# US 2021/0276550 A1 · Target vehicle speed generation method and target vehicle speed generation device for driving assisted vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276550 A1 - Document ID: US20210276550A1 - Status: Published application - Kind: A1 - Application number: 16/617,012 - Filed: 2017-07-03 - Published: 2021-09-09 - Earliest claimed: 2017-07-03 - Assignees: Nissan Motor Co., Ltd. - Applicants: Nissan Motor Co., Ltd. - Inventors: Akinobu GOTOU; Takashi FUKUSHIGE; Satoshi TANGE - Web page: https://patentgrep.com/patent/US20210276550A1 ## CPC - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - 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) - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2554/4042: Longitudinal speed - B60W 2554/406: Traffic density - B60W 2554/804: Relative longitudinal speed - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2720/106: Longitudinal acceleration - 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 - 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 target vehicle speed generation device includes a controller for generating a target vehicle speed of a host vehicle in accordance with a speed limit of a travel path of the host vehicle. The controller includes a speed limit information acquisition unit and a target vehicle speed generation unit. The speed limit information acquisition unit acquires the speed limit of the travel path of the host vehicle during travel. The target vehicle speed generation unit generates a target acceleration together with the generation of the target vehicle speed in accordance with the speed limit. The target vehicle speed generation unit has a first acceleration limiter computation unit that, during the generating of the target acceleration, sets an acceleration limiter to increase in a direction of relaxing a limitation on acceleration correspondingly with an increase in the speed limit. ## Claims ### Claim 1 (canceled) ### Claim 2 (depends on 5) The target vehicle speed generation method according to claim 5, wherein during the generating of the target acceleration, the limitation on acceleration is relaxed correspondingly with an increase in the speed limit of the travel path of the host vehicle. ### Claim 3 (canceled) ### Claim 4 (depends on 5) The target vehicle speed generation method according to claim 5, wherein during the generating of the target acceleration, an acceleration jerk limit value is set to be increased in a direction of relaxing a limitation on acceleration jerk correspondingly with an increase in the speed limit of the travel path of the host vehicle. ### Claim 5 A target vehicle speed generation method for generating a target vehicle speed of a host vehicle is generated in accordance with a speed limit of a travel path of the host vehicle, the target vehicle speed generation method comprising: acquiring the speed limit of the travel path of the host vehicle during travel; generating a target acceleration in accordance with the speed limit; and relaxing a limitation on acceleration during the generating of the target acceleration to a greater extent when the speed limit of the travel path of the host vehicle is high as compared to when the speed limit of the travel path of the host vehicle is low, and setting a first acceleration limit value that is increased correspondingly with an increase in the speed limit, setting a second acceleration limit value that is increased correspondingly with an increase in a difference in speed between the speed limit and a host-vehicle speed, and selecting the lower of the first acceleration limit value and the second acceleration limit value as the acceleration limit value. ### Claim 6 (depends on 5) The target vehicle speed generation method according to claim 5, further comprising generating a target deceleration in accordance with the speed limit; and during the generating of the target deceleration, a limitation on deceleration is relaxed to a greater extent when the speed limit of the travel path of the host vehicle is low as compared to when the speed limit of the travel path of the host vehicle is high. ### Claim 7 (depends on 6) The target vehicle speed generation method according to claim 6, wherein during the generating of the target deceleration limit the limitation on deceleration is relaxed correspondingly with a decrease in the speed limit of the travel path of the host vehicle. ### Claim 8 (depends on 6) The target vehicle speed generation method according to claim 6, wherein during the generating of the target deceleration, a target deceleration having a sharp gradient of vehicle speed decrease is generated due to a deceleration limit value being set to be increased when the limitation on deceleration is relaxed, and a target deceleration having a gradual gradient of vehicle speed decrease is generated due to the deceleration limit value being set to be decreased when the limitation on deceleration is made stricter. ### Claim 9 (depends on 6) The target vehicle speed generation method according to claim 6, wherein during the generating of the target deceleration, a deceleration jerk limit value is set to be increased in a direction of relaxing a limitation on deceleration jerk correspondingly with a decrease in the speed limit of the travel path of the host vehicle. ### Claim 10 (depends on 5) The target vehicle speed generation method according to claim 5, wherein during the generating of the target acceleration, a target acceleration having an sharp gradient of vehicle speed increase is generated due to an acceleration limit value being set to be increased when the limitation on acceleration is relaxed, and a target acceleration having a gradual gradient of vehicle speed increase is generated due to the acceleration limit value being set to be decreased when the limitation on acceleration is made stricter. ### Claim 11 (canceled) ### Claim 12 A target vehicle speed generation method for generating a target vehicle speed of a host vehicle is generated in accordance with a speed limit of a travel path of the host vehicle, the target vehicle speed generation method comprising: acquiring the speed limit of the travel path of the host vehicle during travel; generating a target acceleration in accordance with the speed limit; and relaxing a limitation on acceleration during the generating of the target acceleration to a greater extent when the speed limit of the travel path of the host vehicle is high as compared to when the speed limit of the travel path of the host vehicle is low, during the acquiring of the speed limit of the travel path of the host vehicle, when it is impossible to acquire the speed limit from road signs or from map data during travel, a speed determined as a speed at which it is possible to travel without significantly departing from the traffic flow, on the basis of traffic flow information estimated from a plurality items of peripheral vehicle position information obtained from onboard sensors, is acquired as the speed limit of the travel path of the host vehicle. ### Claim 13 A target vehicle speed generation method for generating a target vehicle speed of a host vehicle is generated in accordance with a speed limit of a travel path of the host vehicle, the target vehicle speed generation method comprising: acquiring the speed limit of the travel path of the host vehicle during travel; generating a target acceleration in accordance with the speed limit; and relaxing a limitation on acceleration during the generating of the target acceleration to a greater extent when the speed limit of the travel path of the host vehicle is high as compared to when the speed limit of the travel path of the host vehicle is low, during the acquiring of the speed limit of the travel path of the host vehicle, when a plurality of speed limits are acquired during travel, the lowest value of the plurality of speed limits is selected as the speed limit of the travel path of the host vehicle. ### Claim 14 (canceled) ### Claim 15 (depends on 12) The target vehicle speed generation method according to claim 12, wherein during the acquiring of the speed limit of the travel path of the host vehicle, a default speed limit derived by recognition of a road sign is acquired during travel as the speed limit of the travel path of the host vehicle. ### Claim 16 (depends on 12) The target vehicle speed generation method according to claim 12, wherein during the acquiring of the speed limit of the travel path of the host vehicle, a default speed limit derived using prior information from map data is acquired during travel as the speed limit of the travel path of the host vehicle. ### Claim 17 (depends on 15) The target vehicle speed generation method according to claim 15, wherein during the acquiring of the speed limit of the travel path of the host vehicle, a default speed limit derived using prior information from map data is acquired during travel as the speed limit of the travel path of the host vehicle. ### Claim 18 (depends on 13) The target vehicle speed generation method according to claim 13, wherein during the acquiring of the speed limit of the travel path of the host vehicle, a default speed limit derived by recognition of a road sign is acquired during travel as the speed limit of the travel path of the host vehicle. during the acquiring of the speed limit of the travel path of the host vehicle, a default speed limit derived using prior information from map data is acquired during travel as the speed limit of the travel path of the host vehicle. ### Claim 19 (depends on 13) The target vehicle speed generation method according to claim 13, wherein during the acquiring of the speed limit of the travel path of the host vehicle, a default speed limit derived using prior information from map data is acquired during travel as the speed limit of the travel path of the host vehicle. ### Claim 20 (depends on 18) The target vehicle speed generation method according to claim 18, wherein during the acquiring of the speed limit of the travel path of the host vehicle, a default speed limit derived using prior information from map data is acquired during travel as the speed limit of the travel path of the host vehicle. ### Claim 21 (depends on 2) The target vehicle speed generation method according to claim 2, wherein during the generating of the target acceleration, an acceleration jerk limit value is set to be increased in a direction of relaxing a limitation on acceleration jerk correspondingly with an increase in the speed limit of the travel path of the host vehicle. ### Claim 22 (depends on 2) The target vehicle speed generation method according to claim 2, further comprising generating a target deceleration in accordance with the speed limit; and during the generating of the target deceleration, a limitation on deceleration is relaxed to a greater extent when the speed limit of the travel path of the host vehicle is low as compared to when the speed limit of the travel path of the host vehicle is high. ### Claim 23 A device for generating a target vehicle speed of a driving-assisted host vehicle, the device comprising: a controller that generates a target vehicle speed of the host vehicle in accordance with a speed limit of a travel path of the host vehicle, the controller comprises a speed limit information acquisition unit that acquires the speed limit of the travel path of the host vehicle during travel, and a target vehicle speed generation unit that generates a target acceleration in accordance with the speed limit, during generation of the target acceleration, the target vehicle speed generation unit relaxes a limitation on acceleration to a greater extent when the speed limit of the travel path of the host vehicle is high as compared to when the speed limit of the travel path of the host vehicle is low, sets a first acceleration limit value that is increased correspondingly with an increase in the speed limit, sets a second acceleration limit value that is increased correspondingly with an increase in a difference in speed between the speed limit and a host-vehicle speed, and selects the lower of the first acceleration limit value and the second acceleration limit value as the acceleration limit value.