# US 11,027,740 B2 · Acceleration and deceleration control system and acceleration and deceleration control method

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- Number: US 11,027,740 B2
- Document ID: US11027740B2
- Status: Granted
- Kind: B2
- Application number: 16/330,940
- Filed: 2017-09-06
- Published: 2019-08-01
- Granted: 2021-06-08
- Earliest claimed: 2016-09-08
- Assignees: Denso Corporation
- Applicants: Denso Corporation
- Inventors: Daiji Watanabe; Toshiki Matsumoto; Hisaya Akatsuka
- Web page: https://patentgrep.com/patent/US11027740B2

## CPC

- B60W 40/072: Curvature of the road
- B60W 50/0097: {Predicting future conditions}
- B60T 7/12: for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)}
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 40/076: Slope angle of the road
- B60W 40/105: Speed
- B60W 50/038: Limiting the input power, torque or speed
- G01S 13/06: Systems determining position data of a target
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- B60T 2230/04: Jerk, soft-stop; Anti-jerk, reduction of pitch or nose-dive when braking
- B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction
- B60W 2552/30: Road curve radius
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- 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
- 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
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

A forward information acquisition unit acquires a road profile ahead of the own vehicle. A position acquisition unit acquires a current position of the own vehicle. A state acquisition unit acquires a current speed of the own vehicle. A command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed. The road profile includes a road gradient. The command calculation unit is configured to adjust the drive command, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction.

## Claims

### Claim 1

An acceleration and deceleration control system that controls acceleration and deceleration of an own vehicle, the acceleration and deceleration control system comprising:
a forward information acquisition unit configured to acquire, using a processor, a road profile ahead of the own vehicle;
a position acquisition unit configured to acquire, using the processor, a current position of the own vehicle;
a state acquisition unit configured to acquire, using the processor, a current state of the own vehicle; and
a command calculation unit configured to calculate, using the processor, a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position, and calculate a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed, wherein:
the road profile includes a road gradient; and
the command calculation unit is configured to calculate a speed limit limiting the target speed, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction, and adjust the drive command, based on the calculated speed limit.

### Claim 2 (depends on 1)

The acceleration and deceleration control system according to claim 1, wherein:
when the speed limit is Vxmax, an axis along a longitudinal direction of the own vehicle is an x axis, an axis along a lateral direction of the own vehicle is a y axis, an axis along a vertical direction of the own vehicle is a z axis, the command calculation unit is configured to calculate the Vxmax using the Gzmax, ΔLz, and Δθzn, where the ΔLz is an intra-node distance in an x-z plane that is stored in map information, and the Δθzn is variation in the road gradient.

### Claim 3 (depends on 1)

The acceleration and deceleration control system according to claim 1, wherein:
the road profile includes a curvature radius of a road;
the command calculation unit is configured to use, when the drive command is adjusted, the speed limit that is a smaller one of: Vzmax that is the speed limit calculated based on the Gzmax and variation in the road gradient; and Vymax that is the speed limit calculated based on the curvature radius and Gymax that is an acceleration limit limiting acceleration of the own vehicle in the lateral direction; and
the command calculation unit is configured to use, when the drive command is adjusted, the speed limit that is the smallest one of the Vzmax, the Vymax, and Vlim that is the speed limit inputted by a user in advance, or a legal speed related to a road on which the own vehicle is traveling.

### Claim 4 (depends on 3)

The acceleration and deceleration control system according to claim 3, wherein:
the command calculation unit is configured to calculate the target speed, based on the speed limit and Gxmax that is an acceleration limit limiting acceleration in the longitudinal direction of the own vehicle.

### Claim 5 (depends on 4)

The acceleration and deceleration control system according to claim 4, wherein:
the command calculation unit is configured to variably set the acceleration limit, based on information that indicates at least either of the weather and road surface conditions.

### Claim 6 (depends on 1)

The acceleration and deceleration control system according to claim 1, wherein:
the road profile includes a curvature radius of a road; and
the command calculation unit is configured to use, when the drive command is adjusted, the speed limit that is a smaller one of: Vzmax that is the speed limit calculated based on the Gzmax and variation in the road gradient; and Vymax that is the speed limit calculated based on the curvature radius and Gymax that is an acceleration limit limiting acceleration of the own vehicle in the lateral direction.

### Claim 7 (depends on 6)

The acceleration and deceleration control system according to claim 6, wherein:
the command calculation unit is configured to use, when the drive command is adjusted, the speed limit that is the smallest one of the Vzmax, the Vymax, and Vlim that is the speed limit inputted by a user in advance, or a legal speed related to a road on which the own vehicle is traveling.

### Claim 8 (depends on 1)

The acceleration and deceleration control system according to claim 1, wherein:
the command calculation unit is configured to calculate the target speed, based on the speed limit and Gxmax that is an acceleration limit limiting acceleration in the longitudinal direction of the own vehicle.

### Claim 9 (depends on 1)

The acceleration and deceleration control system according to claim 1, wherein:
the command calculation unit is configured to variably set the acceleration limit, based on information that indicates at least either of the weather and road surface conditions.

### Claim 10

An acceleration and deceleration control method for controlling acceleration and deceleration of an own vehicle, the acceleration and deceleration control method comprising:
acquiring, using an acceleration and deceleration control system, a road profile, including a road gradient, ahead of the own vehicle;
acquiring, using the acceleration and deceleration control system, a current position of the own vehicle;
acquiring, using the acceleration and deceleration control system, a current speed of the own vehicle;
calculating, using the acceleration and deceleration control system, a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position;
calculating, using the acceleration and deceleration control system, a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed; and
when the drive command is calculated, calculating, using the acceleration and deceleration control system, a speed limit limiting the target speed, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction, and adjusting the drive command, based on the calculated speed limit.