US 11,884,273 B2Granted

Vehicle control device, vehicle control method, and vehicle control system

AssigneeHitachi Astemo, Ltd.

InventorsKoichi Uemura, Taku Takahama

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Abstract

The present invention provides a vehicle control device configured to obtain a distribution between first-order follow-up control and second-order follow-up control based on information on a road curvature of a road on which a preceding vehicle traveling forward of a vehicle has traveled and information on a relative position between the vehicle and the preceding vehicle, the first-order follow-up control causing the vehicle to follow the preceding vehicle through use of a first-order trajectory, the second-order follow-up control causing the vehicle to follow the preceding vehicle through use of a second-order trajectory, and to output an instruction relating to steering of the vehicle for achieving the obtained first-order follow-up control and second-order follow-up control to a steering actuator unit relating to the steering of the vehicle.

Claims9

Dependent claims

A vehicle control device, the vehicle control device being configured to:

input information on a road curvature of a road on which a preceding vehicle traveling forward of a vehicle have traveled, the information being obtained by an external world recognition unit;
input information on a relative position between the vehicle and the preceding vehicle, the information being obtained by the external world recognition unit;
obtain a distribution between first-order follow-up control and second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, the first-order follow-up control causing the vehicle to follow the preceding vehicle through use of a first-order trajectory, the second-order follow-up control causing the vehicle to follow the preceding vehicle through use of a second-order trajectory;
and
output an instruction relating to steering of the vehicle for achieving the obtained first-order follow-up control and the obtained second-order follow-up control, to a steering actuator unit relating to the steering of the vehicle,
wherein the vehicle control device is configured to selectively switch between the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle,
wherein the vehicle control device is configured to select the first-order follow-up control when a centripetal acceleration is equal to or higher than a threshold value, or wherein the vehicle control device is configured to select the first-order follow-up control when a vehicle speed is equal to or higher than a threshold value.

4 more elements

A vehicle control system, comprising:

an external world recognition unit configured to obtain information on a road curvature of a road on which a preceding vehicle traveling forward of a vehicle has traveled;
a controller configured to:
input information on the road curvature, the information being obtained by the external world recognition unit;
input information on a relative position between the vehicle and the preceding vehicle, the information being obtained by the external world recognition unit;
obtain a distribution between first-order follow-up control and second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, the first-order follow-up control causing the vehicle to follow the preceding vehicle through use of a first-order trajectory, the second-order follow-up control causing the vehicle to follow the preceding vehicle through use of a second-order trajectory;
and
output an instruction relating to steering of the vehicle for achieving the obtained first-order follow-up control and the obtained second-order follow-up control;
and
a steering actuator unit relating to the steering of the vehicle, the steering actuator unit being configured to input the instruction output from the controller,
wherein the vehicle control device is configured to selectively switch between the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle,
wherein the vehicle control device is configured to select the first-order follow-up control when a centripetal acceleration is equal to or higher than a threshold value,
or
wherein the vehicle control device is configured to select the first-order follow-up control when a vehicle speed is equal to or higher than a threshold value.

10 more elements

A vehicle control system, comprising:

an external world recognition unit configured to obtain information on a road curvature of a road on which a preceding vehicle traveling forward of a vehicle has traveled;
a controller configured to:
input information on the road curvature, the information being obtained by the external world recognition unit;
input information on a relative position between the vehicle and the preceding vehicle, the information being obtained by the external world recognition unit;
obtain a distribution between first-order follow-up control and second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, the first-order follow-up control causing the vehicle to follow the preceding vehicle through use of a first-order trajectory, the second-order follow-up control causing the vehicle to follow the preceding vehicle through use of a second-order trajectory;
and
output an instruction relating to steering of the vehicle for achieving the obtained first-order follow-up control and the obtained second-order follow-up control;
and
a steering actuator unit relating to the steering of the vehicle, the steering actuator unit being configured to input the instruction output from the controller,
wherein the vehicle control device is configured to weight the first-order follow-up control and the second-order follow-up control based on the input information on the road curvature and the input information on the relative position between the vehicle and the preceding vehicle, to thereby obtain the distribution between the first-order follow-up control and the second-order follow-up control,
wherein the vehicle control device is configured to increase the weight of the first-order follow-up control as a centripetal acceleration increases,
or
wherein the vehicle control device is configured to increase the weight of the first-order follow-up control as a vehicle speed increases.

10 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/255,326Filed 3 Jul 2019
Priority: JP 2018-13104510 Jul 2018
Published: US 2021/0269030 A12 Sep 2021
Granted: 30 Jan 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

B60W 30/165
Control of distance between vehicles, e.g. keeping a distance to preceding vehicle: automatically following the path of a preceding lead vehicle,…
B60W 10/04
Conjoint control of vehicle sub-units of different type or different function: including control of propulsion units
B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
B62D 15/025
Steering position indicators ; Steering position determination; Steering aids: active steering aids, e.g. helping the driver by actively…