Vehicle traveling control apparatus
A vehicle traveling control apparatus includes an autonomous sensor, a braking controller, a determination unit, a calculator, and a steering controller. The autonomous sensor recognizes an obstacle ahead of a vehicle. The braking controller determines possibility of contact on the basis of a relative distance and a relative speed between the vehicle and the obstacle, and, upon determining that the vehicle is likely to contact the obstacle, executes a strong braking control of reducing the relative speed to “0”. The determination unit calculates a predicted travel distance to be traveled until the relative speed is reduced to “0”, and permits steering intervention when the predicted travel distance is longer than the relative distance. The calculator calculates time-to-contact to be taken until the vehicle contacts the obstacle. The steering controller executes a steering control when the steering intervention is permitted and the time-to-contact becomes a time threshold or less.
1. A vehicle traveling control apparatus comprising:
an autonomous sensor configured to recognize an obstacle ahead of a vehicle;
a braking controller configured to
determine whether the vehicle is likely to come into contact with the obstacle based on determining that the obstacle is present, and a relative distance and a relative speed between the vehicle and the obstacle,
in response to determining that the vehicle is likely to come into contact with the obstacle, determine whether a distance from the vehicle to the obstacle is equal to or less than a predetermined threshold,
in response to determining that the distance from the vehicle to the obstacle is greater than the predetermined threshold, execute a primary braking control based on a first deceleration rate, and
in response to determining that the distance from the vehicle to the obstacle is equal to or less than the predetermined threshold while the primary braking control is being executed, execute a secondary braking control of reducing the relative speed to “0” based on a second deceleration rate higher than the first deceleration rate during the primary braking control;
a determination unit configured to, during the execution of the secondary braking control:
calculate a predicted travel distance to be traveled until the relative speed with respect to the obstacle is reduced to “0” by the secondary braking control,
permit steering intervention for avoidance of contact with the obstacle in a case where the predicted travel distance is longer than the relative distance,
calculate an overlap ratio between the vehicle and the obstacle in a width direction of the vehicle, and
determine, after permitting the steering intervention, a time threshold for a start of the steering intervention by using (i) the relative speed between the vehicle and the obstacle and (ii) the overlap ratio;
a calculator configured to, during the execution of the secondary braking control, calculate time-to-contact to be taken until the vehicle comes into contact with the obstacle based on a difference between the second deceleration rate and the first deceleration rate; and
a steering controller configured to, during the execution of the secondary braking control:
execute a steering control for the avoidance of the contact with the obstacle in a case where the determination unit determines that the time-to-contact becomes equal to or less than the time threshold; and
cancel the steering control for the avoidance of the contact with the obstacle in a case where the determination unit determines that the time-to-contact becomes greater than the time threshold, wherein
the time threshold is configured to delay the start of the steering intervention by setting the time threshold to a smaller value as the relative speed becomes lower, and setting the time threshold to a smaller value as the overlap ratio becomes lower.
2. The vehicle traveling control apparatus according to claim 1 , wherein the calculator is configured to calculate the time-to-contact based on adding brake pressure increase delay time in the secondary braking control to time that is taken for the deceleration rate to increase to the second deceleration rate in the secondary braking control.
3. The vehicle traveling control apparatus according to claim 2 , wherein the determination unit is configured to calculate the predicted travel distance, summing the first distance, the second distance, the third distance and a preset margin distance.
4. The vehicle traveling control apparatus according to claim 3 , wherein the braking controller is configured to delay an intervention timing of the secondary braking control, with a decrease in the overlap ratio between the vehicle and the obstacle in a width direction of the vehicle.
5. The vehicle traveling control apparatus according to claim 2 , wherein the braking controller is configured to delay an intervention timing of the secondary braking control, with a decrease in the overlap ratio between the vehicle and the obstacle in a width direction of the vehicle.
6. The vehicle traveling control apparatus according to claim 1 , wherein the determination unit is configured to calculate the predicted travel distance, by summing the first distance, the second distance, the third distance and a preset margin distance.
7. The vehicle traveling control apparatus according to claim 6 , wherein the braking controller is configured to delay an intervention timing of the secondary braking control, with a decrease in the overlap ratio between the vehicle and the obstacle in a width direction of the vehicle.
8. The vehicle traveling control apparatus according to claim 1 , wherein the braking controller is configured to delay an intervention timing of the secondary braking control, with a decrease in the overlap ratio between the vehicle and the obstacle in a width direction of the vehicle.
9. The vehicle traveling control apparatus of claim 1 , further comprising a grid chart for setting the time threshold, the grid chart comprising a column axis, a row axis, a plurality of decreasing relative speed values as one of the column axis and the row axis of the grid chart, a plurality of decreasing overlap ratio values as the other of the column axis and the row axis of the grid chart, and a plurality of time threshold values as grid cells of the grid chart, wherein
as the relative speed values decrease along the one of the column axis or the row axis, the time threshold values in corresponding grid cells decrease, and
as the overlap ratio values decrease along the other of the column axis or the row axis, the time threshold values in corresponding grid cells of the grid chart decrease.
10. The vehicle traveling control apparatus of claim 1 , wherein the determination unit is configured to calculate the predicted travel distance based on:
deriving a first distance that is traveled by the vehicle during recognition delay time attributed to the autonomous sensor;
deriving a second distance that is traveled by the vehicle during time that is taken for a deceleration rate to increase from the first deceleration rate to the second deceleration rate in the secondary braking control based on a maximum jerk of the deceleration rate the difference between the second deceleration rate and the first deceleration rate;
deriving a third distance that is traveled by the vehicle during travel time after the deceleration rate is stabilized until the relative speed becomes zero based on the target deceleration rate among the target deceleration rate of the vehicle and the maximum jerk of the deceleration rate; and
summing the first distance, the second distance, and the third distance, the sum of the first distance, the second distance, and the third distance being the predicted travel distance.
11. The vehicle traveling control apparatus according to claim 1 , wherein the calculator is configured to calculate the time-to-contact based on calculating time that is taken for increasing the deceleration rate from the first deceleration rate to the second deceleration rate based on the difference between the second deceleration rate and the first deceleration rate.
12. A vehicle traveling control apparatus comprising:
an autonomous sensor configured to recognize an obstacle ahead of a vehicle; and
circuitry configured to
determine whether the vehicle is likely to come into contact with the obstacle based on determining that the obstacle is present, and a relative distance and a relative speed between the vehicle and the obstacle,
in response to determining that the vehicle is likely to come into contact with the obstacle, determine whether a distance from the vehicle to the obstacle is equal to or less than a predetermined threshold,
in response to determining that the distance from the vehicle to the obstacle is greater than the predetermined threshold, execute a primary braking control,
in response to determining that the distance from the vehicle to the obstacle is equal to or less than the predetermined threshold while the primary braking control is being executed, execute a strong secondary braking control of reducing the relative speed to “0” based on a second deceleration rate higher than the first deceleration rate during the primary braking control,
calculate, during the execution of the secondary braking control, a predicted travel distance to be traveled until the relative speed with respect to the obstacle is reduced to “0” by the secondary braking control,
permit, during the execution of the secondary braking control, steering intervention for avoidance of contact with the obstacle in a case where the predicted travel distance is longer than the relative distance,
calculate, during the execution of the secondary braking control, an overlap ratio between the vehicle and the obstacle in a width direction of the vehicle,
determine, after permitting the steering intervention, a time threshold for starting the steering intervention by using (i) the relative speed between the vehicle and the obstacle and (ii) the overlap ratio,
calculate, during the execution of the secondary braking control, time-to-contact to be taken until the vehicle comes into contact with the obstacle based on a difference between the second deceleration rate and the first deceleration rate,
execute, during the execution of the secondary braking control, a steering control for the avoidance of the contact with the obstacle based on determining that the time-to-contact becomes equal to or less than the time threshold, and
cancel, during the execution of the secondary braking control, the steering control for the avoidance of the contact with the obstacle based on determining that the time-to-contact becomes greater than the time threshold, wherein
the time threshold is configured to delay the start of the steering intervention by setting the time threshold to a smaller value as the relative speed becomes lower, and setting the time threshold to a smaller value as the overlap ratio becomes lower.
13. The vehicle traveling control apparatus of claim 12 , wherein the circuitry is further configured to store a grid chart for setting the time threshold, the grid chart comprising a column axis, a row axis, a plurality of decreasing relative speed values as one of the column axis and the row axis of the grid chart, a plurality of decreasing overlap ratio values as the other of the column axis and the row axis of the grid chart, and a plurality of time threshold values as grid cells of the grid chart, wherein
as the relative speed values decrease along the one of the column axis or the row axis, the time threshold values in corresponding grid cells decrease, and
as the overlap ratio values decrease along the other of the column axis or the row axis, the time threshold values in corresponding grid cells of the grid chart decrease.
14. The vehicle traveling control apparatus of claim 12 , wherein
the circuitry is configured to calculate the predicted travel distance based on:
deriving a first distance that is traveled by the vehicle during recognition delay time attributed to the autonomous sensor;
deriving a second distance that is traveled by the vehicle during time that is taken for a deceleration rate to increase from the first deceleration rate to the second deceleration rate in the secondary braking control based on a maximum jerk of the deceleration rate and the difference between the second deceleration rate and the first deceleration rate;
deriving a third distance that is traveled by the vehicle during travel time after the deceleration rate is stabilized until the relative speed becomes zero based on the target deceleration rate among the target deceleration rate of the vehicle and the maximum jerk of the deceleration rate; and
summing the first distance, the second distance, and the third distance, the sum of the first distance, the second distance, and the third distance being the predicted travel distance.
15. The vehicle traveling control apparatus according to claim 12 , wherein the circuitry is configured to calculate the time-to-contact based on calculating time that is taken for increasing the deceleration rate from the first deceleration rate to the second deceleration rate based on the difference between the second deceleration rate and the first deceleration rate.