# US 10,310,508 B2 · Vehicle control apparatus

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- Number: US 10,310,508 B2
- Document ID: US10310508B2
- Status: Granted
- Kind: B2
- Application number: 15/680,838
- Filed: 2017-08-18
- Published: 2018-03-01
- Granted: 2019-06-04
- Earliest claimed: 2016-08-25
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Akiomi Kunisa; Toshiki Matsui; Yusuke Nemoto; Norihiro Takahashi
- Web page: https://patentgrep.com/patent/US10310508B2

## CPC

- B60W 60/0053: {from vehicle to occupant}
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 30/18145: {Cornering}
- B60W 50/082: {Selecting or switching between different modes of propelling}
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 60/0057: {Estimation of the time available or required for the handover}
- B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/10: Longitudinal speed
- B60W 2520/105: Longitudinal acceleration
- B60W 2520/125: Lateral acceleration
- B60W 2520/14: Yaw
- B60W 2552/30: Road curve radius
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2556/20: Data confidence level
- B60W 2720/103: Speed profile
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

To control a speed at a time of entering a curved road a vehicle to autonomously travel within a travelling lane even in a case where there is an error in an estimated longitudinal position of the vehicle. A curve travel speed calculation unit 15b calculates a curve travel speed for a vehicle to autonomously travelling in a travelling lane based on a curve radius and an estimated error in longitudinal position. A speed planning unit 15c and a travel control unit 17 decelerate the vehicle M such that the speed of the vehicle M becomes the curve travel speed at the time of entering the curved road in front of the vehicle M in a case where the speed of the vehicle M is equal to or higher than the curve travel speed and the curve travel speed is equal to or higher than the reference speed.

## Claims

### Claim 1

A vehicle control apparatus configured to cause a vehicle to autonomously travel, comprising:
a longitudinal position collation unit configured to recognize a longitudinal position which is a position of the vehicle in an extending direction of a travelling road in which the vehicle travels, based on image information from a camera and position information of a landmark on a map;
a longitudinal position estimation unit configured to estimate the longitudinal position based on a result of detection by an internal sensor that detects a state of the vehicle and a result of recognition by the longitudinal position collation unit;
an error estimation unit configured to estimate an error in longitudinal position estimated by the longitudinal position estimation unit, based on accuracy of detection by the internal sensor;
a radius acquisition unit configured to acquire a curve radius of a curved road in front of the vehicle using the estimated longitudinal position and the map information;
a curve travel speed calculation unit configured to calculate a curve travel speed for the vehicle to autonomously travel in a travelling lane on the curved road having the acquired curve radius based on the acquired curve radius and the estimated error in longitudinal position;
a speed control unit configured to decelerate the vehicle such that vehicle speed becomes the curve travel speed at the time of entering the curved road in front of the vehicle in a case where the vehicle speed is equal to or higher than the curve travel speed and the curve travel speed is equal to or higher than a preset reference speed, and configured to decelerate the vehicle such that the current speed is maintained or the vehicle speed becomes the reference speed at the time of entering the curved road in front of the vehicle in a case where the vehicle speed is equal to or higher than the curve travel speed and the curve travel speed is lower than the reference speed; and
a request unit configured to perform a hands-on request to switch a control of the vehicle to a manual driving by a driver in a case where the vehicle speed is equal to or higher than the curve travel speed and the curve travel speed is lower than the reference speed,
wherein, the curve travel speed calculation unit is configured to make the curve travel speed be low in a case where the curve radius is short compared to a case where the curve radius is long, and configured to make the curve travel speed be low in a case where the error in longitudinal position is large compared to a case where the error in longitudinal position is small.

### Claim 2 (depends on 1)

The vehicle control apparatus according to claim 1,
wherein the request unit is configured to calculate a reference distance which is a travel distance in a case of travelling during reference time at the current speed of the vehicle based on the reference time preset as a time for switching a driving state of the vehicle to a manual driving state from an autonomous driving state and the current speed of the vehicle, and configured to perform the hands-on request at the position before the curved road in front of the vehicle as much as the reference distance.