公开(公告)号：US11027740B2

公开(公告)日：2021-06-08

申请号：US16330940

申请日：2017-09-06

Applicant: DENSO CORPORATION

Inventor： Daiji Watanabe ,  Toshiki Matsumoto ,  Hisaya Akatsuka

IPC: B60W40/072 ,  B60W50/038 ,  G01S13/06 ,  B60W40/105 ,  B60W40/076 ,  B60T7/12 ,  G08G1/16

Abstract: A forward information acquisition unit acquires a road profile ahead of the own vehicle. A position acquisition unit acquires a current position of the own vehicle. A state acquisition unit acquires a current speed of the own vehicle. A command calculation unit calculates a target speed at each point on a road ahead of the own vehicle, based on the road profile and the current position, and calculates a drive command for driving the own vehicle in the longitudinal direction of the own vehicle, based on the target speed and the current speed. The road profile includes a road gradient. The command calculation unit is configured to adjust the drive command, based on variation in the road gradient and Gzmax that is an acceleration limit limiting acceleration of the own vehicle in the vertical direction.