Target vehicle speed generation method and target vehicle speed generation device for driving-assisted vehicle
A target vehicle speed generation device generates a target vehicle speed of a driving-assisted vehicle (autonomously driven vehicle). The target vehicle speed generation device includes a controller that includes a plurality of vehicle speed command generation units and generates a target vehicle speed for when the vehicle is to travel/stop. The controller includes a look-ahead vehicle speed command calculation unit and a lowest vehicle speed command mediation unit. The look-ahead vehicle speed command calculation unit calculates a look-ahead vehicle speed command value that comes after the elapse of a prescribed amount of time from a present time for each vehicle speed command value generated by the plurality of vehicle speed command generation units. The lowest vehicle speed command mediation unit selects a lowest value among the plurality of look-ahead vehicle speed command values calculated by the look-ahead vehicle speed command calculation unit.
1. A target vehicle speed generation method for generating a target vehicle speed of a host vehicle having a controller including a processor, the controller being configured to control the host vehicle to travel or stop based on the target vehicle speed and to generate the target vehicle speed based on a plurality of vehicle speed command values related to different driving situations, the target vehicle speed generation method comprising utilizing the controller to generate the target vehicle speed by: calculating a look-ahead vehicle speed command value for each vehicle speed command value of the plurality of vehicle speed command values to obtain a plurality of the look-ahead vehicle speed command values, the calculating the look-ahead vehicle speed command value for each of the vehicle speed command values including: calculating a first look-ahead vehicle speed command value that comes after an amount of time to look ahead based on a next-most-recent target vehicle speed, a target acceleration, and the amount of time to look ahead, calculating a requisite acceleration to reach the first look-ahead vehicle speed command value based on the first look-ahead vehicle speed command value and the next-most-recent target vehicle speed, calculating a second look-ahead vehicle speed command value that comes after a computation period based on the requisite acceleration, the next-most-recent target vehicle speed, and the computation period;
and selecting a lowest value among the plurality of the look-ahead vehicle speed command values as the target vehicle speed.
2. The target vehicle speed generation method according to claim 1 , further comprising
setting the amount of time to look ahead to a longer amount of time in situations where a delayed-response control is desired than in situations where a heightened-response control is desired.
3. The target vehicle speed generation method according to claim 1 , further comprising
setting the amount of time to look ahead to be longer when the look-ahead vehicle speed command value corresponds to a vehicle speed command value related to a vehicle speed limit than when the look-ahead vehicle speed command value does not correspond to a vehicle speed command value related to a vehicle speed limit.
4. The target vehicle speed generation method according to claim 1 , further comprising setting the amount of time to look ahead to a shorter amount of time in situations where a heightened-response control is desired than in situations where a delayed-response control is desired.
5. The target vehicle speed generation method according to claim 1 , further comprising
setting the amount of time to look ahead to be shorter when the look-ahead vehicle speed command value corresponds to a vehicle speed command value related to following a leading vehicle than when the look-ahead vehicle speed command value does not correspond to a vehicle speed command value related to following a leading vehicle.
6. The target vehicle speed generation method according to claim 1 , wherein
the calculating the look-ahead vehicle speed command value for each of the vehicle speed command values further includes
determining whether the requisite acceleration has exceeded a maximum acceleration set beforehand, and
using the next-most-recent look-ahead vehicle speed command value as the look-ahead vehicle speed command value when the requisite acceleration has exceeded the maximum acceleration.
7. The target vehicle speed generation method according to claim 1 , wherein
the calculating the look-ahead vehicle speed command value for each of the vehicle speed command values further includes
limiting the second look-ahead vehicle speed command value based on a range of vehicle speeds the target vehicle speed is capable of handling to obtain a third look-ahead vehicle speed command value that does not exceed the range.
8. The target vehicle speed generation method according to claim 7 , wherein
the calculating the look-ahead vehicle speed command value for each of the vehicle speed command values further includes
determining whether the requisite acceleration has exceeded a maximum acceleration set beforehand,
using the third look-ahead vehicle speed command value as the look-ahead vehicle speed command value when the requisite acceleration has not exceeded the maximum acceleration, and
using the next-most-recent look-ahead vehicle speed command value as the look- ahead vehicle speed command value when the requisite acceleration has exceeded the maximum acceleration.
9. The target vehicle speed generation method according to claim 1 , further comprising
setting an acceleration/deceleration limit that corresponds to a type of the vehicle speed command value to which the selected look-ahead vehicle speed command value corresponds.
10. The target vehicle speed generation method according to claim 1 , wherein
at least one of the vehicle speed command values is for a host vehicle to follow a leading vehicle and is calculated in accordance with an acquired headway distance to the leading vehicle and an acquired relative vehicle speed of the leading vehicle.
11. The target vehicle speed generation method according to claim 1 , wherein
at least one of the vehicle speed command values is calculated based on acquired vehicle speed limit information for a road on which the host vehicle travels to be used for controlling the host vehicle to follow an acquired vehicle speed limit.
12. The target vehicle speed generation method according to claim 1 , wherein
at least one of the vehicle speed command values is calculated based on a relative distance from the host vehicle to a stop line to be used for decelerating and stopping the host vehicle within the relative distance.
13. The target vehicle speed generation method according to claim 1 , wherein
at least one of the vehicle speed command values is calculated in accordance with acquired road curvature information regarding a road on which the host vehicle travels to be used for controlling the host vehicle not to exceed a maximum lateral acceleration that is set in advance.
14. A target vehicle speed generation device for generating a target vehicle speed of a host vehicle, the target vehicle speed generation device comprising:
a controller including a processor, the controller being configured to control the host vehicle to travel or stop based on the target vehicle speed and to generate the target vehicle speed based on a plurality of vehicle speed command values related to different driving situations,
the controller being configured to calculate a look-ahead vehicle speed command value for each vehicle speed command value of the plurality of vehicle speed command values to obtain a plurality of the look-ahead vehicle speed command values, and select a lowest value among the plurality of the look-ahead vehicle speed command values as the target vehicle speed,
the controller calculating the look-ahead vehicle speed command value for each of the vehicle speed command values by
calculating a first look-ahead vehicle speed command value that comes after an amount of time to look ahead based on a next-most-recent target vehicle speed, a target acceleration, and the amount of time to look ahead,
calculating a requisite acceleration to reach the first look-ahead vehicle speed command value based on the first look-ahead vehicle speed command value and the next-most-recent target vehicle speed, and
calculating a second look-ahead vehicle speed command value that comes after a computation period based on the requisite acceleration, the next-most-recent target vehicle speed, and the computation period.
15. The target vehicle speed generation device according to claim 14 , wherein
the calculating the look-ahead vehicle speed command value for each of the vehicle speed command values further includes
limiting the second look-ahead vehicle speed command value based on a range of vehicle speeds the target vehicle speed is capable of handling to obtain a third look-ahead vehicle speed command value that does not exceed the range,
determining whether the requisite acceleration has exceeded a maximum acceleration set beforehand,
using the third look-ahead vehicle speed command value as the look-ahead vehicle speed command value when the requisite acceleration has not exceeded the maximum acceleration, and
using the next-most-recent look-ahead vehicle speed command value as the look-ahead vehicle speed command value when the requisite acceleration has exceeded the maximum acceleration.