CN103029703B - 车辆的车道变换辅助***及其方法 - Google Patents
车辆的车道变换辅助***及其方法 Download PDFInfo
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- CN103029703B CN103029703B CN201210383319.8A CN201210383319A CN103029703B CN 103029703 B CN103029703 B CN 103029703B CN 201210383319 A CN201210383319 A CN 201210383319A CN 103029703 B CN103029703 B CN 103029703B
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- China
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- vehicle
- yaw
- wheel
- lane changing
- yaw velocity
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000009471 action Effects 0.000 claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000000052 comparative effect Effects 0.000 claims abstract description 5
- 230000005484 gravity Effects 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 206010044565 Tremor Diseases 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 229910052792 caesium Inorganic materials 0.000 description 1
- TVFDJXOCXUVLDH-UHFFFAOYSA-N caesium atom Chemical compound [Cs] TVFDJXOCXUVLDH-UHFFFAOYSA-N 0.000 description 1
- 244000145845 chattering Species 0.000 description 1
- 210000002858 crystal cell Anatomy 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/14—Yaw
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2011-0102796 | 2011-10-10 | ||
KR1020110102796A KR101309508B1 (ko) | 2011-10-10 | 2011-10-10 | 차량의 차선 변경 보조 시스템 및 그 방법 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103029703A CN103029703A (zh) | 2013-04-10 |
CN103029703B true CN103029703B (zh) | 2016-08-03 |
Family
ID=47908995
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201210383319.8A Active CN103029703B (zh) | 2011-10-10 | 2012-10-10 | 车辆的车道变换辅助***及其方法 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8855883B2 (zh) |
KR (1) | KR101309508B1 (zh) |
CN (1) | CN103029703B (zh) |
DE (1) | DE102012020074B4 (zh) |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101993268B1 (ko) * | 2013-05-10 | 2019-06-26 | 현대모비스 주식회사 | 차선 변경 제어 장치 및 방법 |
KR101464883B1 (ko) * | 2013-06-19 | 2014-11-25 | 주식회사 만도 | 요 레이트를 이용한 차량 충돌 방지 방법 |
CN103587529B (zh) * | 2013-10-12 | 2018-03-06 | 长安大学 | 一种直道路段换道过程越线时刻预测***及预测方法 |
KR102112486B1 (ko) * | 2013-11-21 | 2020-06-04 | 현대모비스 주식회사 | 차선 종류에 따른 차선 유지 제어 장치 및 방법 |
CN103886749B (zh) * | 2014-03-14 | 2016-02-03 | 深圳市锐明视讯技术有限公司 | 一种检测车辆频繁变道行驶的方法及*** |
CN104176054B (zh) * | 2014-08-18 | 2016-07-06 | 大连理工大学 | 一种汽车主动防碰撞自动换道控制***及其工作方法 |
CN105015545B (zh) * | 2015-07-03 | 2018-06-26 | 内蒙古麦酷智能车技术有限公司 | 一种无人驾驶汽车的自主变道决策方法 |
CN105416276B (zh) * | 2015-12-14 | 2017-09-22 | 长春工业大学 | 基于高阶滑模的电动汽车稳定性直接横摆力矩控制方法 |
CN106080596B (zh) * | 2016-06-03 | 2018-06-12 | 中国人民解放军海军大连舰艇学院 | 一种基于位置与角速度测量的车道线滑模保持方法 |
JP6473734B2 (ja) * | 2016-12-16 | 2019-02-20 | 本田技研工業株式会社 | 車両制御装置 |
US10538268B2 (en) * | 2017-02-07 | 2020-01-21 | Ford Global Technologies, Llc | Steering-wheel control mechanism for autonomous vehicle |
US10259496B2 (en) | 2017-02-07 | 2019-04-16 | Ford Global Technologies, Llc | Steering-wheel feedback mechanism |
CN107792073B (zh) * | 2017-09-29 | 2019-10-25 | 东软集团股份有限公司 | 一种车辆换道控制方法、装置及相关设备 |
US10977946B2 (en) * | 2017-10-19 | 2021-04-13 | Veoneer Us, Inc. | Vehicle lane change assist improvements |
CN108569296B (zh) * | 2017-12-15 | 2020-06-16 | 上海蔚来汽车有限公司 | 自适应匹配辅助驾驶***的方法及其实现模块 |
US10737693B2 (en) | 2018-01-04 | 2020-08-11 | Ford Global Technologies, Llc | Autonomous steering control |
TWI675771B (zh) * | 2018-11-12 | 2019-11-01 | 華創車電技術中心股份有限公司 | 車道變換系統及車道變換方法 |
FR3093689B1 (fr) * | 2019-03-12 | 2021-04-09 | Renault | Procédé d’élaboration d’une consigne de pilotage mixte d’un système de braquage de roues et d’un système de freinage différentiel d’un véhicule automobile |
CN110007305B (zh) * | 2019-04-15 | 2021-01-29 | 北京行易道科技有限公司 | 车辆前方目标确定方法、装置、服务器及存储介质 |
CN110356404B (zh) * | 2019-05-28 | 2021-04-09 | 吉林大学 | 一种具有自主换道功能并提高侧向安全性的智能驾驶*** |
CN113060139A (zh) * | 2019-12-31 | 2021-07-02 | 北京宝沃汽车股份有限公司 | 驻车控制方法、装置及车辆 |
CN111959507A (zh) * | 2020-07-06 | 2020-11-20 | 江铃汽车股份有限公司 | 一种变道控制方法、***、可读存储介质及车辆 |
CN114084136B (zh) * | 2020-08-05 | 2024-01-30 | 上海汽车集团股份有限公司 | 车辆变道过程中的纵向控制跟车目标选择方法及装置 |
CN112216148B (zh) * | 2020-09-21 | 2022-12-13 | 西安工程大学 | 一种车路协同下双车道车辆换道指引方法 |
CN114852099A (zh) * | 2021-02-03 | 2022-08-05 | 郑州宇通客车股份有限公司 | 机动车换道行为的预测方法 |
CN114132415B (zh) * | 2021-12-02 | 2023-06-02 | 南京快轮智能科技有限公司 | 一种车辆转向灯控制方法 |
FR3132483B1 (fr) | 2022-02-09 | 2024-02-16 | Renault Sas | Procédé de guidage d’un véhicule automobile. |
Citations (1)
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CN101837781A (zh) * | 2009-03-06 | 2010-09-22 | 通用汽车环球科技运作公司 | 用于自动车道对正或换道的控制***的基于模型的预测控制 |
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JP3198993B2 (ja) * | 1997-07-23 | 2001-08-13 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP3571234B2 (ja) * | 1998-10-12 | 2004-09-29 | 本田技研工業株式会社 | 車両用操舵制御装置 |
JP2003081123A (ja) * | 2001-09-11 | 2003-03-19 | Nissan Motor Co Ltd | 車両の操舵制御システム |
JP4114657B2 (ja) * | 2004-10-25 | 2008-07-09 | 三菱自動車工業株式会社 | 車両の旋回挙動制御装置 |
DE102006010275A1 (de) * | 2005-03-03 | 2006-12-14 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum Vermeiden einer Kollision bei einem Spurwechsel eines Fahrzeugs |
DE102007002220A1 (de) * | 2006-01-12 | 2007-07-26 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Kollisionswarnung bei Spurwechseln von Fahrzeugen |
WO2007145564A1 (en) * | 2006-06-11 | 2007-12-21 | Volvo Technology Corporation | Method and apparatus for using an automated lane keeping system to maintain lateral vehicle spacing |
JP2008162553A (ja) | 2007-01-04 | 2008-07-17 | Toyota Motor Corp | 車両用制御装置 |
JP2009090843A (ja) * | 2007-10-10 | 2009-04-30 | Jtekt Corp | 車両用制御装置 |
US20100023180A1 (en) * | 2008-07-24 | 2010-01-28 | Gm Global Technology Operations, Inc. | Adaptive vehicle control system with driving style recognition based on lane-change maneuvers |
US20100209885A1 (en) * | 2009-02-18 | 2010-08-19 | Gm Global Technology Operations, Inc. | Vehicle stability enhancement control adaptation to driving skill based on lane change maneuver |
US20100209886A1 (en) * | 2009-02-18 | 2010-08-19 | Gm Global Technology Operations, Inc. | Driving skill recognition based on u-turn performance |
KR20120030624A (ko) * | 2010-09-20 | 2012-03-29 | 주식회사 만도 | 차량 방향 제어 방법 |
-
2011
- 2011-10-10 KR KR1020110102796A patent/KR101309508B1/ko active IP Right Grant
-
2012
- 2012-10-09 DE DE102012020074.9A patent/DE102012020074B4/de active Active
- 2012-10-10 CN CN201210383319.8A patent/CN103029703B/zh active Active
- 2012-10-10 US US13/648,892 patent/US8855883B2/en active Active
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101837781A (zh) * | 2009-03-06 | 2010-09-22 | 通用汽车环球科技运作公司 | 用于自动车道对正或换道的控制***的基于模型的预测控制 |
Also Published As
Publication number | Publication date |
---|---|
DE102012020074A1 (de) | 2013-04-11 |
CN103029703A (zh) | 2013-04-10 |
DE102012020074B4 (de) | 2021-02-11 |
KR101309508B1 (ko) | 2013-09-24 |
US20130090825A1 (en) | 2013-04-11 |
US8855883B2 (en) | 2014-10-07 |
KR20130038436A (ko) | 2013-04-18 |
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Effective date of registration: 20211202 Address after: Gyeonggi Do, South Korea Patentee after: Wandu Mobile System Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: MANDO Corp. |
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Effective date of registration: 20220913 Address after: Inchon, Korea Patentee after: Halla Creedong Electronics Co.,Ltd. Address before: Gyeonggi Do, South Korea Patentee before: Wandu Mobile System Co.,Ltd. |