining portion is configured to shorten the second predetermined period of time the greater the deviation of the axis in the normal direction is.

Assignees

• Toyota Motor Co Ltd

Inventors

• Itagaki Kenji

Classifications

• B60W2556/00

  Input parameters relating to data · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2710/081

  Speed · CPC title

• B60W10/196

  acting within the driveline, e.g. retarders · CPC title