JP2009536132A - 複雑な交通状況における車両の速度制御方法 - Google Patents
複雑な交通状況における車両の速度制御方法 Download PDFInfo
- Publication number
- JP2009536132A JP2009536132A JP2009510267A JP2009510267A JP2009536132A JP 2009536132 A JP2009536132 A JP 2009536132A JP 2009510267 A JP2009510267 A JP 2009510267A JP 2009510267 A JP2009510267 A JP 2009510267A JP 2009536132 A JP2009536132 A JP 2009536132A
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- Prior art keywords
- vehicle
- target acceleration
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- control
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims description 35
- 238000001514 detection method Methods 0.000 claims description 3
- 230000003044 adaptive effect Effects 0.000 claims 1
- 238000013459 approach Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 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
- 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
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- 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
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
車両又は物体が、ACC車両のすぐ前で隣接車線から入り込む。入り込み過程の終った後に初めて、ACC車両の加速度が僅かな間隔で先行車両に合わされる。ACCにおける制動介入の強さは限られているので、追突を防止するために、場合によっては運転者の介入が必要である。
ACC車両は、低速の先行物体を追い越すために、車線を変更する。目標車線に物体がないけれども、車線変更が実行された時に初めて、ACC車両が所定の速度に加速する。この加速度挙動は運転者にしばしば衝撃的に感じられる。
ACC車両の車線変更の際、車線変更が完了した時に初めて、目標車道上の車両が制御のために考慮される。それにより事情によっては短時間物体が重要とみなされない。
先行物体により隠される物体が強く減速される時、これがすぐ前の先行物体も同様に制動されることが予測可能である時にも、ACC車両の加速度制御のために考慮されない。ここでは、先行車両も制動される時点に、事情によってはACCの制動介入はもはや十分でない。
先行車両の車線変更の際、車線変更が終了した時に初めて、先行車両の前の隠された物体が考慮される。その結果、場合によってはまず先行車両が車線から出ると共に加速が行われ、車線から出た後に、今や前に隠されていた車両への加速度制御が行われる時、再び減速が行われる。
Claims (7)
- 複雑な交通状況における車両の速度制御方法であって、車両が周辺検出用センサシステムを備えているものにおいて、制御のために、少なくとも部分的に隠された物体及び/又は隣接する車線上の少なくとも1つの物体が考慮されることを特徴とする、方法。
- 自己の車両及び/又は物体の車線変更の意図が検出されることを特徴とする、請求項1に記載の方法。
- 車線変更の意図を説明するために2つより多い状態が考慮されていることを特徴とする、先行する請求項の1つに記載の方法。
- 少なくとも1つの物体に目標加速度が割当てられ、車両に対する間隔及び相対速度に関係して目標加速度が決定されていることを特徴とする、先行する請求項の1つに記載の方法。
- 物体に目標加速度の下方閾値が割当てられ、
物体が隠されかつ/又は
物体が自己の車道又は隣接車道にありかつ/又は
車道を変更する車両又は物体の検出可能な意図がある
か否かに閾値が関係していることを特徴とする、先行する請求項の1つに記載の方法。 - 最も小さいか又は最も負の目標加速度を持つ物体が、最高の重要性を持つ物体と評価され、最高の重要性を持つ物体への制御が行われることを特徴とする、先行する請求項の1つに記載の方法。
- 縦速度の適応制御のための運転者援助システムを持ち、制御が請求項1〜7の1つに記載の方法を含んでいる、自動車。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006020788.2 | 2006-05-03 | ||
DE102006020788 | 2006-05-03 | ||
PCT/DE2006/002055 WO2007124704A1 (de) | 2006-05-03 | 2006-11-22 | Verfahren zur geschwindigkeitsregelung eines fahrzeugs in einer komplexen verkehrssituation |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009536132A true JP2009536132A (ja) | 2009-10-08 |
JP5163991B2 JP5163991B2 (ja) | 2013-03-13 |
Family
ID=37776530
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009510267A Active JP5163991B2 (ja) | 2006-05-03 | 2006-11-22 | 複雑な交通状況における車両の速度制御方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8219299B2 (ja) |
EP (1) | EP2013052B1 (ja) |
JP (1) | JP5163991B2 (ja) |
KR (1) | KR101384710B1 (ja) |
DE (2) | DE502006009038D1 (ja) |
WO (1) | WO2007124704A1 (ja) |
Cited By (1)
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KR20150036027A (ko) * | 2012-06-11 | 2015-04-07 | 스카니아 씨브이 악티에볼라그 | 경고 시스템 |
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DE102008047499A1 (de) | 2008-09-17 | 2010-04-15 | Daimler Ag | Verfahren und Vorrichtung zur Ausgabe einer Verkehrssituation |
DE102008057367B4 (de) | 2008-11-14 | 2023-10-26 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Geschwindigkeits- und/oder Abstandsregelung bei Kraftfahrzeugen |
DE102009021476A1 (de) | 2009-05-15 | 2010-11-18 | Audi Ag | Verfahren zur automatischen Längsführung eines Kraftfahrzeugs umfassend ein adaptives Längsführungssystem (ACC-System) |
DE102010011497A1 (de) | 2010-03-16 | 2011-09-22 | GM Global Technology Operations LLC , (n. d. Ges. d. Staates Delaware) | Verfahren zur Vermeidung oder Abschwächung einer Kollision, Steuervorrichtung für ein Fahrerassistenzsystem und Fahrzeug |
SE535599C2 (sv) * | 2011-02-23 | 2012-10-09 | Scania Cv Ab | Förfarande och system för styrning av farthållare |
US9771070B2 (en) * | 2011-12-09 | 2017-09-26 | GM Global Technology Operations LLC | Method and system for controlling a host vehicle |
DE102013203698B4 (de) * | 2013-03-05 | 2019-05-29 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Geschwindigkeits- und/oder Abstandsregelung bei Kraftfahrzeugen |
US9085236B2 (en) | 2013-05-09 | 2015-07-21 | Robert Bosch Gmbh | Adaptive cruise control with stationary object recognition |
JP5994755B2 (ja) * | 2013-09-06 | 2016-09-21 | トヨタ自動車株式会社 | 車両走行制御装置 |
US20150100348A1 (en) * | 2013-10-08 | 2015-04-09 | Ims Health Incorporated | Secure Method for Health Record Transmission to Emergency Service Personnel |
DE102014217909A1 (de) | 2014-09-08 | 2016-03-10 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Geschwindigkeits- und/oder Abstandsregelung von Kraftfahrzeugen |
DE102014219564A1 (de) | 2014-09-26 | 2016-03-31 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Steuereinheit zum Ermitteln eines abgeschätzten gewünschten Abstands zwischen zwei Verkehrsteilnehmern |
KR101678089B1 (ko) | 2015-03-19 | 2016-11-23 | 현대자동차주식회사 | 차량 및 그 제어방법 |
JP6365481B2 (ja) * | 2015-09-23 | 2018-08-01 | トヨタ自動車株式会社 | 車両走行制御装置 |
KR102433791B1 (ko) * | 2015-11-20 | 2022-08-19 | 주식회사 에이치엘클레무브 | 차선 이탈 경고 장치 및 방법 |
US10137871B2 (en) | 2016-10-27 | 2018-11-27 | Bendix Commercial Vehicle Systems Llc | Adaptive braking for a vehicle control system |
JP6768604B2 (ja) | 2017-07-03 | 2020-10-14 | 日立オートモティブシステムズ株式会社 | 車両制御装置 |
DE102019203610A1 (de) * | 2019-03-18 | 2020-09-24 | Honda Motor Co., Ltd. | Fahrzeug-Fahrt-Unterstützungs-Vorrichtung |
DE102022104778A1 (de) | 2022-03-01 | 2023-09-07 | Valeo Schalter Und Sensoren Gmbh | Verbesserte Beschleunigung beim Folgen eines vorausfahrenden Fahrzeugs |
DE102022115620A1 (de) * | 2022-06-23 | 2023-12-28 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren und Assistenzsystem zur Relevanzbewertung von Umgebungsobjekten eines Kraftfahrzeugs |
DE102022207768B3 (de) | 2022-07-28 | 2023-11-02 | Continental Autonomous Mobility Germany GmbH | Verfahren zur Objektauswahl für ein Assistenzsystem sowie Assistenzsystem |
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2006
- 2006-11-22 US US12/226,853 patent/US8219299B2/en active Active
- 2006-11-22 WO PCT/DE2006/002055 patent/WO2007124704A1/de active Application Filing
- 2006-11-22 JP JP2009510267A patent/JP5163991B2/ja active Active
- 2006-11-22 KR KR1020087029365A patent/KR101384710B1/ko active IP Right Grant
- 2006-11-22 EP EP06818086A patent/EP2013052B1/de active Active
- 2006-11-22 DE DE502006009038T patent/DE502006009038D1/de active Active
- 2006-11-22 DE DE112006003769T patent/DE112006003769A5/de not_active Ceased
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Also Published As
Publication number | Publication date |
---|---|
JP5163991B2 (ja) | 2013-03-13 |
US20090164083A1 (en) | 2009-06-25 |
DE112006003769A5 (de) | 2008-11-27 |
EP2013052A1 (de) | 2009-01-14 |
KR20090017558A (ko) | 2009-02-18 |
DE502006009038D1 (de) | 2011-04-14 |
EP2013052B1 (de) | 2011-03-02 |
WO2007124704A1 (de) | 2007-11-08 |
US8219299B2 (en) | 2012-07-10 |
KR101384710B1 (ko) | 2014-04-14 |
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