# US 10,501,075 B2 · Vehicular braking/driving-force control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,501,075 B2 - Document ID: US10501075B2 - Status: Granted - Kind: B2 - Application number: 15/109,534 - Filed: 2015-09-18 - Published: 2018-02-15 - Granted: 2019-12-10 - Earliest claimed: 2014-10-17 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Hiroshi Harada; Naoki Taki; Masaaki Uechi; Kumiko Kondo; Hideaki Hayashi; Akio Kimura; Atsutoshi Sakaguchi; Toshifumi Kawasaki; Tomohiko Futatsugi - Web page: https://patentgrep.com/patent/US10501075B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle} - B60T 8/175: Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control (safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16) - B60W 10/06: including control of combustion engines - B60W 10/18: including control of braking systems - B60W 10/184: with wheel brakes - B60W 30/146: {Speed limiting} - B60T 2201/022: Collision avoidance systems - B60W 2540/10: Accelerator pedal position - B60W 2710/0666: Engine torque - B60W 2720/10: Longitudinal speed - 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 - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES ## Abstract A vehicular braking/driving-force control apparatus includes an accelerator operation detection part configured to detect an accelerator operation; a driving-force limiting apparatus configured to carry out driving-force limiting control of limiting driving force of an own vehicle in such a manner that an upper-limit speed that is set will not be exceeded; an automatic braking control apparatus configured to carry out automatic braking control of automatically generating braking force in the own vehicle based on a relative distance or a relative speed between an obstacle in front of the own vehicle and the own vehicle, and have a cancellation function of inhibiting a start of the automatic braking control based on the accelerator operation; and a control part configured to inhibit the cancellation function from being executed when the driving-force limiting apparatus is in an activated state where the driving-force limiting apparatus is allowed to carry out the driving-force limiting control. ## Claims ### Claim 1 A vehicular braking/driving-force control apparatus comprising: an accelerator operation detector to detect an accelerator operation; and one or more processors configured to carry out driving-force limiting control of limiting driving force of an own vehicle in such a manner that an upper-limit speed that is set will not be exceeded, to carry out automatic braking control of automatically generating braking force in the own vehicle based on a relative distance or a relative speed between an obstacle in front of the own vehicle and the own vehicle, wherein the one or more processors are further configured to permit carrying out of the automatic braking control when the driving-force limiting control is being carried out and an intention of accelerating the own vehicle is not clear based on the accelerator operation, and wherein the one or more processors are further configured to cancel a start of the automatic braking control when the driving-force limiting control is not being carried out and the intention of accelerating is clear based on the accelerator operation. ### Claim 2 (depends on 1) The vehicular braking/driving-force control apparatus as claimed in claim 1, wherein the one or more processors are further configured to, when the driving-force limiting control is being carried out, the automatic braking control is carried out. ### Claim 3 (depends on 2) The vehicular braking/driving-force control apparatus as claimed in claim 2, wherein the one or more processors are further configured to, when a starting switch is in a turned-on state and a difference between a speed of the own vehicle and the upper-limit speed is less than or equal to a predetermined vehicle speed, determine that the driving-force limiting control is being carried out. ### Claim 4 (depends on 1) The vehicular braking/driving-force control apparatus as claimed in claim 1, wherein the accelerator operation corresponds to an accelerator pedal stepped-on amount, the start of the automatic braking control is canceled when the accelerator pedal stepped-on amount is greater than or equal to a first predetermined threshold, and the one or more processors are further configured to cancel being able to carry out the driving-force limiting control when the accelerator pedal stepped-on amount is greater than or equal to a second predetermined threshold greater than the first predetermined threshold. ### Claim 5 (depends on 2) The vehicular braking/driving-force control apparatus as claimed in claim 2, wherein the accelerator operation corresponds to an accelerator pedal stepped-on amount, the start of the automatic braking control is canceled when the accelerator pedal stepped-on amount is greater than or equal to a first predetermined threshold, and the one or more processors are further configured to cancel being able to carry out the driving-force limiting control when the accelerator pedal stepped-on amount is greater than or equal to a second predetermined threshold greater than the first predetermined threshold. ### Claim 6 (depends on 3) The vehicular braking/driving-force control apparatus as claimed in claim 3, wherein the accelerator operation corresponds to an accelerator pedal stepped-on amount, the start of the automatic braking control is canceled when the accelerator pedal stepped-on amount is greater than or equal to a first predetermined threshold, and the one or more processors are further configured to cancel being able to carry out the driving-force limiting control when the accelerator pedal stepped-on amount is greater than or equal to a second predetermined threshold greater than the first predetermined threshold. ### Claim 7 (depends on 4) The vehicular braking/driving-force control apparatus as claimed in claim 4, wherein the start of the automatic braking control is canceled when the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold under the condition where the driving-force limiting control is not being carried out, whereas under the condition where the driving-force limiting control is being carried out, the automatic braking control is started even when the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold. ### Claim 8 (depends on 5) The vehicular braking/driving-force control apparatus as claimed in claim 5, wherein the start of the automatic braking control is canceled when the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold under the condition where the driving-force limiting control is not being carried out, whereas under the condition where the driving-force limiting control is being carried out, the automatic braking control is started even when the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold. ### Claim 9 (depends on 6) The vehicular braking/driving-force control apparatus as claimed in claim 6, wherein the start of the automatic braking control is canceled when the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold under the condition where the driving-force limiting control is not being carried out, whereas under the condition where the driving-force limiting control is being carried out, the automatic braking control is started even when the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold. ### Claim 10 (depends on 4) The vehicular braking/driving-force control apparatus as claimed in claim 4, wherein the start of the automatic braking control is canceled when a plurality of predetermined automatic braking control inhibition conditions are satisfied, wherein the predetermined automatic braking control inhibition conditions include a first condition that the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold and a second condition that the driving-force limiting control is not being carried out. ### Claim 11 (depends on 5) The vehicular braking/driving-force control apparatus as claimed in claim 5, wherein the start of the automatic braking control is canceled when a plurality of predetermined automatic braking control inhibition conditions are satisfied, wherein the predetermined automatic braking control inhibition conditions include a first condition that the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold and a second condition that the driving-force limiting control is not being carried out. ### Claim 12 (depends on 6) The vehicular braking/driving-force control apparatus as claimed in claim 6, wherein the start of the automatic braking control is cancelled when a plurality of predetermined automatic braking control inhibition conditions are satisfied, wherein the predetermined automatic braking control inhibition conditions include a first condition that the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold and a second condition that the driving-force limiting control is not being carried out. ### Claim 13 (depends on 7) The vehicular braking/driving-force control apparatus as claimed in claim 7, wherein the start of the automatic braking control is cancelled when a plurality of predetermined automatic braking control inhibition conditions are satisfied, wherein the predetermined automatic braking control inhibition conditions include a first condition that the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold and a second condition that the driving-force limiting control is not being carried out. ### Claim 14 (depends on 8) The vehicular braking/driving-force control apparatus as claimed in claim 8, wherein the start of the automatic braking control is cancelled when a plurality of predetermined automatic braking control inhibition conditions are satisfied, wherein the predetermined automatic braking control inhibition conditions include a first condition that the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold and a second condition that the driving-force limiting control is not being carried out. ### Claim 15 (depends on 9) The vehicular braking/driving-force control apparatus as claimed in claim 9, wherein the start of the automatic braking control is cancelled when a plurality of predetermined automatic braking control inhibition conditions are satisfied, wherein the predetermined automatic braking control inhibition conditions include a first condition that the accelerator pedal stepped-on amount is greater than or equal to the first predetermined threshold and a second condition that the driving-force limiting control is not being carried out. ### Claim 16 (depends on 1) The vehicular braking/driving-force control apparatus as claimed in claim 1, wherein the accelerator operation corresponds to an accelerator pedal stepped-on amount, and the start of the automatic braking control is canceled when the accelerator pedal stepped-on amount is greater than or equal to a first predetermined threshold in a state of not carrying out the driving-force limiting control.