U.S. patent application number 16/713628 was filed with the patent office on 2020-06-18 for vehicle movement control apparatus.
The applicant listed for this patent is Toyota Jidosha Kabushiki Kaisha. Invention is credited to Takahiro Tsuji.
Application Number | 20200189600 16/713628 |
Document ID | / |
Family ID | 71071316 |
Filed Date | 2020-06-18 |
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United States Patent
Application |
20200189600 |
Kind Code |
A1 |
Tsuji; Takahiro |
June 18, 2020 |
VEHICLE MOVEMENT CONTROL APPARATUS
Abstract
The vehicle movement control apparatus of the disclosure sets an
update movement route as a target movement route when an update
condition is satisfied. The apparatus acquires a turning
characteristic, an acceleration characteristic, and a deceleration
characteristic of a vehicle while executing an automatic movement
control to cause the vehicle to move along the update movement
route. The apparatus updates vehicle behavior characteristic data
so as to represent actual vehicle behavior characteristics, based
on the acquired turning characteristics, the acquired acceleration
characteristic, and the acquired deceleration characteristic.
Inventors: |
Tsuji; Takahiro;
(Nisshin-shi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Toyota Jidosha Kabushiki Kaisha |
Toyota-shi Aichi-ken |
|
JP |
|
|
Family ID: |
71071316 |
Appl. No.: |
16/713628 |
Filed: |
December 13, 2019 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 2520/105 20130101;
F02D 41/3005 20130101; G05D 1/0223 20130101; B60W 30/18181
20130101; G05D 2201/0213 20130101; B60W 10/20 20130101; B60W
2520/14 20130101; B62D 5/046 20130101; B60W 2710/20 20130101; B60W
2710/18 20130101; B60W 2720/106 20130101; B60W 10/18 20130101; B60W
2710/0616 20130101; B60W 2510/20 20130101; B62D 15/025 20130101;
B60W 10/06 20130101; B60W 2520/125 20130101; B62D 6/00
20130101 |
International
Class: |
B60W 30/18 20060101
B60W030/18; F02D 41/30 20060101 F02D041/30; B60W 10/20 20060101
B60W010/20; B60W 10/06 20060101 B60W010/06; B62D 5/04 20060101
B62D005/04; B60W 10/18 20060101 B60W010/18; G05D 1/02 20060101
G05D001/02 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 17, 2018 |
JP |
2018-235312 |
Claims
1. A vehicle movement control apparatus comprising: at least one
sensor for detecting a turning characteristic, an acceleration
characteristic, and a deceleration characteristic of a vehicle; and
an electronic control unit configured to execute an automatic
movement control to cause the vehicle to move from a current place
to a destination along a target movement route without a driving
operation for driving the vehicle by a driver of the vehicle,
wherein the electronic control unit being configured to: (i)
memorize a relationship between control amounts input into vehicle
actuators and vehicle behavior characteristics derived from
inputting the control amounts into the vehicle actuators,
respectively as vehicle behavior characteristic data, the vehicle
behavior characteristics including the turning characteristic, the
acceleration characteristic, and the deceleration characteristic of
the vehicle, the control amounts being input to the vehicle
actuators to activate the vehicle actuators, respectively, and the
vehicle actuators including a turning actuator for turning the
vehicle, an acceleration actuator for accelerating the vehicle, and
a deceleration actuator for decelerating the vehicle; (ii) set an
update movement route as the target movement route when an update
condition is satisfied, the update condition being a condition that
an execution of the automatic movement control is requested, the
update movement route being determined such that the vehicle is
caused to move with turning, acceleration, and deceleration
necessary to update the vehicle behavior characteristic data so as
to represent the actual vehicle behavior characteristics; (iii)
execute the automatic movement control to (a) determine the control
amounts to be input into the vehicle actuators as automatic control
amounts so as to cause the vehicle to move along the target
movement route, based on the vehicle behavior characteristic data
and (b) input the determined automatic control amounts into the
vehicle actuators, respectively when the execution of the automatic
movement control is requested; (iv) acquire the turning
characteristic, the acceleration characteristic, and the
deceleration characteristic of the vehicle from the at least one
sensor while the electronic control unit executes the automatic
movement control to cause the vehicle to move along the update
movement route; and (v) update the vehicle behavior characteristic
data so as to represent the actual vehicle behavior
characteristics, based on the acquired turning characteristics, the
acquired acceleration characteristic, and the acquired deceleration
characteristic.
2. The vehicle movement control apparatus as set forth in claim 1,
wherein the update condition includes a condition that updating of
the vehicle behavior characteristic data is needed.
3. The vehicle movement control apparatus as set forth in claim 1,
wherein the update condition includes a condition that there is no
occupant in the vehicle.
4. The vehicle movement control apparatus as set forth in claim 1,
wherein the update condition includes a condition that (i) updating
of the vehicle behavior characteristic data is needed, and (ii)
there is no occupant in the vehicle.
5. The vehicle movement control apparatus as set forth in claim 1,
wherein the electronic control unit is further configured to
determine at least one of the automatic control amounts to a larger
amount when the electronic control unit executes the automatic
movement control to cause the vehicle to move along the update
movement route with no occupant, compared with when the electronic
control unit executes the automatic movement control to cause the
vehicle to move along the same update movement route with the
occupant.
6. The vehicle movement control apparatus as set forth in claim 1,
wherein the electronic control unit is further configured to: set
an optimal movement route as the target movement route when the
update condition is not satisfied, the optimal movement route being
determined such that the vehicle is caused to move with reducing
(i) a distance of movement of the vehicle from the current place to
the destination and (ii) time taken for the vehicle to move from
the current place to the destination to the minimum extent
possible; and determine at least one of the automatic control
amounts to a larger amount when the electronic control unit
executes the automatic movement control to cause the vehicle to
move along the update movement route, compared with when the
electronic control unit executes the automatic movement control to
cause the vehicle to move along the optimal movement route.
7. The vehicle movement control apparatus as set forth in claim 1,
wherein the turning actuator includes a motor driver for activating
a steering motor for applying steering torque to a steering
shaft.
8. The vehicle movement control apparatus as set forth in claim 1,
wherein the acceleration actuator includes a fuel injector actuator
for activating a fuel injector for supplying fuel to a combustion
chamber of an internal combustion engine.
9. The vehicle movement control apparatus as set forth in claim 1,
wherein the deceleration actuator includes a brake actuator for
activating a brake mechanism for applying braking force to the
vehicle.
10. The vehicle movement control apparatus as set forth in claim 1,
wherein the at least one sensor includes a yaw rate sensor for
detecting a yaw rate of the vehicle, and wherein the electronic
control unit is further configured to acquire the turning
characteristic, based on the yaw rate detected by the yaw rate
sensor.
11. The vehicle movement control apparatus as set forth in claim 1,
wherein the at least one sensor includes a lateral acceleration
sensor for detecting a lateral acceleration of the vehicle, and
wherein the electronic control unit is further configured to
acquire the turning characteristic, based on the lateral
acceleration detected by the lateral acceleration sensor.
12. The vehicle movement control apparatus as set forth in claim 1,
wherein the at least one sensor includes a yaw rate sensor for
detecting a yaw rate of the vehicle and a lateral acceleration
sensor for detecting a lateral acceleration of the vehicle, and
wherein the electronic control unit is further configured to
acquire the turning characteristic, based on the yaw rate detected
by the yaw rate sensor and the lateral acceleration detected by the
lateral acceleration sensor.
13. The vehicle movement control apparatus as set forth in claim 1,
wherein the at least one sensor includes a longitudinal
acceleration sensor for detecting a longitudinal acceleration of
the vehicle, and wherein the electronic control unit is further
configured to acquire the acceleration characteristic, based on the
longitudinal acceleration detected by the longitudinal acceleration
sensor.
14. The vehicle movement control apparatus as set forth in claim 1,
wherein the at least one sensor includes a longitudinal
acceleration sensor for detecting a longitudinal acceleration of
the vehicle, and wherein the electronic control unit is further
configured to acquire the deceleration characteristic, based on the
longitudinal acceleration detected by the longitudinal acceleration
sensor.
15. The vehicle movement control apparatus as set forth in claim 1,
wherein the at least one sensor includes a longitudinal
acceleration sensor for detecting a longitudinal acceleration of
the vehicle, and wherein the electronic control unit is further
configured to acquire the acceleration characteristic and the
deceleration characteristic, based on the longitudinal acceleration
detected by the longitudinal acceleration sensor.
16. The vehicle movement control apparatus as set forth in claim 1,
wherein the electronic control unit is further configured to
execute a normal driving control to (i) determine the control
amounts to be input into the vehicle actuators as normal control
amounts, based on the driving operation by the driver and (ii)
input the determined normal control amounts into the vehicle
actuators when the execution of the automatic movement control is
not requested.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims priority to Japanese Patent
Application No. 2018-235312 filed on Dec. 17, 2018, incorporated
herein by reference in its entirety.
BACKGROUND
Field
[0002] The disclosure relates to a vehicle movement control
apparatus.
Description of the Related Art
[0003] There is known a vehicle movement control apparatus
configured to execute a lane change control to cause a vehicle to
move to a next vehicle lane without an operation to operate a
steering wheel of the vehicle by a driver of the vehicle. The next
vehicle lane is a vehicle lane next to a vehicle lane in which the
vehicle moves currently. Further, there is also known a vehicle
movement control apparatus configured to execute a control to cause
the vehicle to move to the next vehicle lane along a target path,
using a vehicle behavior model (for example, see JP 2009-18623 A).
Hereinafter, the vehicle movement control apparatus described in JP
2009-18623 A will be referred to as "the known control
apparatus".
[0004] The known control apparatus sets an update path as the
target path when (i) the known control apparatus executes the lane
change control, and (ii) updating of parameters in the vehicle
behavior model is needed. The update path is the target path used
for updating the parameters in the vehicle behavior model and is
different from the target path normally set when the lane change
control is not executed.
[0005] The vehicle behavior model represents a relationship between
(i) control amounts input into vehicle actuators which control
behavior of the vehicle and (ii) behavior characteristic of the
vehicle derived from inputting the control amounts into the vehicle
actuators, respectively.
[0006] Then, the known control apparatus causes the vehicle to move
to the next vehicle lane along the update path. The known control
apparatus updates the parameters in the vehicle behavior model,
based on information on the behavior of the vehicle moving along
the update path.
[0007] As described above, the known control apparatus causes the
vehicle to move along the update path different from the
normally-set target path in order for updating the parameters in
the vehicle behavior model. Thereby, although the vehicle can move
to the next vehicle lane along the normally-set target path, the
vehicle moves along the update path different from the normally-set
target path. Thus, occupants including the driver may feel
uneasy.
SUMMARY
[0008] The embodiments herein have been made for solving a problem
described above. An object of the present disclosure is to provide
a vehicle movement control apparatus which can update vehicle
behavior characteristics representing the relationship between (i)
the control amounts input into the vehicle actuators and (ii) the
behavior of the vehicle derived from inputting the control amounts
into the vehicle actuators, respectively with preventing the
occupants from feeling uneasy.
[0009] A vehicle movement control apparatus according to the
disclosure comprises at least one sensor and an electronic control
unit.
[0010] The at least one sensor detects a turning characteristic, an
acceleration characteristic, and a deceleration characteristic of a
vehicle.
[0011] The electronic control unit is configured to execute an
automatic movement control to cause the vehicle to move from a
current place to a destination along a target movement route
without a driving operation for driving the vehicle by a driver of
the vehicle.
[0012] The electronic control unit is further configured to
memorize a relationship between control amounts input into vehicle
actuators and vehicle behavior characteristics derived from
inputting the control amounts into the vehicle actuators,
respectively as vehicle behavior characteristic data. The vehicle
behavior characteristics includes (i) the turning characteristic,
(ii) the acceleration characteristic, and (iii) the deceleration
characteristic of the vehicle. The control amounts are input to the
vehicle actuators to activate the vehicle actuators, respectively.
The vehicle actuators include (i) a turning actuator for turning
the vehicle, (ii) an acceleration actuator for accelerating the
vehicle, and (iii) a deceleration actuator for decelerating the
vehicle.
[0013] The electronic control unit is further configured to set an
update movement route as the target movement route when an update
condition is satisfied. The update condition is a condition that an
execution of the automatic movement control is requested. The
update movement route is determined such that the vehicle is caused
to move with turning, acceleration, and deceleration necessary to
update the vehicle behavior characteristic data so as to represent
the actual vehicle behavior characteristics.
[0014] The electronic control unit is further configured to execute
the automatic movement control to (a) determining the control
amounts to be input into the vehicle actuators as automatic control
amounts so as to cause the vehicle to move along the target
movement route, based on the vehicle behavior characteristic data
and (b) input the determined automatic control amounts into the
vehicle actuators, respectively when the execution of the automatic
movement control is requested.
[0015] The electronic control unit is further configured to acquire
the turning characteristic, the acceleration characteristic, and
the deceleration characteristic of the vehicle from the at least
one sensor while the electronic control unit executes the automatic
movement control to cause the vehicle to move along the update
movement route.
[0016] The electronic control unit is further configured to update
the vehicle behavior characteristic data so as to represent the
actual vehicle behavior characteristics, based on the acquired
turning characteristics, the acquired acceleration characteristic,
and the acquired deceleration characteristic.
[0017] The driver does not need to perform the driving operation
for controlling the behavior of the vehicle when the automatic
movement control is executed. In other words, all of processes to
cause the vehicle to move including a process to set the target
movement route are executed by the electronic control unit, not by
the driver. Thus, the occupants is unlikely to feel uneasy even
when the vehicle is caused to move along the update movement route
which is not optimal in terms of (i) a distance of movement of the
vehicle and (ii) time taken for the vehicle to move from the
current place to the destination by the automatic movement control.
The update movement route is set as the movement route capable of
turning, accelerating, and decelerating the vehicle necessary to
update the vehicle behavior characteristic data so as to represent
the actual vehicle behavior characteristics. Thus, with the
disclosure, the vehicle behavior characteristic data can be updated
with preventing the occupants from feeling uneasy.
[0018] According to an aspect of the disclosure, the update
condition may include a condition that updating of the vehicle
behavior characteristic data is needed.
[0019] In some cases, the update movement route may not be optimal
in terms of the distance of the movement of the vehicle and the
time taken for the vehicle to arrive at the destination. With this
aspect, the automatic movement control to cause the vehicle to move
along such an update movement route is executed only when the
updating of the vehicle behavior characteristic data is needed
since the update condition is the condition that the execution of
the automatic movement control is requested, and the updating of
the vehicle behavior characteristic data is needed. Thereby, the
automatic movement control to cause the vehicle to move along such
an update movement route can be executed to the minimum extent.
[0020] According to another aspect of the disclosure, the update
condition may include a condition that there is no occupant in the
vehicle.
[0021] As described above, the update movement route may not be
optimal in terms of the distance of the movement of the vehicle and
the time taken for the vehicle to arrive at the destination. With
this aspect, the automatic movement control to cause the vehicle to
move along the update movement route is executed only when there is
no occupant in the vehicle since the update condition is the
condition that the execution of the automatic movement control is
requested, and there is no occupant in the vehicle. Since the
vehicle is caused to move with no occupant, the occupants do not
feel uneasy even when the vehicle is caused to move along the
update movement route which is not optimal in terms of the distance
of the movement of the vehicle and the time taken for the vehicle
to arrive at the destination. Thus, the vehicle behavior
characteristic data can be updated with preventing the occupants
from feeling uneasy.
[0022] According to further another aspect of the disclosure, the
update condition may include a condition that (i) updating of the
vehicle behavior characteristic data is needed, and (ii) there is
no occupant in the vehicle.
[0023] As described above, the update movement route may not be
optimal in terms of the distance of the movement of the vehicle and
the time taken for the vehicle to arrive at the destination. With
this aspect, the automatic movement control to cause the vehicle to
move along the update movement route is executed only when the
updating of the vehicle behavior characteristic data is needed, and
there is no occupant in the vehicle since the update condition is
the condition that the execution of the automatic movement control
is requested, the updating of the vehicle behavior characteristic
data is needed, and there is no occupant in the vehicle. Thus, the
automatic movement control to cause the vehicle to move along the
update movement route is executed to the minimum extent, and the
vehicle behavior characteristic data can be updated with preventing
the occupants from feeling uneasy.
[0024] According to further another aspect of the disclosure, the
electronic control unit may be further configured to determine at
least one of the automatic control amounts to a larger amount when
the electronic control unit executes the automatic movement control
to cause the vehicle to move along the update movement route with
no occupant, compared with when the electronic control unit
executes the automatic movement control to cause the vehicle to
move along the same update movement route with the occupant.
[0025] When the vehicle is caused to move with no occupant by the
automatic movement control, the movement of the vehicle with
inputting the large control amount to at least one of the vehicle
actuators does not render the occupants uneasy. In addition, when
the large control amount is input into at least one of the vehicle
actuators, a lot of data on the vehicle behavior characteristics
can be acquired. Thereby, the vehicle behavior characteristic data
can be updated to accurately represent the actual vehicle behavior
characteristics. Thus, with this aspect, the vehicle behavior
characteristic data can be updated to accurately represent the
actual vehicle behavior characteristics with preventing the
occupants from feeling uneasy.
[0026] According to further another aspect of the disclosure, the
electronic control unit may be further configured to set an optimal
movement route as the target movement route when the update
condition is not satisfied. The optimal movement route is
determined such that the vehicle is caused to move with reducing
(i) a distance of movement of the vehicle from the current place to
the destination and (ii) time taken for the vehicle to move from
the current place to the destination to the minimum extent
possible.
[0027] In addition, according to this aspect, the electronic
control unit may be further configured determine at least one of
the automatic control amounts to a larger amount when the
electronic control unit executes the automatic movement control to
cause the vehicle to move along the update movement route, compared
with when the electronic control unit executes the automatic
movement control to cause the vehicle to move along the optimal
movement route.
[0028] When the vehicle is caused to move along the update movement
route, the automatic movement control is executed. Thus, when the
vehicle is caused to move along the update movement route, the
movement of the vehicle with inputting the large control amount
into at least one of the vehicle actuators may not render the
occupants uneasy. In addition, when the large control amount is
input into at least one of the vehicle actuators, a lot of the data
on the vehicle behavior characteristics can be acquired. Thereby,
the vehicle behavior characteristic data can be updated to
accurately represent the actual vehicle behavior characteristics.
Thus, with this aspect, the vehicle behavior characteristic data
can be updated to accurately represent the actual vehicle behavior
characteristics with preventing the occupants from feeling
uneasy.
[0029] According to further another aspect of the disclosure, the
turning actuator may include a motor driver for activating a
steering motor for applying steering torque to a steering
shaft.
[0030] According to further another aspect of the disclosure, the
acceleration actuator may include a fuel injector actuator for
activating a fuel injector for supplying fuel to a combustion
chamber of an internal combustion engine.
[0031] According to further another aspect of the disclosure, the
deceleration actuator may include a brake actuator for activating a
brake mechanism for applying braking force to the vehicle.
[0032] According to further another aspect of the disclosure, the
at least one sensor may include a yaw rate sensor for detecting a
yaw rate of the vehicle. In addition, according to this aspect, the
electronic control unit may be further configured to acquire the
turning characteristic, based on the yaw rate detected by the yaw
rate sensor.
[0033] According to further another aspect of the disclosure, the
at least one sensor may include a lateral acceleration sensor for
detecting a lateral acceleration of the vehicle. In addition,
according to this aspect, the electronic control unit may be
further configured to acquire the turning characteristic, based on
the lateral acceleration detected by the lateral acceleration
sensor.
[0034] According to further another aspect of the disclosure, the
at least one sensor may include a yaw rate sensor for detecting a
yaw rate of the vehicle and a lateral acceleration sensor for
detecting a lateral acceleration of the vehicle. In addition,
according to this aspect, the electronic control unit may be
further configured to acquire the turning characteristic, based on
the yaw rate detected by the yaw rate sensor and the lateral
acceleration detected by the lateral acceleration sensor.
[0035] According to further another aspect of the disclosure, the
at least one sensor may include a longitudinal acceleration sensor
for detecting a longitudinal acceleration of the vehicle. In
addition, according to this aspect, the electronic control unit may
be further configured to acquire the acceleration characteristic,
based on the longitudinal acceleration detected by the longitudinal
acceleration sensor.
[0036] According to further another aspect of the disclosure, the
at least one sensor may include a longitudinal acceleration sensor
for detecting a longitudinal acceleration of the vehicle. In
addition, according to this aspect, the electronic control unit may
be further configured to acquire the deceleration characteristic,
based on the longitudinal acceleration detected by the longitudinal
acceleration sensor.
[0037] According to further another aspect of the disclosure, the
at least one sensor may include a longitudinal acceleration sensor
for detecting a longitudinal acceleration of the vehicle. In
addition, according to this aspect, the electronic control unit may
be further configured to acquire the acceleration characteristic
and the deceleration characteristic, based on the longitudinal
acceleration detected by the longitudinal acceleration sensor.
[0038] According to further another aspect of the disclosure, the
electronic control unit may be further configured to execute a
normal driving control to (i) determine the control amounts to be
input into the vehicle actuators as normal control amounts, based
on the driving operation by the driver and (ii) input the
determined normal control amounts into the vehicle actuators when
the execution of the automatic movement control is not
requested.
[0039] The elements of the present disclosure are not limited to
the elements of the embodiment defined by the reference symbols.
The other objects, features and accompanied advantages of the
present disclosure can be easily understood from the description of
the embodiment of the present disclosure along with the
drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0040] FIG. 1 is a view for showing a vehicle control apparatus
including a vehicle movement control apparatus according to an
embodiment of the present disclosure and a vehicle to which the
control apparatus is applied.
[0041] FIG. 2 is a view for showing a friction brake apparatus,
etc. of the vehicle shown in FIG. 1.
[0042] FIG. 3 is a view used for describing a process to set a
target movement route.
[0043] FIG. 4 is a view used for describing the process to set the
target movement route.
[0044] FIG. 5 is a view for showing a flowchart of a routine
executed by a CPU of an ECU shown in FIG. 1.
[0045] FIG. 6 is a view for showing a flowchart of a routine
executed by the CPU.
[0046] FIG. 7 is a view for showing a flowchart of a routine
executed by the CPU.
[0047] FIG. 8 is a view for showing a flowchart of a routine
executed by the CPU.
DETAILED DESCRIPTION
[0048] Below a vehicle control apparatus including a vehicle
movement control apparatus according to an embodiment of the
present disclosure will be described with reference to the
drawings. The vehicle control apparatus according to the embodiment
is applied to a vehicle 100 shown in FIG. 1. As shown in FIG. 2,
the vehicle 100 includes four wheels 51 to 54. In particular, the
vehicle 100 includes a left front wheel 51, a right front wheel 52,
a left rear wheel 53, and a right rear wheel 54. It should be noted
that the vehicle control apparatus according to the disclosure may
be applied to a vehicle including the wheels of less or more than
four. Hereinafter, the vehicle control apparatus according to the
embodiment will be referred to as "the embodiment control
apparatus".
[0049] The vehicle 100 includes an internal combustion engine 10 as
a driving force source for supplying a driving force to the vehicle
100 for driving the vehicle 100. The vehicle control apparatus
including the vehicle movement control apparatus according to the
disclosure may be applied to a hybrid vehicle (HV) or a plug-in
hybrid vehicle (PHV) including the internal combustion engine and
at least one electric motor as the driving force source. Further,
the vehicle control apparatus including the vehicle movement
control apparatus according to the disclosure may be applied to an
electric vehicle (EV) including at least one electric motor as the
driving force source without including the internal combustion
engine. Furthermore, the vehicle control apparatus including the
vehicle movement control apparatus according to the disclosure may
be applied to a fuel cell vehicle (FcV) including at least one
electric motor as the driving force source and using electric power
generated by fuel cells to drive the electric motor. Further, the
vehicle control apparatus including the vehicle movement control
apparatus according to the disclosure may be applied to an in-wheel
motor type of a vehicle including motors provided to the wheels,
respectively as the driving force sources for rotating the
wheels.
[0050] Further, the vehicle 100 moves with occupant/occupants
including a driver or with no occupant. The vehicle control
apparatus including the vehicle movement control apparatus
according to the disclosure may be applied to a vehicle having no
space for the occupants and always caused to move automatically. In
other words, the vehicle control apparatus including the vehicle
movement control apparatus according to the disclosure may be
applied to an unmanned vehicle.
[0051] Further, the disclosure may be applied to a vehicle provided
with the vehicle control apparatus configured to execute a control
for assisting a driving operation performed by the driver to cause
the vehicle to move safely when the driver performs the driving
operation for causing the vehicle to move. In particular, the
disclosure may be applied to a vehicle provided with the vehicle
control apparatus configured to execute a driving assist control
such as (i) a contact prevention control for preventing the vehicle
from contacting an object outside of the vehicle by automatically
braking the vehicle and (ii) a vehicle lane deviation prevention
control for preventing the vehicle from deviating from a vehicle
lane by automatically steering the vehicle. An automatic movement
control described later may include such driving assist
controls.
[0052] Hereinafter, any of the wheels 51 to 54 will be referred to
as "the wheel 50".
[0053] As shown in FIG. 1, the embodiment control apparatus
includes an ECU 90. The ECU stands for an electronic control unit.
The ECU 90 includes a micro-computer as a main component. The
micro-computer includes a CPU, a ROM, a RAM, a non-volatile memory,
an interface, etc. The CPU is configured or programmed to realize
various functions by executing instructions, programs, routines,
etc. stored in the ROM.
[0054] As shown in FIG. 1, the vehicle 100 includes the internal
combustion engine 10, a brake apparatus 20, a power steering
apparatus 30.
[0055] <Internal Combustion Engine>
[0056] The engine 10 is a known compression ignition type of multi
cylinder internal combustion engine, in particular, a so-called
diesel engine. In this regard, the engine 10 may be a known spark
ignition type of multi cylinder internal combustion engine, in
particular, a so-called gasoline engine.
[0057] The engine 10 includes combustion chambers (not shown), fuel
injectors 11 for injecting fuel into the combustion chambers,
respectively, fuel injector actuators 12 for controlling
activations of the fuel injectors 11, etc.
[0058] The fuel injector actuators 12 are electrically connected to
the ECU 90. The ECU 90 controls activations of the fuel injector
actuators 12 to control an amount of the fuel injected from each
fuel injector 11. Thereby, the ECU 90 controls a torque generated
by the engine 10. The torque generated by the engine 10 increases
as the amount of the fuel injected from each fuel injector 11
increases. The torque generated by the engine 10 is transmitted to
the left and right front wheels 51 and 52 via a transmission (not
shown) and a drive shaft 100d (see FIG. 2). Hereinafter, the amount
of the fuel injected from each fuel injector 11 will be referred to
as "the fuel injection amount". Further, the torque generated by
the engine 10 will be referred to as "the engine torque".
[0059] The ECU 90 activates the fuel injector actuators 12 by
inputting control amounts into the fuel injector actuators 12.
Thus, the ECU 90 controls the activations of the fuel injector
actuators 12 by controlling the control amounts input into the fuel
injector actuators 12. In this embodiment, as the control amounts
input into the fuel injector actuators 12 increase, the fuel
injection amount increases and as a result, the engine torque
increases. Thus, as the control amounts input into the fuel
injector actuators 12 increase, an acceleration of the vehicle 100
increases.
[0060] <Brake Apparatus>
[0061] The brake apparatus 20 is a known apparatus. As shown in
FIG. 2, the brake apparatus 20 includes friction brake mechanisms
211 to 214, brake actuators 221 to 224, hydraulic oil passages 231
to 234, etc. The friction brake mechanisms 211 to 214 are provided,
corresponding to the wheels 51 to 54 of the vehicle 100,
respectively. The brake actuators 221 to 224 are provided,
corresponding to the friction brake mechanisms 211 to 214,
respectively. The hydraulic oil passages 231 to 234 are provided,
corresponding to the brake actuators 221 to 224.
[0062] In the following description, any of the friction brake
mechanisms 211 to 214 will be referred to as "the friction brake
mechanism 21". Further, any of the brake actuators 221 to 224 will
be referred to as "the brake actuator 22".
[0063] The friction brake mechanisms 211 to 214 include brake discs
211a to 214a and brake calipers 211b to 214b, respectively. The
brake discs 211a to 214a are secured to the wheels 51 to 54,
respectively. The brake calipers 211b to 214b are secured to a body
of the vehicle 100.
[0064] The brake actuators 221 to 224 are fluidically connected to
the brake calipers 211b to 214b of the friction brake mechanisms
211 to 214 through the hydraulic oil passages 231 to 234,
respectively. The brake actuators 221 to 224 supply hydraulic oil
compressed by a master cylinder (not shown) to the friction brake
mechanisms 211 to 214 through the hydraulic oil passages 231 to
234, respectively. In particular, in this embodiment, the brake
actuators 221 to 224 supply the hydraulic oil compressed by the
master cylinder to the brake calipers 211b to 214b of the friction
brake mechanisms 211 to 214 through the hydraulic oil passages 231
to 234, respectively.
[0065] When the hydraulic oil is supplied to the friction brake
mechanisms 21, brake pads of the brake calipers 211b to 214b of the
friction brake mechanisms 21 are pressed on the brake discs 211a to
214a, respectively. Thereby, braking force is applied to the wheels
50.
[0066] The brake actuators 22 are electrically connected to the ECU
90. The ECU 90 controls a pressure of the hydraulic oil supplied to
the friction brake mechanisms 21 by controlling activations of the
brake actuators 22. As the pressure of the hydraulic oil supplied
to the friction brake mechanisms 21 increases, the braking force
applied to the wheels 50 increases. Hereinafter; the pressure of
the hydraulic oil supplied to the friction brake mechanisms 21 will
be referred to as "the brake hydraulic pressure".
[0067] The ECU 90 activates the brake actuators 22 by inputting
control amounts into the brake actuators 22. Thus, the ECU 90
controls the activations of the brake actuators 22 by controlling
the control amounts input into the brake actuators 22. In this
embodiment, as the control amount input into each brake actuator 22
increases, the brake pressure increases and as a result, the
braking force applied to each wheel 50 increases. Thus, as the
control amount input into each brake actuator 22 increases, a
deceleration of the vehicle 100 increases.
[0068] <Power Steering Apparatus>
[0069] The power steering apparatus 30 is a known apparatus. As
shown in FIG. 1, the power steering apparatus 30 includes a motor
driver 32, a steering motor 31, etc. The motor driver 32 is
electrically connected to the steering motor 31. The steering motor
31 generates a torque when electric power is supplied to the
steering motor 31 from the motor driver 32. The steering motor 31
applies the generated torque to a steering shaft 44.
[0070] The motor driver 32 is electrically connected to the ECU 90.
The ECU 90 controls an activation of the motor driver 32. The ECU
90 controls the torque applied from the steering motor 31 to the
steering shaft 44 by controlling the activation of the motor driver
32.
[0071] The ECU 90 activates the motor driver 32 by inputting a
control amount into the motor driver 32. Thus, the ECU 90 controls
the activation of the motor driver 32 by controlling the control
amount input into the motor driver 32. In this embodiment, as the
control amount input into the motor driver 32 increases, the torque
applied from the steering motor 31 to the steering shaft 44
increases and as a result, a degree that the vehicle 100 turns
increases. Thus, as the control amount input into the motor driver
32 increases, the degree that the vehicle 100 turns increases.
[0072] <Sensors, Etc.>
[0073] The vehicle 100 is provided with an acceleration pedal
operation amount sensor 71, a brake pedal operation amount sensor
72, a steering angle sensor 73, a steering torque sensor 74, wheel
rotation speed sensors 751 to 754, a yaw rate sensor 76, a
longitudinal acceleration sensor 77, a lateral acceleration sensor
78, radar sensors 79, a camera apparatus 80, an automatic movement
request switch 81, a weight sensor 82, a GPS receiver 101, a map
database 102, and a display 103.
[0074] The acceleration pedal operation amount sensor 71 is
electrically connected to the ECU 90. The acceleration pedal
operation amount sensor 71 detects an operation amount of an
acceleration pedal 41 and sends a signal representing the detected
operation amount to the ECU 90. The ECU 90 acquires the operation
amount of the acceleration pedal 41 as an acceleration pedal
operation amount AP, based on the signal sent from the acceleration
pedal operation amount sensor 71.
[0075] The brake pedal operation amount sensor 72 is electrically
connected to the ECU 90. The brake pedal operation amount sensor 72
detects an operation amount of a brake pedal 42 and sends a signal
representing the detected operation amount to the ECU 90. The ECU
90 acquires the operation amount of the brake pedal 42 as a brake
pedal operation amount BP, based on the signal sent from the brake
pedal operation amount sensor 72.
[0076] The steering angle sensor 73 is electrically connected to
the ECU 90. The steering angle sensor 73 detects a steering angle
of any of the left and right front wheels 51 and 52 which are
wheels-to-be-steered of the vehicle 100 and sends a signal
representing the detected steering angle to the ECU 90. The ECU 90
acquires the steering angle of any of the left and right front
wheels 51 and 52 as a steering angle .theta.st, based on the signal
sent from the steering angle sensor 73.
[0077] The steering torque sensor 74 is electrically connected to
the ECU 90. The steering torque sensor 74 detects a torque applied
to the steering shaft 44 by the driver operating a steering wheel
43 and sends a signal representing the detected torque to the ECU
90. The ECU 90 acquires the torque applied to the steering shaft 44
as a driver steering torque TQdriver, based on the signal sent from
the steering torque sensor 74. In this embodiment, the driver
steering torque TQdriver is greater than zero when the driver
operates the steering wheel 43 to turn the vehicle 100 left. On the
other hand, when the driver operates the steering wheel 43 to turn
the vehicle 100 right, the driver steering torque TQdriver is
smaller than zero.
[0078] The wheel rotation speed sensors 751 to 754 are electrically
connected to the ECU 90. The wheel rotation speed sensors 751 to
754 detect rotation speeds of the wheels 50, respectively and send
signals representing the detected rotation speeds to the ECU 90.
The ECU 90 acquires the rotation speeds of the wheels 50 as wheel
rotation speeds V1 to V4, based on the signals sent from the wheel
rotation speed sensors 751 to 754.
[0079] The ECU 90 acquires an average Vave of the acquired wheel
rotation speeds V1 to V4 (Vave=(V1+V2+V3+V4)/4) as a movement speed
of the vehicle 100. Hereinafter, the movement speed of the vehicle
100 will be referred to as "the vehicle movement speed SPD".
[0080] The yaw rate sensor 76 is electrically connected to the ECU
90. The yaw rate sensor 76 detects a yaw rate of the vehicle 100
and sends a signal representing the detected yaw rate to the ECU
90. The ECU 90 acquires the yaw rate of the vehicle 100 as a yaw
rate .delta., based on the signal sent from the yaw rate sensor
76.
[0081] The longitudinal acceleration sensor 77 is electrically
connected to the ECU 90. The longitudinal acceleration sensor 77
detects a longitudinal acceleration of the vehicle 100 and sends a
signal representing the detected longitudinal acceleration to the
ECU 90. The ECU 90 acquires the longitudinal acceleration of the
vehicle 100 as a longitudinal acceleration Gx, based on the signal
sent from the longitudinal acceleration sensor 77.
[0082] The lateral acceleration sensor 78 is electrically connected
to the ECU 90. The lateral acceleration sensor 78 detects a lateral
acceleration of the vehicle 100, i.e., an acceleration of the
vehicle 100 in a widthwise direction of the vehicle 100 and sends a
signal representing the detected lateral acceleration to the ECU
90. The ECU 90 acquires the lateral acceleration of the vehicle 100
as a lateral acceleration Gy, based on the signal sent from the
lateral acceleration sensor 78.
[0083] The radar sensors 79 are electrically connected to the ECU
90. Each radar sensor 79 emits radio waves of a millimeter wave
band ahead of the vehicle 100. Each radar sensor 79 receives the
radio waves reflected by a vehicle 200 moving ahead of the vehicle
100. Hereinafter, the radio wave emitted from each radar sensor 79
will be referred to as "the millimeter wave". Further, the radio
wave reflected by the vehicle 200 moving ahead of the vehicle 100
will be referred to as "the reflected wave". Furthermore, the
vehicle 200 moving ahead of the vehicle 100 will be referred to as
"the preceding vehicle 200". Each radar sensor 79 sends signals
representing (i) a difference in phase between the emitted
millimeter wave and the received reflected wave, (ii) an
attenuation level of the received reflected wave, (iii) time
elapsing from emitting the millimeter wave to receive the reflected
wave, etc. to the ECU 90. The ECU 90 acquires a distance between
the preceding vehicle 200 and the vehicle 100 as an inter-vehicle
distance D, based on the signals sent from the radar sensors
79.
[0084] The camera apparatus 80 is electrically connected to the ECU
90. The camera apparatus 80 includes at least one camera. The
camera apparatus 80 takes a view ahead of the vehicle 100 by the at
least one camera and acquires data on the taken view as image data.
The camera apparatus 80 sends the image data to the ECU 90. The ECU
90 recognizes objects such as the preceding vehicle 200 and walking
persons and acquires a relationship between the vehicle 100 and the
objects, based on the image data. In addition, the ECU 90
recognizes a left lane marking LL and a right lane marking LR which
defines a vehicle lane in which the vehicle 100 moves.
[0085] The automatic movement request switch 81 is electrically
connected to the ECU 90. The automatic movement request switch 81
is operated by the driver of the vehicle 100. The driver may
request an execution of the automatic movement control described
later by setting the automatic movement request switch 81 at an ON
position. When the automatic movement request switch 81 is set at
the ON position by the driver, the ECU 90 determines that the
execution of the automatic movement control is requested. On the
other hand, when the automatic movement request switch 81 is set at
an OFF position by the driver, the ECU 90 determines that the
execution of the automatic movement control is not requested.
[0086] The weight sensor 82 is electrically connected to the ECU
90. The weight sensor 82 detects a weight of occupants including
the driver in the vehicle 100 and sends a signal representing the
detected weight. The ECU 90 determines whether there is the
occupant in the vehicle 100, based on the signal sent from the
weight sensor 82.
[0087] The GPS receiver 101, the map database 102, and the display
103 are electrically connected to the ECU 90.
[0088] The GPS receiver 101 receives GPS signals used for detecting
a current position of the vehicle 100. The GPS receiver 101 sends
the received GPS signals to the ECU 90. The map database 102 stores
map information, etc. The display 103 is a touch panel type of a
display which is a human machine interface.
[0089] The ECU 90 acquires the current position of the vehicle 100,
based on the GPS signals sent from the GPS receiver 101. Further,
the ECU 90 executes various calculation processes, based on (i) the
current position of the vehicle 100, (ii) the map information
stored in the map database 102, etc. and performs a route guidance,
using the display 103.
[0090] <Summary of Operation of Embodiment Control
Apparatus>
[0091] Next, a summary of an operation of the embodiment control
apparatus will be described. The embodiment control apparatus is
configured or programmed to execute the automatic movement control
for automatically causing the vehicle 100 to move. The embodiment
control apparatus sets a movement route from a current place to a
previously-set destination as a target movement route Rtgt while
executing the automatic movement control. Then, the embodiment
control apparatus causes the vehicle 100 to move along the target
movement route Rtgt by (i) automatically steering the vehicle 100
without an operation of steering the steering wheel 43 by the
driver and (ii) automatically accelerating or decelerating the
vehicle 100 without operations of operating the acceleration pedal
41 and the brake pedal 42 by the driver while executing the
automatic movement control.
[0092] The driver, etc. can set the destination, for example, by
operating icons indicated on the display 103.
[0093] The embodiment control apparatus executes the automatic
movement control when the execution of the automatic movement
control is requested. On the other hand, when the execution of the
automatic movement control is not requested, the embodiment control
apparatus executes a normal driving control including (i) a normal
steering control and (ii) a normal acceleration-and-deceleration
control. Below, the normal steering control and the normal
acceleration-and-deceleration control will be described first.
Then, the automatic movement control will be described.
[0094] <Normal Steering Control>
[0095] When the execution of the automatic movement control is not
requested, the embodiment control apparatus executes the normal
steering control to control the activation of the steering motor 31
to apply the torque for assisting the driver's operation of
operating the steering wheel 43 from the steering motor 31 to the
steering shaft 44. The embodiment control apparatus determines the
torque applied from the steering motor 31 to the steering shaft 44,
based on the driver steering torque TQdriver.
[0096] <Normal Acceleration-and-Deceleration Control>
[0097] In addition, when the execution of the automatic movement
control is not requested, the embodiment control apparatus executes
the normal acceleration-and-deceleration control for accelerating
and decelerating the vehicle 100, based on the acceleration pedal
operation amount AP and the brake pedal operation amount BP.
[0098] When the acceleration pedal operation amount AP is greater
than zero in executing the normal acceleration-and-deceleration
control, the embodiment control apparatus sets a target fuel
injection amount Qtgt to an amount greater than zero. The target
fuel injection amount Qtgt increases as the acceleration pedal
operation amount AP increases. In addition, the target fuel
injection amount Qtgt increases as the vehicle movement speed SPD
increases. On the other hand, when the acceleration pedal operation
amount AP is zero in executing the normal
acceleration-and-deceleration control, the embodiment control
apparatus sets the target fuel injection amount Qtgt to zero,
independently of the vehicle movement speed SPD. Then, the
embodiment control apparatus controls the activations of the fuel
injector actuators 12 to inject the fuel of the target fuel
injection amount Qtgt from the fuel injectors 11.
[0099] When the brake pedal operation amount BP is greater than
zero in executing the normal acceleration-and-deceleration control,
the embodiment control apparatus sets a target brake hydraulic
pressure Poil_tgt to a pressure greater than zero. The target brake
hydraulic pressure Poil_tgt increases as the brake pedal operation
amount BP increases. On the other hand, when the brake pedal
operation amount BP is zero in executing the normal
acceleration-and-deceleration control, the embodiment control
apparatus sets the target brake hydraulic pressure Poil_tgt to
zero. Then, the embodiment control apparatus controls the
activations of the brake actuators 22 to apply the brake hydraulic
pressures of the target brake hydraulic pressure Poil_tgt to the
friction brake mechanisms 21.
[0100] <Automatic Movement Control>
[0101] The embodiment control apparatus stores a vehicle turning
model as one of vehicle behavior models. The vehicle turning model
represents a turning characteristic of the vehicle 100 with the
control amount being input into the motor driver 32. The vehicle
turning model corresponds to vehicle behavior characteristic data
on a relationship between the control amount input into the motor
driver 32 and the turning characteristic of the vehicle 100 derived
from inputting the control amount into the motor driver 32. The
motor driver 32 is a turning actuator for turning the vehicle 100.
The turning characteristic is one of the behavior characteristics
of the vehicle 100.
[0102] In addition, the embodiment control apparatus stores a
vehicle acceleration model as one of the vehicle behavior models.
The vehicle acceleration model represents an acceleration
characteristic of the vehicle 100 with the control amounts being
input into the fuel injector actuators 12. The vehicle acceleration
model corresponds to the vehicle behavior characteristic data on a
relationship between the control amounts input into the fuel
injector actuators 12 and the acceleration characteristic of the
vehicle 100 derived from inputting the control amounts into the
fuel injector actuators 12. The fuel injector actuators 12 are
acceleration actuators for accelerating the vehicle 100. The
acceleration characteristic is one of the behavior characteristics
of the vehicle 100.
[0103] In addition, the embodiment control apparatus stores a
vehicle deceleration model as one of the vehicle behavior models.
The vehicle deceleration model represents a deceleration
characteristic of the vehicle 100 with the control amounts being
input into the brake actuators 22. The vehicle deceleration model
corresponds to the vehicle behavior characteristic data on a
relationship between the control amounts input into the brake
actuators 22 and the deceleration characteristic of the vehicle 100
derived from inputting the control amounts into the brake actuators
22. The brake actuators 22 are deceleration actuators for
decelerating the vehicle 100. The deceleration characteristic is
one of the behavior characteristics of the vehicle 100.
[0104] The embodiment control apparatus uses (i) the vehicle
turning model, (ii) the vehicle acceleration model, and (iii) the
vehicle deceleration model in executing the automatic movement
control to calculate the control amounts to be input into the motor
driver 32, the fuel injector actuators 12, and the brake actuators
22 for causing the vehicle 100 to move along the target movement
route Rtgt with observing traffic rules and preventing the vehicle
100 from contacting the objects such as the preceding vehicle 200
and the walking persons around the vehicle 100.
[0105] In order to cause the vehicle 100 to move along the target
movement route Rtgt with observing traffic rules and preventing the
vehicle 100 from contacting the objects around the vehicle 100, the
vehicle behavior models including (i) the vehicle turning model,
(ii) the vehicle acceleration model, and (iii) the vehicle
deceleration model should represent the turning characteristic, the
acceleration characteristic, and the deceleration characteristic of
the vehicle 100 accurately.
[0106] In this regard, the vehicle behavior models may not
represent the turning characteristic, the acceleration
characteristic, and the deceleration characteristic of the vehicle
100 accurately due to (i) degradation over time of the motor driver
32, the fuel injector actuators 12, and the brake actuators 22,
(ii) a condition of a road on which the vehicle 100 moves, etc.
[0107] The embodiment control apparatus determines whether updating
of parameters in the vehicle behavior models is needed.
Hereinafter, the parameters in the vehicle behavior models will be
referred to as "the model parameters".
[0108] In other words, the embodiment control apparatus determines
whether an update condition is satisfied. The update condition is
satisfied when (i) the execution of the automatic control is
requested, and (ii) the updating of the model parameters is needed.
When the embodiment control apparatus determines that the update
condition is not satisfied, the embodiment control apparatus
acquires an optimal movement route Ropt. The optimal movement route
Ropt is the movement route which shortens (i) a movement distance
of the vehicle from the current place to the destination and (ii)
time taken for the vehicle to move from the current place to the
destination to a possible extent. The embodiment control apparatus
sets the optimal movement route Ropt as the target movement route
Rtgt.
[0109] For example, when the embodiment control apparatus causes
the vehicle 100 to move from the current place Pnow to the
destination Ptgt shown in FIG. 3, the movement route for causing
the vehicle 100 to move straight from the current place Pnow to the
destination Ptgt is the optimal movement route Ropt. In this case,
the embodiment control apparatus sets such an optimal movement
route Ropt as the target movement route Rtgt. The embodiment
control apparatus causes the vehicle 100 to move along the target
movement route Rtgt corresponding to the optimal movement route
Ropt to the destination Ptgt.
[0110] When the embodiment control apparatus executes the automatic
movement control, the embodiment control apparatus determines the
control amounts to be input into the motor driver 32, the fuel
injector actuators 12, and the brake actuators 22 for causing the
vehicle 100 to move along the target movement route Rtgt with
observing traffic rules and preventing the vehicle 100 from
contacting the objects around the vehicle 100, based on (i) the
steering angle .theta.st, (ii) the vehicle movement speed SPD,
(iii) the inter-vehicle distance D, (iv) the information on the
objects, (v) the relationship between the vehicle 100 and the
objects, (vi) the left and right lane markings LL and LR which
defines the vehicle lane in which the vehicle 100 moves, etc.
[0111] On the other hand, when the embodiment control apparatus
determines that the update condition is satisfied, the embodiment
control apparatus acquires an update movement route Rup. The update
movement route Rup is the movement route which leads to the
turning, the acceleration, and the deceleration of the vehicle 100
suitable for recognizing the vehicle behavior characteristics
including (i) the turning characteristic of the vehicle 100, (ii)
the acceleration characteristic of the vehicle 100, and (iii) the
deceleration characteristic of the vehicle 100.
[0112] In other words, the embodiment control apparatus acquires
the update movement route Rup corresponding to the movement route
which leads to (i) the turning of the vehicle 100 at a
predetermined yaw rate .delta. for a predetermined time, (ii) the
acceleration or the deceleration of the vehicle 100 with a
predetermined longitudinal acceleration Gx for a predetermined
time, and (iii) the turning of the vehicle 100 with a predetermined
lateral acceleration Gy for a predetermined time.
[0113] The embodiment control apparatus sets the update movement
route Rup as the target movement route Rtgt. The target movement
route Rtgt corresponding to the update movement route Rup is not
always the movement route which shortens (i) the movement distance
of the vehicle from the current place to the destination and (ii)
the time taken for the vehicle to move from the current place to
the destination to the possible extent.
[0114] For example, when the vehicle 100 moves along the movement
route corresponding to the optimal movement route Ropt shown in
FIG. 3, the vehicle 100 does not turn. In this case, data on the
turning characteristic of the vehicle 100, in particular, data on
the yaw rate .delta. and the lateral acceleration Gy of the vehicle
100 cannot be acquired. In addition, the vehicle 100 may not be
accelerated or decelerated. In this case, data on the acceleration
and deceleration characteristics of the vehicle 100, in particular,
the longitudinal acceleration Gx of the vehicle 100 cannot be
acquired.
[0115] The embodiment control apparatus acquires the update
movement route Rup corresponding to the movement route for causing
the vehicle 100 to move straight and turn left and right from the
current place Pnow to the destination Ptgt. The embodiment control
apparatus sets the update movement route Rup as the target movement
route Rtgt. The embodiment control apparatus causes the vehicle 100
to move along the target movement route Rtgt corresponding to the
update movement route Rup to the destination Ptgt.
[0116] The embodiment control apparatus acquires the vehicle
behavior characteristics, based on vehicle behavior parameters
including (i) the yaw rate .delta., (ii) the longitudinal
acceleration Gx, and (iii) the lateral acceleration Gy acquired
while executing the automatic movement control to cause the vehicle
100 to move along the target movement route Rtgt corresponding to
the update movement route Rup. Then, the embodiment control
apparatus updates the model parameters, based on the acquired
vehicle behavior characteristics such that the vehicle behavior
modes represents the actual vehicle behavior characteristics.
[0117] The driver does not need to operate the steering wheel 43,
the acceleration pedal 41, and the brake pedal 42 when the
automatic movement control is executed. In other words, all of
processes for causing the vehicle 100 to move including a process
for setting the target movement route are executed by the
embodiment control apparatus, not by the driver. Thus, the
occupants in the vehicle 100 are unlikely to feel uneasy even when
the vehicle 100 moves along the update movement route Rup different
from the optimal movement route Ropt.
[0118] Assuming that movement environments and movement conditions
are the same, the control amounts input into vehicle actuators 12,
22, and 32 which are the fuel injector actuators 12, the brake
actuators 22, and the motor driver 32 in causing the vehicle 100 to
move along the update movement route Rup, are the same as the
control amounts input into the vehicle actuators 12, 22, and 32 in
causing the vehicle 100 to move along the optimal movement route
Ropt. Thus, assuming that the movement environments and the
movement conditions are the same, the turning, the acceleration,
and the deceleration of the vehicle 100 in causing the vehicle 100
to move along the update movement route Rup, are the same as the
turning, the acceleration, and the deceleration of the vehicle 100
in causing the vehicle 100 to move along the optimal movement route
Ropt. In view of this point, the occupants in the vehicle 100 are
unlikely to feel uneasy.
[0119] In addition, the update movement route Rup is the movement
route suitable for causing the vehicle 100 to move with behaviors
suitable for updating the model parameters. Thus, the model
parameters can be updated appropriately.
[0120] Therefore, according to the embodiment control apparatus,
the model parameters can be updated appropriately with preventing
the occupants in the vehicle 100 from feeling uneasy.
[0121] Suitable data on the vehicle behavior parameters may not be
acquired when the vehicle 100 moves on the uneven road, the aslope
road, and the road crowded with vehicles. Thus, the movement
environments including the uneven road, the aslope road, and the
road crowded with the vehicles are not suitable for acquiring the
suitable data on the vehicle behavior parameters. Accordingly, the
embodiment control apparatus may be configured to acquire the
update movement route Rup corresponding to the movement route which
avoids the inappropriate movement environments.
[0122] Alternatively, the embodiment control apparatus may be
configured to determine the control amounts leading to the
appropriate data on the vehicle behavior parameters, depending on
the movement environments as the control amounts input into the
vehicle actuators 12, 22, and 32 when the embodiment control
apparatus acquires the update movement route Rup corresponding to
the movement route which passes the inappropriate environments.
[0123] <Concrete Operation of Embodiment Control
Apparatus>
[0124] Next, a concrete operation of the embodiment control
apparatus will be described. The CPU of the ECU 90 of the
embodiment control apparatus is configured or programmed to execute
a routine shown by a flowchart in FIG. 5 each time a predetermined
time elapses. Therefore, at a predetermined timing, the CPU starts
a process from a step 500 in FIG. 5 and then, proceeds with the
process to a step 510 to determine whether the execution of the
automatic movement control is requested.
[0125] When the execution of the automatic movement control is
requested, the CPU determines "Yes" at the step 510 and then,
proceeds with the process to a step 520 to determine whether the
updating of the model parameters is needed.
[0126] When the updating of the model parameters is needed, the CPU
determines "Yes" at the step 520 and then, sequentially executes
processes of steps 530 and 540 described below. Then, the CPU
proceeds with the process to a step 595 to terminate this routine
once.
[0127] Step 530: The CPU acquires the update movement route
Rup.
[0128] Step 540: The CPU sets the update movement route Rup
acquired at the step 530 as the target movement route Rtgt.
[0129] On the other hand, when the updating of the model parameters
is not needed, the CPU determines "No" at the step 520 and then,
sequentially executes processes of steps 550 and 560 described
below. Then, the CPU proceeds with the process to the step 595 to
terminate this routine once.
[0130] Step 550: The CPU acquires the optimal movement route
Ropt.
[0131] Step 560: The CPU sets the optimal movement route Ropt
acquired at the step 550 as the target movement route Rtgt.
[0132] When the execution of the automatic movement control is not
requested at a time of executing a process of the step 510, the CPU
determines "No" at the step 510 and then, proceeds with the process
to the step 595 to terminate this routine once.
[0133] Further, the CPU is configured or programmed to execute a
routine shown by a flowchart in FIG. 6 each time the predetermined
time elapses. Therefore, at a predetermined timing, the CPU starts
a process from a step 600 in FIG. 6 and then, proceeds with the
process to a step 610 to determine whether the automatic movement
control is executed.
[0134] When the automatic movement control is executed, the CPU
determines "Yes" at the step 610 and then, sequentially executes
processes of steps 620 and 630 described below. Then, the CPU
proceeds with the process to a step 695 to terminate this routine
once.
[0135] Step 620: The CPU determines or sets the control amounts to
be input into the vehicle actuators 12, 22, and 32 for causing the
vehicle 100 to move along the target movement route Rtgt
corresponding to the update movement route Rup with observing the
traffic rules and preventing the vehicle 100 from contacting the
objects around the vehicle 100.
[0136] Step 630: The CPU inputs the control amounts determined at
the step 620 into the vehicle actuators 12, 22, and 32.
[0137] On the other hand, when the automatic movement control is
not executed, the CPU determines "No" at the step 610 and then,
proceeds with the process to the step 695 to terminate this routine
once.
[0138] Further, the CPU is configured or programmed to execute a
routine shown by a flowchart in FIG. 7 each time the predetermined
time elapses. Therefore, at a predetermined timing, the CPU starts
a process from a step 700 in FIG. 7 and then, proceeds with the
process to a step 710 to determine whether the vehicle 100 is
caused to move along the target movement route Rtgt corresponding
to the update movement route Rup.
[0139] When the vehicle 100 is caused to move along the target
movement route Rtgt corresponding to the update movement route Rup,
the CPU determines "Yes" at the step 710 and then, sequentially
executes processes of steps 720 and 730 described below. Then, the
CPU proceeds with the process to a step 795 to terminate this
routine once.
[0140] Step 720: The CPU acquires data on the predetermined vehicle
behavior parameters such as the yaw rate .delta., the longitudinal
acceleration Gx, and the lateral acceleration Gy.
[0141] Step 730: The CPU updates the model parameters, based on the
data acquired at the step 720.
[0142] On the other hand, when the vehicle 100 is not caused to
move along the target movement route Rtgt corresponding to the
update movement route Rup, the CPU determines "No" at the step 710
and then, proceeds with the process to the step 795 to terminate
this routine once.
[0143] The concrete operation of the embodiment control apparatus
has been described. According to the embodiment control apparatus
executing the routines shown in FIG. 5 and FIG. 7, the model
parameters can be updated with preventing the occupants in the
vehicle 100 from feeling uneasy.
[0144] It should be noted that the present disclosure is not
limited to the aforementioned embodiment and various modifications
can be employed within the scope of the present disclosure.
[0145] For example, the embodiment control apparatus may be
configured to set the larger control amounts to be input into the
vehicle actuators 12, 22, and 32 when the embodiment control
apparatus executes the automatic movement control to cause the
vehicle 100 to move along the update movement route Rup with no
occupant, compared with when the embodiment control apparatus
executes the automatic movement control to cause the vehicle 100 to
move along the same update movement route Rup with the
occupants.
[0146] The CPU of the ECU 90 of the vehicle movement control
apparatus according to a modified example of the embodiment
configured as such is configured or programmed to execute a routine
shown by a flowchart in FIG. 8 each time the predetermined time
elapses in place of the routine shown in FIG. 6. Hereinafter, the
vehicle movement control apparatus according to the modified
example will be referred to as "the modified control
apparatus".
[0147] Therefore, at a predetermined timing, the CPU of the ECU 90
of the modified control apparatus starts a process from a step 800
in FIG. 8 and then, proceeds with the process to a step 810 to
determine whether the automatic movement control is executed.
[0148] When the automatic movement control is executed, the CPU
determines "Yes" at the step 810 and then, proceeds with the
process to a step 812 to determine whether the updating of the
model parameters is needed.
[0149] When the updating of the model parameters is needed, the CPU
determines "Yes" at the step 812 and then, proceeds with the
process to a step 815 to determine whether the vehicle 100 is
caused to move with no occupant.
[0150] When the vehicle 100 is caused to move with no occupant, the
CPU determines "Yes" at the step 815 and then, sequentially
executes processes of steps 820 and 830 described below. Then, the
CPU proceeds with the process to a step 895 to terminate this
routine once.
[0151] Step 820: The CPU determines or sets the control amounts to
be input into the vehicle actuators 12, 22, and 32 for causing the
vehicle 100 to move along the target movement route Rtgt
corresponding to the update movement route Rup with observing the
traffic rules and preventing the vehicle 100 from contacting the
objects around the vehicle 100.
[0152] Step 830: The CPU inputs the control amounts determined at
the step 820 into the vehicle actuators 12, 22, and 32,
respectively
[0153] On the other hand, when the vehicle 100 is caused to move
with the occupants, the CPU determines "No" at the step 815 and
then, sequentially executes processes of steps 840 and 850
described below. Then, the CPU proceeds with the process to the
step 895 to terminate this routine once.
[0154] Step 840: The CPU determines or sets the control amounts to
be input into the vehicle actuators 12, 22, and 32 for causing the
vehicle 100 to move along the target movement route Rtgt
corresponding to the update movement route Rup with observing the
traffic rules and preventing the vehicle 100 from contacting the
objects around the vehicle 100. The control amounts determined at
the step 840 are smaller than the control amounts determined at the
step 820 in causing the vehicle 100 to move along the target
movement route Rtgt corresponding to the same update movement route
Rup.
[0155] Step 850: The CPU inputs the control amounts determined at
the step 840 into the vehicle actuators 12, 22, and 32.
[0156] When the updating of the model parameters is not needed at a
time of executing a process of the step 812, the CPU determines
"No" at the step 812 and then, sequentially executes the processes
of the steps 840 and 850 described above. Then, the CPU proceeds
with the process to the step 895 to terminate this routine
once.
[0157] When the automatic movement control is not executed at a
time of executing a process of the step 810, the CPU determines
"No" at the step 810 and then, proceeds with the process to the
step 895 to terminate this routine once.
[0158] There is no occupant in the vehicle 100 when the vehicle 100
with no occupant moves along the update movement route Rup
different from the optimal movement route Ropt. Thus, according to
the modified control apparatus, the model parameters can be updated
appropriately with preventing the occupants from feeling
uneasy.
[0159] Further, there is no occupant in the vehicle 100 in causing
the vehicle 100 with no occupant to move along the update movement
route Rup with inputting the large control amounts into the vehicle
actuators 12, 22, and 32. When the large control amounts are input
into the vehicle actuators 12, 22, and 32, a lot of the data on the
turning, acceleration, and deceleration characteristics of the
vehicle 100 can be acquired. In this case, the vehicle behavior
models can be updated so as to represent the actual behavior of the
vehicle 100 accurately. Thus, the vehicle behavior models can be
updated so as to represent the actual behavior of the vehicle 100
accurately with preventing the occupants from feeling uneasy.
[0160] In order to acquire the appropriate data on the vehicle
behavior parameters by causing the vehicle 100 to move along the
update movement route Rup, the sensors for detecting the vehicle
behavior parameters, in particular, in this embodiment, the yaw
rate sensor 76, the longitudinal acceleration sensor 77, and the
lateral acceleration sensor 78 should detect the vehicle behavior
parameters accurately.
[0161] Accordingly, the modified control apparatus may be
configured to determine whether vehicle behavior sensors 70 which
are the sensors for detecting the vehicle behavior parameters,
detect the vehicle behavior parameters accurately when executing
the automatic movement control to cause the vehicle 100 to move
with no occupant.
[0162] In this case, for example, the modified control apparatus
estimates a gradient of the road on which the vehicle 100 moves,
based on the signal output from the longitudinal acceleration
sensor 77 for determining whether the longitudinal acceleration
sensor 77 detects the longitudinal acceleration Gx accurately when
the vehicle 100 moves on the road having a known gradient. Then,
the modified control apparatus determines that the longitudinal
acceleration sensor 77 detects the longitudinal acceleration Gx
accurately when the estimated gradient corresponds to the known
gradient or when a difference between the estimated gradient and
the known gradient is equal to or smaller than a predetermined
value.
[0163] On the other hand, when the estimated gradient does not
correspond to the known gradient or when the difference between the
estimated gradient and the known gradient is greater than the
predetermined value, the modified control apparatus determines that
the longitudinal acceleration sensor 77 does not detect the
longitudinal acceleration Gx accurately.
[0164] The predetermined value may be set to a value capable of
determining appropriately whether the vehicle behavior sensors 70
detect the vehicle behavior parameters accurately, based on a
vehicle movement environment information such as map information
which can be acquired by wireless communication.
[0165] The modified control apparatus may be configured to correct
the acquired vehicle behavior parameters so as to represent the
actual vehicle behavior parameters, based on the signals output
from the vehicle behavior sensors 70 when the vehicle behavior
sensors 70 do not detect the vehicle behavior parameters
accurately.
[0166] Further, the embodiment control apparatus sets the update
movement route Rup as the target movement route Rtgt in executing
the automatic movement control when the update condition is
satisfied, i.e., when (i) the execution of the automatic movement
control is requested, and (ii) the updating of the model parameters
is needed. In this regard, the update condition may be satisfied
when (i) the execution of the automatic movement control is
requested, (ii) the updating of the model parameters is needed, and
(iii) there is no occupant in the vehicle 100. In this case, the
embodiment control apparatus sets the optimal movement route Ropt
as the target movement route Rtgt when (i) the execution of the
automatic movement control is requested, (ii) the updating of the
model parameters is needed, and (iii) there is no occupant in the
vehicle 100.
[0167] Further, the update condition may be satisfied when (i) the
execution of the automatic movement control is requested, and (ii)
there is no occupant in the vehicle 100, independently of whether
the updating of the model parameters is needed. In this case, the
embodiment control apparatus sets the optimal movement route Ropt
as the target movement route Rtgt when (i) the execution of the
automatic control is requested, and (ii) there is the occupant in
the vehicle 100.
[0168] The update condition may be satisfied when the execution of
the automatic movement control is requested, independently of
whether the updating of the model parameters is needed, and there
is no occupant in the vehicle 100. In this case, the embodiment
control apparatus may be configured to set the larger control
amounts to be input into the vehicle actuators 12, 22, and 32 when
the vehicle 100 is caused to move along the update movement route
Rup with no occupant in executing the automatic movement control,
compared with when the vehicle 100 is caused to move along the same
update movement route Rup with the occupants.
[0169] Further, the embodiment control apparatus and the modified
control apparatus do not acquire the data on the vehicle behavior
parameters and as a result, do not update the model parameters in
executing the normal driving control including (i) the normal
steering control and (ii) the normal acceleration-and-deceleration
control. In this regards, the embodiment control apparatus may be
configured to acquire the data on the vehicle behavior parameters
and update the model parameters when the vehicle 100 moves with
executing the normal driving control. In this case, the embodiment
control apparatus may be configured to set the larger control
amounts to be input into the vehicle actuators 12, 22, and 32 when
the vehicle 100 is caused to move along the update movement route
Rup in executing the automatic movement control, compared with when
the vehicle 100 moves along the same movement route as the update
movement route Rup in executing the normal driving control.
[0170] Further, the automatic movement control is executed when the
vehicle 100 moves along the update movement route Rup. Thus, the
occupants are unlikely to feel uneasy in causing the vehicle 100 to
move along the update movement route Rup even when the large
control amounts are input into the vehicle actuators 12, 22, and
32. When the large control amounts are input into the vehicle
actuators 12, 22, and 32, a lot of the data on the vehicle behavior
characteristics. In this case, the vehicle behavior models may be
updated so as to represent the actual vehicle behavior models
accurately. Therefore, the vehicle behavior models can be updated
so as to represent the actual vehicle behavior models accurately
with preventing the occupants from feeling uneasy.
* * * * *