US 12,441,182 B2
Vehicle speed control device and driver model processing device
Takashi Yamaguchi, Tokyo (JP)
Assigned to MEIDENSHA CORPORATION, Tokyo (JP)
Appl. No. 18/580,957
Filed by MEIDENSHA CORPORATION, Tokyo (JP)
PCT Filed Jul. 15, 2022, PCT No. PCT/JP2022/027880
§ 371(c)(1), (2) Date Sep. 25, 2024,
PCT Pub. No. WO2023/002950, PCT Pub. Date Jan. 26, 2023.
Claims priority of application No. 2021-118742 (JP), filed on Jul. 19, 2021.
Prior Publication US 2025/0018789 A1, Jan. 16, 2025
Int. Cl. B60K 31/02 (2006.01); B60K 26/02 (2006.01); B60T 7/12 (2006.01)
CPC B60K 31/02 (2013.01) [B60K 26/02 (2013.01); B60T 7/12 (2013.01); B60T 2250/04 (2013.01); B60Y 2300/143 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A vehicle speed control device, which controls vehicle speed by driving a drive robot that operates an accelerator pedal and a brake pedal of a vehicle, the vehicle speed control device comprising:
a driving force command generator configured to generate a driving force command over the vehicle on a basis of actual vehicle speed of the vehicle and a vehicle speed command over the actual vehicle speed;
an accelerator controller configured to generate an accelerator operation amount command over an accelerator pedal operation amount on a basis of the driving force command;
a brake controller configured to generate a brake operation amount command over a brake pedal operation amount on a basis of the driving force command; and
a pedal switch controller configured to select, on a basis of the driving force command, an accelerator control mode in which the accelerator operation amount command is input to the drive robot or a brake control mode in which the brake operation amount command is input to the drive robot,
wherein the driving force command generator includes
a basic driving force calculator configured to calculate basic driving force on a basis of the vehicle speed command and vehicle weight,
a feedback controller provided upstream from the accelerator controller and the brake controller in a flow from the vehicle speed command to the accelerator operation amount command and the brake operation amount command, and configured to calculate corrective driving force so that a vehicle speed deviation between the vehicle speed command and the actual vehicle speed becomes 0,
a vehicle speed deviation calculator configured to calculate the vehicle speed deviation by subtracting the actual vehicle speed from the vehicle speed command, and to input the vehicle speed deviation to the feedback controller, and
an adder configured to output a sum of the basic driving force and the corrective driving force as the driving force command.