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Vehicle control apparatus

A vehicle control device, a technology for a vehicle, applied in the direction of the control device, vehicle position/route/altitude control, vehicle components, etc., can solve problems such as inability to drive automatically

Active Publication Date: 2018-03-09
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Considering that if the longitudinal position error is large, when the vehicle enters a curve from a straight road, depending on the speed of the vehicle, it may not be able to automatically drive in the driving lane of the curve

Method used

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Embodiment Construction

[0018] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in description of drawings, the same code|symbol is attached|subjected to the same element, and repeated description is abbreviate|omitted.

[0019] Such as figure 1 As shown, the vehicle control device 100 is mounted on a vehicle M such as a passenger car, and controls the vehicle M on which the vehicle control device 100 is mounted (automatic driving control) so that it runs automatically. The vehicle control device 100 has an external sensor 1, a GPS [Global Positioning System] receiver 2, an internal sensor 3, a map database 4, a navigation system 5, an HMI 6, an actuator 7, and an ECU [Electronic Control Unit, electronic control unit]10.

[0020] The external sensor 1 is a detection device for detecting the surrounding conditions of the vehicle M. As shown in FIG. External sensors 1 include cameras and radar sensors.

[0021] The camera is a photogr...

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PUM

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Abstract

The present disclosure provides a vehicle control apparatus that controls the vehicle speed at the time of entering the curved road such that the vehicle can autonomously travel within the travellinglane on the curved road even in a case where there is an error in the estimated longitudinal position of the vehicle. A curve travel speed calculation unit 15b calculates a curve travel speed for a vehicle to autonomously travelling in a travelling lane based on a curve radius and an estimated error in longitudinal position. A speed planning unit 15c and a travel control unit 17 decelerate the vehicle M such that the speed of the vehicle M becomes the curve travel speed at the time of entering the curved road in front of the vehicle M in a case where the speed of the vehicle M is equal to or higher than the curve travel speed and the curve travel speed is equal to or higher than the predetermined reference speed.

Description

technical field [0001] The invention relates to a vehicle control device. Background technique [0002] A vehicle control device that performs vehicle control is described in Patent Document 1, for example. The vehicle control device described in this patent document 1 estimates the position of the vehicle based on the detected road traffic markings, and automatically drives the vehicle based on the estimated position. [0003] Patent document: Japanese Patent Laid-Open No. 2015-178332 [0004] Here, there is an error (deviation) in the estimated position of the vehicle. Among the position errors of the vehicle, there is a longitudinal position error. It is considered that if the longitudinal position error is large, when the vehicle enters a curve from a straight road, depending on the speed of the vehicle, it may not be able to automatically travel in the driving lane of the curve. [0005] Therefore, it is an object of one aspect of the present invention to provide a ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0251G05D1/0257G05D1/0276G05D1/0278G05D1/0061G05D1/0223G05D1/0246G05D1/0274B60W50/082B60W50/14B60W30/143B60W30/18145B60W2552/30B60W2420/403B60W60/0059B60W2556/20B60W60/0053B60W2552/53B60W60/0057B60W2720/103B60W2520/14B60W2520/125B60W2520/10B60W2520/105B60W2420/408
Inventor 国狭亚辉臣松井俊树根本雄介高桥典宏
Owner TOYOTA JIDOSHA KK