# US 2024/0199043 A1 · Control device, control method and non-transitory storage medium

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- Number: US 2024/0199043 A1
- Document ID: US20240199043A1
- Status: Published application
- Kind: A1
- Application number: 18/592,185
- Filed: 2024-02-29
- Published: 2024-06-20
- Earliest claimed: 2019-12-09
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Akitsugu SAKAI; Ryo SUMIKURA; Taisuke HAYASHI; Yuma MORI; Jun AOKI
- Web page: https://patentgrep.com/patent/US20240199043A1

## CPC

- B60W 30/18109: {Braking}
- B60W 50/085: {Changing the parameters of the control units, e.g. changing limit values, working points by control input}
- B60W 10/06: including control of combustion engines
- B60W 10/184: with wheel brakes
- B60W 30/025: {related to comfort of drivers or passengers}
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 30/1882: {characterised by the working point of the engine, e.g. by using engine output chart}
- B60W 50/087: {where the control system corrects or modifies a request from the driver}
- B60W 2050/0027: {Minimum/maximum value selectors}
- B60W 2050/009: {Priority selection}
- B60W 2510/0657: Engine torque
- B60W 2520/105: Longitudinal acceleration
- B60W 2540/10: Accelerator pedal position
- B60W 2710/0666: Engine torque
- B60W 2710/182: Brake pressure, e.g. of fluid or between pad and disc
- 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

## Abstract

A control device includes: an acquisition unit configured to acquire, from a driving assist system, a requested acceleration and ending information indicating an end of a deceleration control; and a control unit configured to control a powertrain and a brake based on the requested acceleration, and perform a prescribed process of stabilizing a driving force and a braking force that are generated in an ending process of the deceleration control based on the requested acceleration when the acquisition unit acquires the ending information.

## Claims

### Claim 1

A control device, comprising:
one or more processors configured to:
acquire, from a driving assist system configured to execute a deceleration control, a requested acceleration and an ending information indicating an end of the deceleration control;
control a powertrain based on the requested acceleration; and
prohibit the powertrain from generating a driving force that is larger than a current lower limit torque when the ending information is acquired.

### Claim 2 (depends on 1)

The control device according to claim 1, wherein:
the one or more processors are configured to
acquire a lower limit value of a torque that the powertrain is allowed to output;
turn on a degenerating flag when the one or more processors acquires the ending information; and
while the degenerating flag is turned on compare the requested acceleration with an acceleration determined based on the lower limit value of the torque that the powertrain is allowed to output and prohibit the powertrain from generating the driving force that is larger than the lower limit value of the torque.

### Claim 3 (depends on 2)

The control device according to claim 2, wherein:
the degenerating flag corresponds to the end of the deceleration control.

### Claim 4

A control method performed by one or more processors comprising:
acquiring, from a driving assist system configured to execute a deceleration control, a requested acceleration and an ending information indicating an end of the deceleration control;
controlling a powertrain based on the requested acceleration; and
prohibiting the powertrain from generating a driving force that is larger than a current lower limit torque when the ending information is acquired.

### Claim 5

A non-transitory storage medium storing instructions that are executable by one or more processors and that cause one or more processors to perform functions comprising:
acquiring, from a driving assist system configured to execute a deceleration control, a requested acceleration and an ending information indicating an end of the deceleration control;
controlling a powertrain based on the requested acceleration; and
prohibiting the powertrain from generating a driving force that is larger than a current lower limit torque when the ending information is acquired.

### Claim 6 (depends on 1)

The control device according to claim 1, wherein the one or more processors are configured to:
acquire the requested acceleration from the driving assist after a fixed communication delay time has passed; and
control the powertrain by a feedback control that compares the requested acceleration with an actual acceleration.