US 12,459,506 B2Granted

Vehicle control device for managing driving force during resumption of constant-speed control from override

AssigneeSubaru Corporation

InventorShoto Arai

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Abstract

A vehicle control device includes a controller switching between normal and constant-speed control modes. The normal mode involves controlling a vehicle driving force in accordance with an acceleration-deceleration operation. The constant-speed control mode involves controlling the driving force regardless of the acceleration-deceleration operation to maintain a vehicle speed at a target vehicle speed. In the constant-speed control mode, the controller executes constant-speed control involving calculating the target driving force using integral control and controlling the driving force to the target driving force, interrupts the constant-speed control if a requested driving force corresponding to an accelerator-pedal opening degree exceeds the target driving force, executes override involving controlling the driving force to the requested driving force, and sets an integral-control component based on the requested driving force during the override if a wheel fails to pass over a step when the override is terminated and the constant-speed control is to be resumed.

Claims18

Dependent claims

A vehicle control device to be applied to a vehicle, wherein the vehicle has a normal mode in which a driving force of the vehicle is controlled in accordance with a driver of the vehicle pressing and releasing an accelerator pedal, and a constant-speed control mode in which the driving force is controlled to maintain a speed of the vehicle at a target speed without requiring the driver to press and release the accelerator pedal, the vehicle control device comprising:

at least one processor;
and
at least one memory storing a program, when executed, causing the at least one processor to be configured to:
perform constant-speed control in the constant-speed control mode to adjust the driving force of the vehicle to match a target driving force, wherein the target driving force includes a component of integral control, and wherein the at least one processor is configured to calculate the component of the integral control by integrating a deviation between a speed of the vehicle and the target speed of the vehicle;
in response to detecting that the driver has pressed an accelerator pedal to require the driving force to exceed the target driving force during the constant-speed control in the constant-speed control mode, allow an override of the constant-speed control and enable the driver to control the driving force manually using the accelerator pedal;
in response to determining that the override has been ended, determine whether the vehicle has failed to drive over a step when the speed of the vehicle remains lower than or equal to a threshold for a predetermined time period while the driving force is greater than zero;
in response to determining that the vehicle has not failed to drive over the step, set the component of the integral control in the target driving force to zero, and resume the constant-speed control based on the target driving force after the component of the integral control has been set to zero;
and
in response to determining that the vehicle has failed to drive over the step, set the component of the integral control in the target driving force to a value corresponding to the driving force required by the driver pressing the accelerator pedal during the override, and resume the constant-speed control based on the target driving force including the component of the integral control that has been set.

6 more elements

circuitry configured to:
perform constant-speed control in the constant-speed control mode to adjust the driving force of the vehicle to match a target driving force, wherein the target driving force includes a component of integral control, and wherein the circuitry is configured to calculate the component of the integral control by integrating a deviation between a speed of the vehicle and the target speed of the vehicle;
in response to detecting that the driver has pressed an accelerator pedal to require the driving force to exceed the target driving force during the constant-speed control in the constant-speed control mode, allow an override the constant-speed control and enable the driver to control the driving force manually using the accelerator pedal;
in response to determining that the override has been ended, determine whether the vehicle has failed to drive over a step when the speed of the vehicle remains lower than or equal to a threshold for a predetermined time period while the driving force is greater than zero;
in response to determining that the vehicle has not failed to drive over the step, set the component of the integral control in the target driving force to zero, and resume the constant-speed control based on the target driving force after the component of the integral control has been set to zero;
and
in response to determining that the vehicle has failed to drive over the step, set the component of the integral control in the target driving force to a value corresponding to the driving force required by the driver pressing the accelerator pedal during the override, and resume the constant-speed control based on the target driving force including the component of the integral control that has been set.

4 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/674,544Filed 17 Feb 2022
Priority: JP 2021-02785524 Feb 2021
Published: US 2022/0266828 A125 Aug 2022
Granted: 4 Nov 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification9 codes

B60W 30/143
Adaptive cruise control: speed control
B60W 50/10
Interaction between the driver and the control system: interpretation of driver requests or demands
B60W 2050/001
Feedback, closed loop systems or details of feedback error signal: proportional integral [PI] controller
B60W 2520/10
Input parameters relating to overall vehicle dynamics: longitudinal speed