Vehicle braking control device
View Patent ↗A control unit extracts stop position candidates P 1 to Pn from the white line data and three-dimensional object data recognized and acquires their positions L 1 to Ln, and sets, as a target stop position Lt, one of the stop position candidates P 1 to Pn that is the closest to the braking distance Lb obtained based on the current braking operation quantity θp and vehicle speed V. The control unit subtracts a learning value LL from the target stop position Lt to calculate a corrected target stop position Ltc and sets a corrected braking operation quantity value θpc based on the corrected target stop position Ltc and vehicle speed V. When the absolute value |θp−θpc| of the difference between the braking operation quantity θp and the corrected braking operation quantity value θpc is within a preset range, the control unit executes braking control based on the corrected braking operation quantity value θpc.
1. A vehicle braking control device comprising:
stop position candidate recognition means for recognizing stop position candidates for a vehicle stop position;
braking operation quantity detection means for detecting a braking operation quantity;
vehicle speed detection means for detecting a vehicle speed;
target stop position setting means for setting a target stop position to stop a vehicle from the stop position candidates, based on the braking operation quantity and the vehicle speed;
braking control quantity setting means for setting a braking control quantity to stop the vehicle based on the target stop position and the vehicle speed; and
braking control execution means for executing braking control with the braking control quantity in case the braking operation quantity is a value in an area preset with respect to the braking control quantity;
the target stop position setting means determines a braking distance based on the current braking operation quantity and vehicle speed and sets one of the stop position candidates that is closest to an end of the braking distance as the target stop position.
2. The vehicle braking control device according to claim 1 , the braking control quantity setting means sets a corrected target stop position closer to the vehicle with respect to the target stop position by a preset correction value and sets as the braking control quantity a braking operation quantity necessary for stopping the vehicle at the corrected target stop position.
3. The vehicle braking control device according to claim 2 , wherein the preset correction value used to determine the corrected target stop position is learned and updated in case a preset condition holds.
4. The vehicle braking control device according to claim 1 , wherein the stop position candidates include white line data and a three-dimensional object.
5. The vehicle braking control device according to claim 2 , wherein the braking control quantity setting means measures a distance to the target stop position as the preset correction value in case the vehicle stops before the target stop position by the braking operation quantity, and corrects the target stop position by the preset correction value to obtain the corrected target stop position.