Braking Control Method and Braking Control Device
AssigneeNissan Motor Co., Ltd.
InventorsAkinobu Goto, Yuki Shiozawa, Naotaka Usui
Life of this patent
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Abstract
A processor of a braking control device determines whether or not a moving object is detected in a predetermined region downstream an expected stop position, and when determining that a moving object is detected in the predetermined region, changes a deceleration decrease position, which is a start position of a deceleration decrease section, upstream relative to that when determining that no moving object is detected in the predetermined region.
Claims14
A braking control method using a processor to control a braking actuator of a subject vehicle with a vehicle speed profile based on a vehicle speed of the subject vehicle, a subject vehicle position, and an expected stop position at which the subject vehicle is expected to stop, the processor being configured to:
- generate the vehicle speed profile having a reference deceleration section and a deceleration decrease section, the subject vehicle traveling in the reference deceleration section at a predetermined reference deceleration upstream the expected stop position and traveling in the deceleration decrease section at a lower deceleration than the predetermined reference deceleration downstream the reference deceleration section and upstream the expected stop position;
- determine whether or not a moving object is detected in a predetermined region downstream the expected stop position;
- and
- when determining that the moving object is detected in the predetermined region, change a start position of the deceleration decrease section with respect to the expected stop position upstream relative to that when determining that no moving object is detected in the predetermined region.
A braking control device using a processor to control a braking actuator of a subject vehicle with a vehicle speed profile based on a vehicle speed of the subject vehicle, a subject vehicle position, and an expected stop position at which the subject vehicle is expected to stop, the processor comprising:
- a vehicle speed profile generation unit configured to generate the vehicle speed profile having a reference deceleration section and a deceleration decrease section, the subject vehicle traveling in the reference deceleration section at a predetermined reference deceleration upstream the expected stop position and traveling in the deceleration decrease section at a lower deceleration than the reference deceleration downstream the reference deceleration section and upstream the expected stop position;
- and
- a moving object detection determination unit configured to determine whether or not a moving object is detected in a predetermined region downstream the expected stop position,
- wherein when the moving object detection determination unit determines that the moving object is detected in the predetermined region, the vehicle speed profile generation unit changes a start position of the deceleration decrease section with respect to the expected stop position upstream relative to that when determining that no moving object is detected in the predetermined region.
Dependencies are inferred from the claim text.