CN107082067A - 车辆的行驶控制装置 - Google Patents
车辆的行驶控制装置 Download PDFInfo
- Publication number
- CN107082067A CN107082067A CN201611152269.7A CN201611152269A CN107082067A CN 107082067 A CN107082067 A CN 107082067A CN 201611152269 A CN201611152269 A CN 201611152269A CN 107082067 A CN107082067 A CN 107082067A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- mentioned
- control
- steering wheel
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 description 12
- 230000004888 barrier function Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241000894007 species Species 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
- B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W30/02—Control of vehicle driving stability
- B60W30/025—Control of vehicle driving stability related to comfort of drivers or passengers
-
- 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
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
-
- 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
- B60W40/08—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 drivers or passengers
-
- 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
- B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
-
- 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
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- 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
- B60W2050/146—Display means
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0604—Throttle position
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
- B60W2510/202—Steering torque
-
- 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
-
- 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
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2520/14—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
- B60W2540/00—Input parameters relating to occupants
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/30—Road curve radius
-
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
-
- 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
- B60W2556/00—Input parameters relating to data
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
-
- 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
- B60W2720/10—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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- 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
- B60W2720/12—Lateral speed
- B60W2720/125—Lateral acceleration
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096827—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed onboard
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096872—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where instructions are given per voice
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
在行驶于弯道处时,即使在驾驶员直接保持方向盘的状态的情况下和未保持(松开)方向盘的状态的情况下,也不会带来不安感而能够以相同的行驶感觉进行行驶。在自动驾驶控制的状态下,对本车辆行驶的前方的弯道进行识别,在检测出驾驶员未保持方向盘的情况下,将目标车速、容许横向加速度校正为比在驾驶员保持方向盘的情况下所设定的目标车速、容许横向加速度低的值,基于校正后的目标车速、容许横向加速度设定本车辆的目标加速度而进行加减速控制。
Description
技术领域
本发明涉及一种利用驾驶辅助控制、自动驾驶控制,特别是适当地从弯道通过的车辆的行驶控制装置。
背景技术
近年来,在车辆中,为了使驾驶员更舒适且安全地进行驾驶,利用驾驶辅助控制、自动驾驶控制的各种各样的技术得到了开发并实现了实用化。例如,日本特开2010-30544号公报(下面,称为专利文献1)中公开了一种车辆的自动驾驶控制的技术,即,进行本车辆的加减速控制,即使满足至少在进入弯道前将本车辆控制为可在弯道处行驶的目标车速的自动驾驶控制的解除条件,在推定为直至弯道处为止不维持本车辆的减速状态的状态的情况下,也维持减速控制。
专利文献1:日本特开2010-30544号公报
发明内容
但是,有时在驾驶员直接保持方向盘的状态的情况(包含手动驾驶时、驾驶辅助控制时以及自动驾驶控制时)下对于驾驶员的行驶感觉、和如上述专利文献1中公开的自动驾驶控制时驾驶员未保持(松开)方向盘的状态的情况下对于驾驶员的行驶感觉不同。例如,在驾驶员直接保持方向盘的状态下由驾驶员本身在行驶于弯道处时所设定的车速、与在自动驾驶控制时驾驶员未保持(松开)方向盘的状态下行驶于弯道处时所设定的目标车速即使是相同的值,驾驶员也有可能较早地感受到后者而给驾驶员带来不安感。
本发明就是鉴于上述情形而提出的,其目的在于提供一种车辆的行驶控制装置,在弯道处行驶时,即使在驾驶员直接保持方向盘的状态的情况下、和未保持(松开)方向盘的情况下,也不会带来不安感而能够以相同的行驶感觉行驶。
本发明的车辆行驶控制装置的一个方式具备:行驶环境信息获取单元,其获取本车辆行驶的行驶环境信息;以及行驶信息检测单元,其对本车辆的行驶信息进行检测,该车辆的行驶控制装置基于上述行驶环境信息和上述本车辆的行驶信息而执行自动驾驶控制,在该车辆的行驶控制装置中,还具备:方向盘保持状态检测单元,其检测驾驶员对方向盘的保持状态;目标参数设定单元,其基于上述行驶环境信息而对本车辆行驶的前方的弯道进行识别,设定从该前方的弯道处通过时的本车辆的目标车速和容许横向加速度的至少一者的目标参数;目标参数校正单元,其根据上述驾驶员对方向盘的保持状态而对由上述目标参数设定单元所设定的上述目标参数进行校正;以及加减速控制单元,其基于上述校正后的目标参数设定本车辆的目标加速度而进行加减速控制。
发明的效果
根据本发明所涉及的车辆的行驶控制装置,起到如下优异的效果,即,在行驶于弯道处时,即使在驾驶员直接保持方向盘的状态的情况下和未保持(松开)方向盘的状态的情况下,也不会带来不安感而能够以相同的行驶感觉进行行驶。
附图说明
图1是本发明的一个实施方式所涉及的车辆的行驶控制装置的整体结构图。
图2是本发明的一个实施方式所涉及的自动驾驶控制(加减速控制)程序的流程图。
图3是本发明的一个实施方式所涉及的根据弯道半径而设定的目标车速的特性说明图。
图4是本发明的一个实施方式所涉及的在前方弯道处行驶的本车辆的一个例子的说明图。
标号的说明
1 行驶控制装置
10 行驶控制部(目标参数设定单元、目标参数校正单元、加减速控制单元)
11 周围环境识别装置(行驶环境信息获取单元)
12 驾驶员状态检测装置(方向盘保持状态检测单元)
13 行驶参数检测装置(行驶信息检测单元)
14 本车位置信息检测装置(行驶环境信息获取单元)
15 车车间通信装置(行驶环境信息获取单元)
16 道路交通信息通信装置(行驶环境信息获取单元)
17 开关组
21 发动机控制装置
22 制动器控制装置
23 转向控制装置
24 显示装置
25 扬声器·蜂鸣器
具体实施方式
下面,基于附图对本发明的实施方式进行说明。
在图1中,标号1表示车辆的行驶控制装置,在该行驶控制装置1中,在行驶控制部10连接有周围环境识别装置11、驾驶员状态检测装置12、行驶参数检测装置13、本车位置信息检测装置14、车车间通信装置15、道路交通信息通信装置16、开关组17的各输入装置、发动机控制装置21、制动器控制装置22、转向控制装置23、显示装置24、扬声器·蜂鸣器25的各输出装置。
周围环境识别装置11由照相机装置(立体照相机、单眼照相机、彩色照相机等)、雷达装置(激光雷达、米波雷达等)、声纳等(以上未图示)构成,其中,所述照相机装置具备对车辆的外部环境进行拍摄而获取图像信息的、设置于车室内的固体拍摄元件等,所述雷达接收来自存在于车辆周围的立体物的反射波。
周围环境识别装置11基于由照相机装置拍摄的图像信息,例如对距离信息进行众所周知的分组处理,将分组处理后的距离信息与预先设定的三维的道路形状数据、立体物数据等进行比较,由此从行车线划分线数据、沿着道路而存在的护轨、路缘石等的侧壁数据、车辆(在前车、对向车、并行车、停车车辆)等立体物数据等中与速度一起提取出相对于本车辆的相对位置(距离、角度)。
另外,周围环境识别装置11基于利用雷达装置获取的反射波信息而对反射的立体物存在的位置(距离、角度)与速度一起进行检测。这样,周围环境识别装置11作为行驶环境信息获取单元而设置。
驾驶员状态检测装置12例如是设置于如日本特开2013-90834号公报公开的方向盘、且对驾驶员的生物信号进行检测的方向盘用生物检测传感器,在本实施方式中,利用该方向盘用生物检测传感器检测驾驶员对方向盘的保持状态,即,驾驶员状态检测装置12作为方向盘保持状态检测单元而设置。
行驶参数检测装置13对本车辆的行驶信息进行检测,具体而言,对车速、前后加速度、横向加速度、操纵转向角、操纵转向扭矩、偏航率、加速器开度、节气门开度以及行驶的路面的路面斜度、路面摩擦系数推定值等进行检测。这样,行驶参数检测装置13作为行驶信息检测单元而设置。
本车位置信息检测装置14例如是公知的导航***,例如接收从GPS(GlobalPositioning System:全球定位***)卫星发出的电波,基于该电波信息对当前位置进行检测,在预先存储于闪存、CD(Compact Disc)、DVD(Digital Versatile Disc)、蓝光(Blu-ray:注册商标)盘、HDD(Hard disk drive)等的地图数据上确定本车位置。
作为该预先存储的地图数据,具有道路数据以及设施数据。道路数据包含路线的位置信息、种类信息、节点的位置信息、种类信息、节点处的弯道曲率(或者弯道半径)以及节点和路线的连接关系的信息、即道路的分支、汇合地点信息以及分支路上的最大车速信息等。设施数据具有多个以设施为单位的记录,各记录具有表示设为对象的设施的名称信息、所在位置信息、设施种类(按百货商店、商店、饭店、停车场、公园、车辆故障时的修理点分类)信息的数据。而且,对地图位置上的本车位置进行显示,如果由操作者输入目的地,则以规定方式对出发地至目的地的路径进行运算并在显示器、监视器等显示装置24进行显示,另外,由扬声器·蜂鸣器25进行语音向导而自如地导航。这样,本车位置信息检测装置14作为行驶环境信息获取单元而设置。
车车间通信装置15例如由具有无线LAN等100[m]左右的通信区域的窄域无线通信装置构成,能够不经由服务器等而与其他车辆直接进行通信,能够进行信息的发送接收。而且,通过与其他车辆的相互通信而交换车辆信息、行驶信息、交通环境信息等。作为车辆信息,具有表示车型(在本方式中,为轿车、卡车、摩托车等的种类)的固有信息。另外,作为行驶信息,具有车速、位置信息、刹车灯的点亮信息、右转左转时发出的方向指示器的闪烁信息、紧急停止时闪烁的危险警告灯的闪烁信息。并且,作为交通环境信息,包含根据道路的拥堵信息、工程信息等的状况而变化的信息。这样,车车间通信装置15作为行驶环境获取单元而设置。
道路交通信息通信装置16是利用所谓的道路交通信息通信***(VICS:VehicleInformation and Communication System:注册商标)从FM多路广播、道路上的发送器实时地接收拥堵、事故、工程、所需时间、停车场的道路交通信息,并在上述预先存储的地图数据上对该接收到的交通信息进行显示的装置。这样,道路交通信息通信装置16作为行驶环境信息获取单元而设置。
开关组17是驾驶员的驾驶辅助控制所涉及的开关组,例如由以预先设定的恒定速度对速度进行行驶控制的开关、或者用于将相对于在前车的车间距离、车间时间维持为预先设定的恒定值而进行追随控制的开关、将行驶行车线维持为设定行车线而进行行驶控制的行车线保持控制的开关、进行相对于行驶行车线的脱离防止控制的行车线脱离防止控制的开关、执行在前车(超越对象车辆)的超越控制的超越控制执行许可开关、用于执行使上述全部控制协调进行的自动驾驶控制的开关、对上述各控制所需的车速、车间距离、车间时间、限制速度等进行设定的开关、或者将上述各控制解除的开关等构成。
发动机控制装置21例如是基于吸入空气量、节气门开度、发动机水温、进气温度、氧浓度、曲轴转角、加速器开度、其他车辆信息而进行针对车辆的发动机(未图示)的燃料喷射控制、点火时机控制、电子控制节气门的控制等主要控制的公知的控制单元。另外,在自动驾驶状态时,在从行驶控制部10输入有上述的各自动驾驶控制(与障碍物等的碰撞防止控制、定速行驶控制、追随行驶控制、行车线保持控制、行车线脱离防止控制、其他超越控制等)所需的加速度(要求加速度)的情况下,发动机控制装置21基于该要求加速度对驱动扭矩(自动驾驶要求扭矩)进行计算,进行以该自动驾驶要求扭矩为目标扭矩的发动机控制。
制动器控制装置22例如是下述公知的控制单元,即,能够基于制动器开关、4个车轮的车轮速度、方向盘转角、偏航率、其他车辆信息而与驾驶员对制动器的操作独立地控制4个车轮的制动器装置(未图示),且进行公知的ABS控制、侧滑防止控制等的控制对车辆施加的偏航力矩的偏航制动器控制。另外,在自动驾驶状态时,在从行驶控制部10输入有上述的各自动驾驶控制(与障碍物等的碰撞防止控制、定速行驶控制、追随行驶控制、行车线保持控制、行车线脱离防止控制、其他超越控制等)所需的减速度(要求减速度)的情况下,制动器控制装置22基于该要求减速度设定各车轮制动器的轮缸的目标液压,进行制动器控制。
转向控制装置23例如是基于车速、转向扭矩、方向盘转角、偏航率、其他车辆信息而对设置于车辆的操纵转向***的电动动力转向电动机(未图示)的辅助扭矩进行控制的公知的控制装置。另外,转向控制装置23能够进行将上述行驶行车线维持为设定行车线而进行行驶控制的行车线保持控制、进行相对于行驶行车线的脱离防止控制的行车线脱离防止控制、协调执行上述控制的自动驾驶转向控制,上述行车线保持控制、行车线脱离防止控制、自动驾驶转向控制所需的操纵转向角、目标方向盘转角、或者操纵转向扭矩由行驶控制部10计算出并输入至转向控制装置23,电动动力转向电动机根据输入的控制量而进行驱动控制。
显示装置24例如是监视器、显示器、警报灯等对驾驶员进行视觉警告、通报的装置。另外,扬声器·蜂鸣器25是对驾驶员进行听觉警告、通报的装置。
而且,行驶控制部10基于来自上述各装置11~17的各输入信号协调进行与障碍物等的碰撞防止控制、定速行驶控制、追随行驶控制、行车线保持控制、行车线脱离防止控制、其他超越控制等而执行自动驾驶控制等。在该自动驾驶控制的状态下,对本车辆行驶的前方的弯道进行识别,设定从前方的弯道处通过时的本车辆的目标车速,对根据由驾驶员状态检测装置12检测出的驾驶员对方向盘的保持状态而设定的目标参数(在本实施方式中为目标车速)进行校正,基于校正后的目标参数而设定本车辆的目标加速度,基于该目标加速度对要求加速度或者要求减速度进行计算并输出至发动机控制装置21或者制动器控制装置22而进行加减速控制。这样,行驶控制部10设置为具有目标参数设定单元、目标参数校正单元、加减速控制单元的功能。
下面,利用图2的流程图对由行驶控制部10执行的自动驾驶控制(加减速控制)程序进行说明。
首先,在步骤(下面,简称为“S”)101中,判定在本车辆的前方行驶路的预先设定的距离以内是否存在弯道。此外,本车辆的前方行驶路根据通过来自周围环境识别装置11的图像信息而获取的行车线信息、本车位置信息检测装置14的导航***的地图数据上设定的导航路而获得。
在S101的判定结果判定为前方不存在弯道的情况下,进入S102,对正常的加减速控制、即上述的各自动驾驶控制(与障碍物等的碰撞防止控制、定速行驶控制、追随行驶控制、行车线保持控制、行车线脱离防止控制、其他超越控制等)所需的要求加减速度进行计算,并输出至发动机控制装置21或者制动器控制装置22而执行加减速控制。
另外,在S101的判定结果判定为前方存在弯道的情况下,进入S103,对由驾驶员状态检测装置1检测出的驾驶员对方向盘的保持状态进行判定。此外,在本实施方式中,利用驾驶员状态检测装置12的方向盘用生物检测传感器判定驾驶员对方向盘的保持状态,但除此之外也可以利用转向扭矩的绝对值而判定驾驶员对方向盘的保持状态。在该情况下,在转向扭矩的绝对值大于或等于预先设定的值的情况下,判定为驾驶员保持方向盘的状态,在转向扭矩的绝对值小于预先设定的值的情况下,判定为驾驶员未保持(松开)方向盘的状态。
然后,进入S104,关于在S101中检测出的所有存在于前方的弯道(在本实施方式中,为1、2、3、···k个弯道),按照距本车辆近的顺序设定前方的第k个弯道处的目标车速Vtk。对于弯道处的目标车速Vtk,例如根据该弯道处的弯道半径ρ并参照预先通过计算·实验等而设定的如图3所示的对应图,由此考虑S103中判定的方向盘保持状态而进行设定。
对于弯道处的目标车速Vtk,根据图3的对应图也明确可知,与驾驶员保持方向盘的状态下的弯道处的目标车速Vtk的值(图3中由实线表示)相比,驾驶员未保持(松开)方向盘的状态下的弯道处的目标车速Vtk的值(图3中由虚线表示)设定为更小。
这是因为,如前所述,即使在驾驶员直接保持方向盘的状态下由驾驶员本身在弯道处行驶时所设定的车速、以及在自动驾驶控制时驾驶员未保持(松开)方向盘的状态下在弯道处行驶时所设定的目标车速是相同的值,驾驶员也会较早感受到后者,有可能给驾驶员带来不安感。因此,将驾驶员未保持(松开)方向盘的状态下的弯道处的目标车速Vtk的值(图3中由虚线表示)设定为比正常时(图3中由实线表示的、驾驶员保持方向盘的状态)更低,由此防止给驾驶员带来不安感。
此外,在根据本车位置信息检测装置14的导航***的地图数据获得弯道处的目标车速Vtk的情况下,将根据地图数据获得的弯道处的目标车速Vtk设为驾驶员直接保持方向盘的状态下的目标车速。而且,对该目标车速Vtk进行减小修正(例如,乘以比1.0小的数值、或者减去设定速度值),由此计算出驾驶员未保持(松开)方向盘的状态下的弯道处的目标车速的值。或者,可以基于图3而求出相对于根据地图数据获得的弯道处的目标车速Vtk的弯道半径ρ,并设定该弯道半径ρ下的驾驶员未保持(松开)方向盘的状态下的弯道处的目标车速Vtk的值。
在S104中,在针对所有弯道设定了目标车速Vtk之后,进入S105,针对所有弯道例如通过下面的式(1)而计算出目标加速度atk。
a tk=(Vtk2-V2)/(2·s)···(1)
这里,V是当前的车速,s是距第k个弯道入口的距离。
此外,对于距弯道入口的距离s,针对第k=1个弯道,设定预先通过实验·计算等而设定的控制开始距离ΔLs(图4中参照弯道A),在本车辆的当前位置与控制开始距离ΔLs相比距弯道的入口更近的情况下,设定为从该当前位置至弯道入口的距离。在该情况下,与控制开始距离ΔLs相比距弯道的入口更近,因此立即执行加减速控制。另外,控制开始距离ΔLs在驾驶员保持方向盘的状态下可变,在驾驶员未保持(松开)方向盘的状态的情况下,与保持方向盘的状态的情况相比,设定为更长的距离。因此,在驾驶员未保持(松开)方向盘的状态的情况下,以比保持方向盘的状态的情况相比更慢的加减速度执行加减速控制,抑制了给驾驶员带来不安感。并且,距第2个及其以后的弯道入口的距离(图4中参照弯道B)变为对上述控制开始距离ΔLs加上至该弯道入口为止的距离得到的值(在图4中,s=ΔLs+L2)。
然后,进入S106,对于在S105中计算出的针对所有弯道的目标加速度atk,提取出最小值,将该最小值设定为目标加速度at。
然后,进入S107,基于目标加速度at而对上述的各自动驾驶控制(与障碍物等的碰撞防止控制、定速行驶控制、追随行驶控制、行车线保持控制、行车线脱离防止控制、其他超越控制等)所需的要求加减速度进行计算,并输出至发动机控制装置21或者制动器控制装置22而执行加减速控制。
此外,在本实施方式中,对于从弯道通过时的目标车速Vtk,将驾驶员未保持(松开)方向盘的状态时的值设定控制为比驾驶员保持方向盘的状态时的值低,但在通过弯道时设定容许横向加速度的技术中也能够应用本发明。
在该情况下,在例如通过下面的式(2)对通过弯道时的容许横向加速度ay进行计算的情况下,
ay=μ·Kus·g···(2)
这里,μ是路面摩擦系数推定值,Kus是预先通过实验·计算等而设定的安全率(0.5~1.0),g是重力加速度。
例如通过下面的式(3)对弯道处的容许速度Va进行计算。
Va=(ρ·ay)1/2···(3)
因此,将驾驶员保持方向盘的状态时的容许横向加速度ay设为通过上述的式(2)求出的值,将未保持(松开)方向盘的状态时的容许横向加速度ay设为以预先通过实验·计算等设定的小于1的值为λ而通过下面的式(4)求出的值。
ay=λ·μ·Kus·g···(4)
这样,对于通过弯道时的容许横向加速度ay,与驾驶员保持方向盘的状态时的值相比,将未保持(松开)方向盘的状态时的值设定控制为更低。
此外,除此之外,作为利用车速和容许横向加速度二者而求出目标车速的方法,可以由通过上述式(3)计算出的容许速度Va对根据图3的对应图求出的目标车速进行限制而求出弯道处的目标车速。
这样,根据本发明的实施方式,在自动驾驶控制的状态下,对本车辆所行驶的前方的弯道进行识别,在检测出驾驶员未保持方向盘的情况下,将目标车速、容许横向加速度校正为比在驾驶员保持方向盘的情况下设定的目标车速、容许横向加速度低的值,基于校正后的目标车速、容许横向加速度设定本车辆的目标加速度而进行加减速控制。因此,实现了如下效果,即,在弯道处行驶时,即使在驾驶员直接保持方向盘的状态的情况下(手动驾驶时、驾驶辅助控制时、自动驾驶时)、和在自动驾驶时未保持(松开)方向盘的状态的情况下,也不会给驾驶员带来不安感而能够以相同的行驶感觉进行行驶。
Claims (3)
1.一种车辆的行驶控制装置,其具备:行驶环境信息获取单元,其获取本车辆所行驶的行驶环境信息;以及行驶信息检测单元,其对本车辆的行驶信息进行检测,该车辆的行驶控制装置基于上述行驶环境信息和上述本车辆的行驶信息而执行自动驾驶控制,
所述车辆的行驶控制装置的特征在于,还具备:
方向盘保持状态检测单元,其检测驾驶员对方向盘的保持状态;
目标参数设定单元,其基于上述行驶环境信息而对本车辆行驶的前方的弯道进行识别,设定从该前方的弯道处通过时的本车辆的目标车速和容许横向加速度中的至少一者的目标参数;
目标参数校正单元,其根据上述驾驶员对方向盘的保持状态而对由上述目标参数设定单元所设定的上述目标参数进行校正;以及
加减速控制单元,其基于上述校正后的目标参数设定本车辆的目标加速度而进行加减速控制。
2.根据权利要求1所述的车辆的行驶控制装置,其特征在于,
上述目标参数校正单元在由上述方向盘保持状态检测单元检测出驾驶员未保持方向盘的情况下,将上述目标参数校正为比在驾驶员保持方向盘的情况下所设定的上述目标参数低的值。
3.根据权利要求1或2所述的车辆的行驶控制装置,其特征在于,
在基于上述行驶环境信息而对本车辆行驶的前方的多个弯道进行识别,并且针对各弯道设定了上述本车辆的目标加速度的情况下,上述加减速控制单元基于其中最小的目标加速度而执行上述加减速控制。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016026081A JP2017144776A (ja) | 2016-02-15 | 2016-02-15 | 車両の走行制御装置 |
JP2016-026081 | 2016-02-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN107082067A true CN107082067A (zh) | 2017-08-22 |
Family
ID=59410228
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611152269.7A Pending CN107082067A (zh) | 2016-02-15 | 2016-12-14 | 车辆的行驶控制装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10274962B2 (zh) |
JP (1) | JP2017144776A (zh) |
CN (1) | CN107082067A (zh) |
DE (1) | DE102017100323A1 (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109484400A (zh) * | 2017-09-13 | 2019-03-19 | 株式会社斯巴鲁 | 车辆的行驶控制装置 |
CN109572669A (zh) * | 2017-09-26 | 2019-04-05 | 丰田自动车株式会社 | 驾驶辅助装置 |
CN110053623A (zh) * | 2018-01-15 | 2019-07-26 | 本田技研工业株式会社 | 车辆行驶控制装置 |
CN110316195A (zh) * | 2018-03-29 | 2019-10-11 | 株式会社斯巴鲁 | 车辆的驾驶辅助*** |
CN111746552A (zh) * | 2019-03-27 | 2020-10-09 | 株式会社万都 | 驾驶员辅助***及其控制方法 |
CN112440989A (zh) * | 2019-08-29 | 2021-03-05 | 丰田自动车株式会社 | 车辆控制*** |
CN112644476A (zh) * | 2019-10-11 | 2021-04-13 | 丰田自动车株式会社 | 车辆驻车辅助装置 |
CN113246977A (zh) * | 2021-07-08 | 2021-08-13 | 中汽研(天津)汽车工程研究院有限公司 | 一种基于功能安全的adas纵向控制扭矩监控装置及方法 |
CN113811470A (zh) * | 2019-05-15 | 2021-12-17 | 日产自动车株式会社 | 车辆的行驶控制方法及行驶控制装置 |
CN115649145A (zh) * | 2022-11-01 | 2023-01-31 | 智能网联汽车(山东)协同创新研究院有限公司 | 一种智能汽车转向和制动自适应协调控制*** |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2526346B (en) * | 2014-05-22 | 2018-01-03 | Jaguar Land Rover Ltd | Vehicle speed control system and method |
EP3219565B1 (en) * | 2016-03-18 | 2023-11-22 | Volvo Car Corporation | Vehicle control arrangement, road vehicle and method of controlling a road vehicle |
EP3382656A4 (en) * | 2017-01-31 | 2019-02-13 | NSK Ltd. | DEVICE FOR RECORDING DRIVING INFORMATION AND ELECTRIC POWER STEERING EQUIPMENT THEREWITH |
DE102017004826A1 (de) * | 2017-05-19 | 2018-11-22 | Lucas Automotive Gmbh | System und Verfahren zur Handhabung von Ausnahmeszenarien |
JP6528336B2 (ja) * | 2017-06-02 | 2019-06-12 | 本田技研工業株式会社 | 車両制御システムおよび車両制御方法 |
JP6834936B2 (ja) * | 2017-12-26 | 2021-02-24 | トヨタ自動車株式会社 | 操舵アシスト装置 |
JP6628818B2 (ja) * | 2018-01-15 | 2020-01-15 | 本田技研工業株式会社 | 車両走行制御装置 |
JP7098366B2 (ja) * | 2018-03-15 | 2022-07-11 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
DE102018207810B4 (de) | 2018-05-17 | 2021-03-25 | Bayerische Motoren Werke Aktiengesellschaft | Übersteuerung von Streckenevents im automatischen Längsführungsbetrieb |
JP6755071B2 (ja) * | 2018-06-08 | 2020-09-16 | 株式会社Subaru | 車両の走行制御装置 |
JP7081423B2 (ja) * | 2018-09-26 | 2022-06-07 | トヨタ自動車株式会社 | 情報処理システム |
JP6821644B2 (ja) | 2018-12-28 | 2021-01-27 | 本田技研工業株式会社 | 車両制御装置及び車両制御方法 |
CN111661060B (zh) * | 2019-03-05 | 2022-06-21 | 阿里巴巴集团控股有限公司 | 建立车辆纵向运动模型的方法、装置及计算机*** |
CN113954869B (zh) * | 2020-06-01 | 2024-04-09 | 北京航迹科技有限公司 | 一种路况提醒方法、装置、电子设备及存储介质 |
CN112407019A (zh) * | 2020-10-20 | 2021-02-26 | 恒大新能源汽车投资控股集团有限公司 | 按摩方向盘及车辆 |
CN113246997A (zh) * | 2021-06-28 | 2021-08-13 | 智道网联科技(北京)有限公司 | 智能驾驶中的安全监测方法、装置、电子设备及存储介质 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006137392A (ja) * | 2004-11-15 | 2006-06-01 | Toyota Motor Corp | 車両の減速制御装置 |
JP4677794B2 (ja) * | 2005-02-10 | 2011-04-27 | トヨタ自動車株式会社 | コーナ情報提供装置 |
JP2006347508A (ja) * | 2005-06-20 | 2006-12-28 | Mazda Motor Corp | 車両の走行補助装置 |
JP5282473B2 (ja) * | 2008-07-29 | 2013-09-04 | 日産自動車株式会社 | 車両用減速制御装置及びその方法 |
JP5163346B2 (ja) | 2008-07-31 | 2013-03-13 | 日産自動車株式会社 | 車両の制駆動制御装置及び自動運転制御方法 |
JP5051067B2 (ja) * | 2008-08-26 | 2012-10-17 | アイシン・エィ・ダブリュ株式会社 | 運転支援装置、運転支援方法および運転支援プログラム |
JP5137764B2 (ja) * | 2008-09-29 | 2013-02-06 | 株式会社アドヴィックス | 車両の速度制御装置 |
JP5310674B2 (ja) * | 2010-08-17 | 2013-10-09 | 株式会社デンソー | 車両用挙動制御装置 |
JP5699902B2 (ja) | 2011-10-26 | 2015-04-15 | 株式会社デンソー | ステアリングホイール用生体検出センサ |
JP6815724B2 (ja) * | 2015-11-04 | 2021-01-20 | トヨタ自動車株式会社 | 自動運転システム |
-
2016
- 2016-02-15 JP JP2016026081A patent/JP2017144776A/ja active Pending
- 2016-12-14 CN CN201611152269.7A patent/CN107082067A/zh active Pending
-
2017
- 2017-01-10 DE DE102017100323.1A patent/DE102017100323A1/de not_active Withdrawn
- 2017-01-10 US US15/402,553 patent/US10274962B2/en active Active
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109484400A (zh) * | 2017-09-13 | 2019-03-19 | 株式会社斯巴鲁 | 车辆的行驶控制装置 |
CN109484400B (zh) * | 2017-09-13 | 2023-08-29 | 株式会社斯巴鲁 | 车辆的行驶控制装置 |
CN109572669B (zh) * | 2017-09-26 | 2022-01-18 | 丰田自动车株式会社 | 驾驶辅助装置 |
CN109572669A (zh) * | 2017-09-26 | 2019-04-05 | 丰田自动车株式会社 | 驾驶辅助装置 |
CN110053623A (zh) * | 2018-01-15 | 2019-07-26 | 本田技研工业株式会社 | 车辆行驶控制装置 |
CN110316195A (zh) * | 2018-03-29 | 2019-10-11 | 株式会社斯巴鲁 | 车辆的驾驶辅助*** |
CN111746552A (zh) * | 2019-03-27 | 2020-10-09 | 株式会社万都 | 驾驶员辅助***及其控制方法 |
CN113811470A (zh) * | 2019-05-15 | 2021-12-17 | 日产自动车株式会社 | 车辆的行驶控制方法及行驶控制装置 |
CN113811470B (zh) * | 2019-05-15 | 2023-03-21 | 日产自动车株式会社 | 车辆的行驶控制方法及行驶控制装置 |
CN112440989A (zh) * | 2019-08-29 | 2021-03-05 | 丰田自动车株式会社 | 车辆控制*** |
CN112440989B (zh) * | 2019-08-29 | 2023-09-12 | 丰田自动车株式会社 | 车辆控制*** |
CN112644476A (zh) * | 2019-10-11 | 2021-04-13 | 丰田自动车株式会社 | 车辆驻车辅助装置 |
CN112644476B (zh) * | 2019-10-11 | 2024-03-22 | 丰田自动车株式会社 | 车辆驻车辅助装置 |
CN113246977A (zh) * | 2021-07-08 | 2021-08-13 | 中汽研(天津)汽车工程研究院有限公司 | 一种基于功能安全的adas纵向控制扭矩监控装置及方法 |
CN115649145A (zh) * | 2022-11-01 | 2023-01-31 | 智能网联汽车(山东)协同创新研究院有限公司 | 一种智能汽车转向和制动自适应协调控制*** |
Also Published As
Publication number | Publication date |
---|---|
JP2017144776A (ja) | 2017-08-24 |
DE102017100323A1 (de) | 2017-08-17 |
US20170235311A1 (en) | 2017-08-17 |
US10274962B2 (en) | 2019-04-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107082067A (zh) | 车辆的行驶控制装置 | |
CN105539441B (zh) | 车辆的行驶控制装置 | |
JP6596119B2 (ja) | 自律車両用の交通信号応答 | |
CN107031631B (zh) | 车辆的行驶控制装置 | |
CN105460008B (zh) | 车辆的行驶控制装置 | |
CN105292103B (zh) | 车辆的行驶控制装置 | |
CN105172792B (zh) | 车辆的行驶控制装置 | |
CN105564440B (zh) | 车辆的行驶控制装置 | |
CN106515710B (zh) | 车辆的自动驾驶控制装置 | |
US10632993B2 (en) | Travel control apparatus for vehicle | |
CN107472248A (zh) | 车辆的行驶控制装置 | |
CN106338988A (zh) | 自动驾驶车辆的控制装置 | |
CN107783535A (zh) | 车辆控制装置 | |
CN105984342A (zh) | 行驶控制装置 | |
CN107444399A (zh) | 车辆的行驶控制装置 | |
CN105938365A (zh) | 车辆控制装置 | |
JP7007879B2 (ja) | 渋滞前減速報知装置 | |
JP6654907B2 (ja) | 車両の走行制御装置 | |
JP2016212630A (ja) | 走行制御装置 | |
JP6871724B2 (ja) | 車両の走行制御装置 | |
JP6322109B2 (ja) | 車両の走行制御装置 | |
JP6857014B2 (ja) | 車両の走行制御装置 | |
JP6391395B2 (ja) | 車両の走行制御装置 | |
JP6558261B2 (ja) | 自動運転装置 | |
JP6691404B2 (ja) | 車両の走行制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170822 |
|
WD01 | Invention patent application deemed withdrawn after publication |