Cruise control apparatus and cruise control system
A cruise control apparatus according to the present invention comprises a curve shape detection unit that detects the shape of a curve, an estimation trajectory calculation means that, on the basis of vehicle speed, calculates an estimated trajectory that satisfies a relationship in which a G-G diagram, which is a relationship between lateral acceleration and longitudinal acceleration, draws an arc, and a steering start point determination unit that determines a steering start point in front of a curve so that the estimated trajectory falls within the curve.
1. A cruise control apparatus comprising:
an external sensor configured to detect a curve of a traffic lane; and
a control unit in communication with the external sensor, the control unit configured to:
calculate, on the basis of a vehicle speed of a vehicle, an estimated trajectory that satisfies a relationship in which an arc of the curve is determined from a G-G diagram, which is a relationship between lateral acceleration and longitudinal acceleration, wherein the arc is applied to the estimated trajectory;
determine a steering start point at which to start steering control in front of the curve so that the estimated trajectory falls within the curve of the traffic lane, and
output a command to control at least one of steering or a vehicle speed of the vehicle.
2. The cruise control apparatus according to claim 1 , wherein the control unit is further configured to:
determine that the estimated trajectory does not fall within the traffic lane; and
transmit the command, which is a deceleration command, to an actuator of the vehicle to decrease the vehicle speed to a speed at which the estimated trajectory falls within the traffic lane.
3. The cruise control apparatus according to claim 1 , wherein the control unit is further configured to:
determine that the estimated trajectory does not fall within the traffic lane; and
transmit the command, which is a deceleration command, to an actuator of the vehicle to decrease the vehicle speed to a speed at which traveling at a constant vehicle speed is possible.
4. The cruise control apparatus according to claim 1 , wherein the control unit is further configured to determine a target vehicle speed at which curve traveling at a constant speed is possible based on the arc of the estimated trajectory, and compare the vehicle speed to the target vehicle speed.
5. The cruise control apparatus according to claim 4 , wherein responsive to determining that the target vehicle speed is larger than a vehicle speed, the control unit transmits the command to control longitudinal acceleration based on a lateral motion of an own vehicle at a timing of the steering start point, and
responsive to determining that the target vehicle speed is smaller than the vehicle speed, the control unit transmits the command to control the vehicle speed and steering along a predetermined travel route.
6. The cruise control apparatus according to claim 1 , wherein responsive to determining that a traffic lane width of the curve is larger than a predetermined traffic lane width of the curve, the control unit is configured to transmit the command to start a steering operation from a point earlier than the predetermined steering start point.
7. The cruise control apparatus according to claim 1 , wherein the control unit is further configured to determine whether a deviation from a traffic lane occurs on the basis of the estimated trajectory and the arc of the curve and determines a steering start point on the basis of a determined result.
8. The cruise control apparatus according to claim 1 , wherein the steering start point is determined on the basis of at least one of a traffic lane width, a vehicle body width, a vehicle speed, a curve curvature, or the estimated trajectory.
9. The cruise control apparatus according to claim 1 , wherein a vehicle is controlled on the basis of the estimated trajectory at the steering start point.
10. The cruise control apparatus according to claim 1 , wherein the external sensor is one of a stereo camera, a millimeter wave radar or a laser radar.
11. The cruise control apparatus according to claim 1 , wherein the curve of the traffic lane is determined from a position of the vehicle in reference to a global positioning system (GPS).
12. A vehicle comprising:
the cruise control apparatus according to claim 1 ; and
a brake; a steering wheel; and an accelerator, the brake, the steering wheel, and the accelerator being operated on the basis of control commands from the control unit of the cruise control apparatus.
13. A vehicle comprising:
the cruise control apparatus according to claim 4 ; and
an actuator configured to perform steering without depending on the operation of the driver, the actuator being operable on the basis of control commands received from the control unit of the cruise control apparatus.